Management device for automated vehicle, management method for automated vehicle, and management program for automated vehicle

Abstract

To provide a technology capable of changing an operation management method of an automatic conveyance vehicle according to the operation status of a warehouse and the presence or absence of a management area.SOLUTION: An automatic conveyance vehicle management device according to an embodiment includes: an operation status storage unit that stores environmental information related to an environment in which an automatic conveyance vehicle operates in a warehouse; an operation planning unit that manages the passage order of the automatic conveyance vehicle at an arbitrary point in accordance with a route plan by a first operation management method that adheres to the predetermined passage order, determines whether the operation scale calculated from the environmental information is less than or equal to a predetermined threshold, manages the operation scale by the first operation management method if the operation scale is less than or equal to the threshold, and manages the operation scale by a second operation management method that does not determine the passage order of the automatic conveyance vehicle in advance and updates the passage order or the route plan in order to eliminate the conflict when the conflict occurs; and a travel control unit that controls the automatic conveyance vehicle by the operation management method determined by the operation planning unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to an automated guided vehicle management device, an automated guided vehicle management method, and an automated guided vehicle management program.

Background Art

[0002] In an automated guided vehicle management system introduced in a warehouse or the like, it is required to transport the shelves where goods are stored as quickly and safely as possible. In the automated guided vehicle management system, in order to avoid collisions between automated guided vehicles (for example, AGVs (Automated Guided Vehicles)), an emergency stop that is not scheduled in the prior plan may be executed. When an emergency stop occurs, there is a risk that the shelf may collapse or the transportation may be delayed.

[0003] For example, in Patent Document 1, for an area where a plurality of moving bodies may pass, the order in which the moving bodies pass through the area is determined, and the moving bodies are made to pass while observing the determined passing order, thereby preventing competition between the moving bodies and realizing smooth operation. A technique is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the invention of Patent Document 1, as the scale of the introduced environment expands, the number of moving bodies and the moving distance increase, so there is a risk that it will take time to update the plan. If it takes time to update the plan, there is a problem that a moving body that passes through a certain area later has to continue waiting for the moving body in front in the passing order.

[0006] In addition, in the automated guided vehicle management system, since humans and machines work together, there is also a problem that things do not proceed in the order planned in advance.

[0007] This invention has been made paying attention to the above circumstances, and an object thereof is to provide a technology capable of changing the operation management method of an automated guided vehicle according to the operating status of a warehouse and the presence or absence of a management area.

Means for Solving the Problems

[0008] The automated guided vehicle management device according to the embodiment includes an operating status storage unit that stores environment information related to the environment in which the automated guided vehicle in the warehouse is operating, and according to the route plan until the automated guided vehicle moves to the destination, manages with a first operation management method that complies with the passing order determined in advance for the passing order of the automated guided vehicle at an arbitrary point, determines whether the operation scale calculated from the environment information is equal to or less than a predetermined threshold value, and if it is determined that it is equal to or less than the threshold value, manages with the first operation management method, and if it is determined that it exceeds the threshold value, does not pre-determine the passing order of the automated guided vehicle, and manages with a second operation management method that updates the passing order or the route plan to resolve a conflict when a conflict occurs, and a travel control unit that controls the automated guided vehicle with the operation management method determined by the operation plan unit.

Brief Description of the Drawings

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MODE FOR CARRYING OUT THE INVENTION

[0010] Hereinafter, the automatic guided vehicle management device, the automatic guided vehicle management method, and the automatic guided vehicle management program will be described in detail with reference to the drawings. In the following embodiments, the parts with the same numbers are assumed to perform the same operations, and redundant explanations will be omitted. For example, when there are a plurality of identical or similar elements, common reference numerals may be used to describe each element without distinction, or branch numbers may be used in addition to the common reference numerals to describe each element separately.

[0011] Also, in the following description, the description of 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 of A and B also means at least one of A and B, and A, B, and C means at least one of A, B, and C.

[0012] [Embodiment] (Configuration) First, the automatic guided vehicle management system according to the embodiment is a system included in a logistics system installed in a logistics center or a warehouse, etc., and is a system for managing an automatic guided vehicle that transports a shelf arranged in a warehouse or the like to a picking station. The automatic guided vehicle management system uses an automatic guided vehicle (AGV or AMR (Autonomous Mobile Robot), hereinafter simply referred to as a mobile body) to transport the shelf to a picking station (PS). At the picking station, the automatic guided vehicle management system performs a picking operation in which an operator or a picking robot picks a product from the shelf and sorts the picked products into a designated tray.

[0013] FIG. 1 is a diagram conceptually showing a configuration example of the automatic guided vehicle management system 100 according to the embodiment. As shown in FIG. 1, the automated guided vehicle management system 100 includes an automated guided vehicle management device 1, a warehouse management device 2, a mobile body 3, a shelf 30, a shelf storage area 40, a conveyance area 50, a picking station 60, and the like. Here, in this embodiment, the number of mobile bodies 3 and shelves 30, and the shelf storage area 40 can be freely set for the applicable warehouse, and can also be changed after operation.

[0014] The automated guided vehicle management device 1 can be realized by one or more computers. The automated guided vehicle management device 1 communicates with the mobile body 3 and the warehouse management device 2, and manages the mobile body 3 which is a conveyance robot. For example, the automated guided vehicle management device 1 may include a warehouse control system (WCS: Warehouse Control System). Although not shown in FIG. 1, a device including a warehouse operation management system (WES: Warehouse Execution System) may be provided between the automated guided vehicle management device 1 and the warehouse management device 2. And this device may undertake some or all of the functions implemented by the automated guided vehicle management device 1 in the following description.

[0015] Based on the order list received from the warehouse management device 2 described later, the automated guided vehicle management device 1 issues a picking instruction to the mobile body 3, and causes the mobile body 3 to convey the necessary shelf 30 to each picking station 60. Alternatively, the automated guided vehicle management device 1 issues a picking instruction to the mobile body 3, and causes the mobile body 3 to convey the shelves at each picking station to the shelf storage area 40.

[0016] The warehouse management device 2 transmits an order list indicating the products to be picked to the automated guided vehicle 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: Warehouse Management System) responsible for the incoming and outgoing of products or inventory management.

[0017] The warehouse management device 2 manages information regarding the products stored in the warehouse. For example, the warehouse management device 2 stores product management information indicating the products stored in the shelf 30 described later. Further, the warehouse management device 2 acquires an order list indicating the products to be picked from an external device.

[0018] The mobile unit 3 is an automatic guided vehicle that transports the shelf 30 to the picking station 60. The mobile unit 3 may be an autonomous shelf transport device such as an AGV or an AMR. The mobile unit 3 operates based on a control signal (picking instruction) from the automatic guided vehicle management device 1. For example, the mobile unit 3 travels toward the designated loading position based on the path information received from the automatic guided vehicle management device 1 and lifts the shelf 30 at the designated loading position. The mobile unit 3 travels toward the designated loading / unloading position and lowers the shelf 30 at the designated loading / unloading position (for example, a predetermined picking station 60). Further, after the picking operation at the picking station 60 is completed, the mobile unit 3 returns the shelf 30 to the shelf storage area 40. Note that in FIG. 1, only one mobile unit 3 is shown, but it goes without saying that there may be a plurality of mobile units 3 connected to the automatic guided vehicle management device 1.

[0019] The shelf 30 is arranged in the shelf storage area 40, which is an area for storing the shelf 30. The shelf 30 is a shelf for storing products. For example, the shelf 30 stands upright on four columns. The height under the shelf 30 (the height from the floor surface to the bottom of the shelf) is higher than the height of the mobile unit 3. Thereby, the mobile unit 3 can dive under the shelf 30. The mobile unit 3 that has dived under the shelf is lifted by a pusher so that the tip of the column is separated from the floor surface by several centimeters, and travels in a state where the shelf 30 is lifted. In this way, the mobile unit 3 transports the shelf 30.

[0020] Note that in the present embodiment, for the sake of simplicity, an example of the shelf 30 that can be lifted by the mobile unit 3 is described, but it is not limited thereto. For example, the shelf 30 may be a storage case or the like. That is, in the present embodiment, the shelf 30 may be any object capable of storing products.

[0021] Also, the method by which the moving body 3 conveys may be any method. For example, the moving body 3 may tow and convey a shelf 30 or a storage case or the like. That is, the moving body 3 may be able to convey to a predetermined position (such as a picking station 60) by any method such as lifting or towing the shelf 30 or the like.

[0022] The conveyance area 50 is an area where the moving body 3 moves. For example, the moving body 3 reads a two-dimensional code installed at a predetermined position in the conveyance area 50 and transmits the read information to the automatic guided vehicle management device 1. Thereby, the automatic guided vehicle management device 1 can accurately know where in the conveyance area 50 the moving body 3 is. Also, the automatic guided vehicle management device 1 may detect where in the conveyance area 50 the moving body 3 is using a camera not shown in FIG. 1. Further, the automatic guided vehicle management device 1 may also detect that the moving body 3 has moved from a certain conveyance area 50 to an adjacent conveyance area 50 based on the photographed information from the camera.

[0023] The connection between the automatic guided vehicle management device 1, the warehouse management device 2, or the moving body 3 may be connected via a network. Here, the network is, for example, a LAN (local area network). The moving body 3 may be wirelessly connected to the network.

[0024] The picking station 60 receives the shelf 30 conveyed by the moving body 3. The picking station 60 picks up products from the received shelf 30 by an operator or a picking robot (picking means). Also, although not shown in FIG. 1, a camera or the like is installed in the picking station 60, and it is assumed that the inside of the picking station 60 is being photographed. And it is assumed that the photographed image is being transmitted to the automatic guided vehicle management device 1 and the warehouse management device 2.

[0025] Next, the configuration of the automatic guided vehicle management device 1 in the automatic guided vehicle management system 100 according to the embodiment will be described. FIG. 2 is a diagram showing an example of the hardware configuration of the automatic guided vehicle management device 1 and the warehouse management device 2. The automatic guided vehicle management device 1 is composed of one or more computers. For example, the automatic guided vehicle management device 1 includes a processor 11, a RAM 12, a ROM 13, an auxiliary storage device 14, and a communication interface 15, etc.

[0026] The processor 11, the RAM 12, the ROM 13, the auxiliary storage device 14, and the communication interface 15 are connected to each other via a data bus or an interface, etc. The processor 11 has a function of controlling the operation of the entire automatic guided vehicle management device 1. The processor 11 may include an internal cache and various interfaces, etc. The processor 11 realizes various processes by executing a program pre-stored in an internal memory, the ROM 13, or the auxiliary storage device 14.

[0027] For example, the processor 11 is a CPU (Central Processing Unit). Note that the processor 11 may be realized by hardware such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array).

[0028] The RAM 12 is a memory used for reading and writing data. The RAM 12 is used as a so-called work area that stores data temporarily used when the processor 11 performs various processes.

[0029] The ROM 13 is a non-temporary computer-readable storage medium that stores the above program. Also, the ROM 13 stores data or various setting values used when the processor 11 performs various processes.

[0030] The auxiliary storage device 14 is a non-transitory computer-readable storage medium and may store the above program. Further, the auxiliary storage device 14 stores data used by the processor 11 to perform various processes, data generated by the processes in the processor 11, or various setting values, etc.

[0031] The auxiliary storage device (storage device) 14 may store in advance product management information indicating the products stored in each shelf 30. The product management information is information associating a shelf code indicating the shelf 30 with a product code indicating the product stored in the shelf 30. Further, when the shelf 30 is composed of a plurality of sections, the product code may be managed in association with a shelf section code indicating each section of the shelf 30.

[0032] Note that the automatic transport vehicle management device 1 may be transferred with the above program stored in the ROM 13 or the auxiliary storage device 14, or the automatic transport vehicle management device 1 may be transferred without storing the above program. In the latter case, the automatic transport vehicle management device 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 automatic transport vehicle management device 1 downloads the above program via a network or the like, and writes the downloaded program to the auxiliary storage device 14.

[0033] The communication interface 15 is an interface for transmitting and receiving data with various devices. The communication interface 15 is connected to the warehouse management device 2, the mobile body 3, etc. Further, the communication interface 15 acquires an order list, etc. from the warehouse management device 2, etc. For example, the communication interface 15 supports a LAN connection or the like. Further, the communication interface 15 may be configured to include an interface for transmitting and receiving data with the warehouse management device 2 and an interface for transmitting and receiving data with the mobile body 3.

[0034] For example, the automated guided vehicle management device 1 may obtain a new order list from the warehouse management device 2 via the communication interface 15 and the network. Further, the automated guided vehicle management device 1 may transmit the formulated work plan data to the mobile body 3.

[0035] The warehouse management device 2 is composed of one or more computers. For example, the warehouse management device 2 includes a processor 21, a RAM 22, a ROM 23, an auxiliary storage device 24, and a communication interface 25, etc.

[0036] The processor 21, the RAM 22, the ROM 23, the auxiliary storage device 24, and the communication interface 25 are connected to each other via a data bus or an interface, etc. The processor 21 has a function of controlling the operation of the entire warehouse management device 2. The processor 21 may include an internal cache and various interfaces, etc. The processor 21 realizes various processes by executing a program pre-stored in an internal memory, the ROM 23, or the auxiliary storage device 24.

[0037] For example, the processor 21 is a CPU. Note that the processor 21 may be realized by hardware such as an LSI, an ASIC, or an FPGA.

[0038] The RAM 22 is a memory used for reading and writing data. The RAM 22 is used as a so-called work area that stores data temporarily used when the processor 21 performs various processes.

[0039] The ROM 23 is a non-transitory computer-readable storage medium that stores the above program. Further, the ROM 23 stores data or various setting values used when the processor 21 performs various processes.

[0040] The auxiliary storage device 24 is a non-transitory computer-readable storage medium and may store the above program. Further, the auxiliary storage device 24 stores data used by the processor 21 to perform various processes, data generated by the processes in the processor 21, or various setting values, etc.

[0041] The auxiliary storage device (storage device) 24 stores the order list acquired from an external device.

[0042] Note that the warehouse management device 2 may be transferred with the above program stored in the ROM 23 or the auxiliary storage device 24, or the warehouse management device 2 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.

[0043] The communication interface 25 is an interface for transmitting and receiving data with various devices. The communication interface 25 is connected to the automatic guided vehicle management device 1 and external devices, etc. Further, the communication interface 25 acquires an order list etc. from an external device. For example, the communication interface 25 supports a LAN connection etc. Also, the communication interface 25 may include an interface for transmitting and receiving data with the automatic guided vehicle management device 1 and an interface for transmitting and receiving data with an external device.

[0044] For example, the processor 21 of the warehouse management device 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 automatic guided vehicle management device 1.

[0045] Next, the hardware configuration of the mobile body 3 in the automatic guided vehicle management system 100 according to the embodiment will be described. FIG. 3 is a diagram showing an example of the hardware configuration of the mobile body 3. The mobile body 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, etc.

[0046] The processor 31 has a function of controlling the operation of the entire mobile body 3. The processor 31 may include an internal cache and various interfaces, etc. The processor 31 realizes various processes by executing a program pre-stored in an internal memory, the ROM 33, or the auxiliary storage device 34.

[0047] For example, the processor 31 is a CPU. Note that 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 necessary for operations such as acceleration, deceleration, stop, direction change, and loading and unloading of the shelf 30. The processor 31 generates a drive signal based on a control signal from the automatic guided vehicle management device 1, etc., and outputs it to each part by executing a program stored in the ROM 33, etc.

[0048] For example, the automatic guided vehicle management device 1 transmits a control signal for moving the mobile body 3 from the current position to a first position (the position of the target shelf 30) and then from the first position to a second position (the position of the target picking station 60). Further, the automatic guided vehicle management device 1 transmits a control signal for moving the mobile body 3 from the second position to the first position. The processor 31 of the mobile body 3 outputs a drive signal corresponding to the control signal transmitted from the automatic guided vehicle management device 1. Thereby, the mobile body 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. Also, the processor 31 outputs a drive signal corresponding to the loading and unloading instruction of the shelf 30 included in the control signal transmitted from the automatic guided vehicle management device 1. Thereby, the mobile body 3 raises the shelf 30 by a pusher or lowers the lifted shelf 30.

[0049] Note that when the mobile body 3 returns the shelf 30 from the second position, it may perform the return to a third position (any position within the shelf storage area 40) different from the first position where the shelf was stored. Further, the mobile body 3 may directly move from the second position to the fourth position (picking station 60) without returning the shelf 30.

[0050] In addition, the automatic guided vehicle management device 1 may transmit a control signal for moving the mobile body 3 from the current position to the first position, moving it from the first position to the second position, and moving it from the second position to the first position all at once. Also, the control signal for moving the mobile body 3 to the first position or the second position may be transmitted separately. The automatic guided vehicle management device 1 may, for example, divide the control signal into a control signal for setting at least one waypoint and moving the mobile body 3 to the waypoint and a control signal for moving the mobile body 3 from the waypoint to the first position or the second position, and transmit each control signal to the mobile body 3.

[0051] Furthermore, the mobile body 3 reads a two-dimensional code (e.g., QR code (registered trademark)) attached to the conveyance area 50 and transmits the read information to the automatic guided vehicle management device 1.

[0052] The RAM 32 is a memory used for reading and writing data. The RAM 32 is utilized as a so-called work area or the like that stores data temporarily used when the processor 31 performs various processes.

[0053] The ROM 33 is a non-temporary computer-readable storage medium that stores the above program. Also, the ROM 33 stores data or various setting values used when the processor 31 performs various processes.

[0054] The auxiliary storage device 34 is a non-transitory computer-readable storage medium and may store the above program. Further, the auxiliary storage device 34 stores data used when the processor 31 performs various processes, data generated by the processes in the processor 31, or various setting values, etc.

[0055] The communication interface 35 is an interface for transmitting and receiving data to and from the automatic transport vehicle management device 1 etc. through a wireless LAN access point or the like. For example, the communication interface 35 supports a wireless LAN connection.

[0056] 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 tire 301 and to the steering mechanism. Due to the power from such a motor, the moving body 3 moves to the destination.

[0057] Also, in a state where the moving body 3 has dived under the shelf 30, the drive unit 36 rotates (clockwise) the motor based on a drive signal output from the processor 31. Due to the power from this motor, the pusher rises and the shelf 30 is lifted. Further, after the moving body 3 reaches the destination, the drive unit 36 rotates (counterclockwise) the motor based on a drive signal output from the processor 31. Due to the power from this motor, the pusher descends and the shelf 30 is lowered to the floor surface.

[0058] The sensor 37 is a plurality of reflection sensors. Each reflection sensor is attached around the moving body 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 a detection signal to the processor 31.

[0059] Based on the detection signal from sensor 37, processor 31 outputs a control signal for controlling the running of moving body 3. For example, based on the detection signal from sensor 37, processor 31 outputs a control signal such as deceleration or stop to avoid collision with an object. In addition to sensor 37, a camera may be provided, and the camera may capture the surrounding area and output the captured image to processor 31. In this case, processor 31 analyzes the captured image and outputs a control signal such as deceleration or stop to avoid collision with an object. Further, when the detected object is on the moving path, processor 31 transmits information indicating an abnormality to automatic guided vehicle management device 1 through communication interface 35.

[0060] Furthermore, processor 31 operating as a self-position detection unit detects the current position of moving body 3 using the captured images from sensor 37 and the camera. Then, processor 31 transmits the detected position, the moving direction, etc. included in the position information to automatic guided vehicle management device 1.

[0061] Battery 38 supplies the power required for drive unit 36 etc. Charging mechanism 39 is a mechanism for connecting the charging station and battery 38, and battery 38 is charged by the power supplied from the charging station etc. via charging mechanism 39.

[0062] Next, the software configuration of automatic guided vehicle management device 1 in automatic guided vehicle management system 100 according to the embodiment will be described. FIG. 4 is a diagram showing an example of the software configuration of automatic guided vehicle management device 1. Automatic guided vehicle management device 1 has various databases provided in a storage device such as the internal memory of processor 11, ROM 13, or 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 automatic guided vehicle management device 1 by communication interface 15. Also, the data input to automatic guided vehicle management device 1 by communication interface 15 is stored in a storage unit such as ROM 13.

[0063] The memory unit includes, as an example, a shelf information memory unit 131, a status memory unit 132, a route plan memory unit 133, a map information memory unit 134, a passing order plan memory unit 135, an operation status memory unit 136, etc. In the example of FIG. 4, an example in which these memory units are stored in the ROM 13 is shown.

[0064] The shelf information memory unit 131 is a memory unit that stores shelf information. FIG. 5 is a diagram showing an example of the shelf information stored in the shelf information memory unit 131. As shown in FIG. 5, the shelf information includes a management number of the shelf (described as the shelf number in FIG. 5), a status indicating whether the shelf is in use, a storage product number indicating the management number of the product stored on the shelf, and the like.

[0065] The status memory unit 132 is a memory unit that stores mobile body status information related to the mobile body. FIG. 6 is a diagram showing an example of the mobile body status information stored in the status memory unit 132. As shown in FIG. 6, the mobile body status information includes a mobile body number corresponding to each mobile body 3, an operation status of the mobile body 3 (simply described as the status in FIG. 6), a number of the shelf 30 to be transported, a number of the order that the mobile body 3 is in charge of, the current position of the mobile body 3, information on whether it has entered the management area (described as the entry record in FIG. 6), information on which management area it enters, etc. Here, the details of the management area will be described later. Also, the mobile body status information may include the maximum speed of the mobile body, the time required for the mobile body 3 to change direction respectively, etc. For example, the processor 11 causes the status memory unit 132 to store the position information of the mobile body transmitted by the mobile body 3.

[0066] The route plan memory unit 133 is a memory unit that stores a series of movement routes until each mobile body 3 moves to the destination.

[0067] The map information storage unit 134 is a storage unit that stores map information on the environment in which the mobile body 3 operates. The map information includes, for example, the position information of the mobile body 3, the shelves 30, the shelf storage area 40, the picking station 60, etc., as well as information on whether the mobile body 3 can travel through sections such as pillars and obstacles, and information on whether it is a management area.

[0068] Here, the management area consists of two types: an area (static management area) that can be arbitrarily set by the user of the system at a location where competition is likely to occur among the mobile bodies 3, and an area (dynamic management area) that is automatically set by the automatic guided vehicle management device 1. Both types of management areas are set for the purpose of preventing competition among the mobile bodies from occurring within the management area by setting the passing order of the mobile body 3 when passing through the management area.

[0069] FIG. 7 is a diagram showing an example of the map information stored in the map information storage unit 134. As shown in FIG. 7, the map information stores information such as the management numbers of various objects (mobile body 3, shelves 30, pillars, obstacles, etc.) in the warehouse, the center coordinates of the objects, whether the management area can be set, the presence or absence of a mobile body, the presence or absence of a shelf, the area classification, and whether it is a shelf storage area.

[0070] In addition, the map information storage unit 134 may store the map information not only in a tabular format but also as an actual map.

[0071] FIG. 8 is a diagram showing an example of the map information stored in the map information storage unit 134. As shown in FIG. 8, the map information storage unit 134 may store the management area etc. as map information in association with the map in the warehouse.

[0072] The passing order plan storage unit 135 is a storage unit that stores a passing order plan indicating the order of each mobile body 3 passing through an arbitrary point. For example, the passing order plan represents an order such as a mobile body 3 at an arbitrary point comes first, and then another mobile body 3 comes next...

[0073] FIG. 9 is a diagram showing an example of the passage order plan stored in the passage order plan storage unit 135. As shown in FIG. 9, the passage order plan includes the passage order of the moving body 3 at an arbitrary point in the map information (described as the management number of the map in the example of FIG. 9). Further, the passage order plan may include the scheduled passage time of the moving body 3.

[0074] The operation status storage unit 136 is a storage unit that stores environmental information of the environment in which the automatic guided vehicle management device 1 is operating.

[0075] FIG. 10 is a diagram showing an example of the environmental information stored in the operation status storage unit 136. As shown in FIG. 10, the environmental information includes various information such as the floor area of the warehouse (described as the warehouse size in FIG. 10), the control interval of the moving body (for example, the size of the management unit by the automatic guided vehicle management device 1), the number of operating moving bodies 3, the generation interval of new operations (orders), the generation interval of conflicts between moving bodies, the time required for planning the route plan and passage order plan of the moving body, and the ratio of the management area to the floor area. Note that the information listed here is only an example, and the environmental information may further include information that may affect the planning time or calculation frequency of the route plan and passage order plan of the moving body 3. Further, the environmental information may include only a part of the above-described information, rather than all of the information.

[0076] The processor 11 includes a reception control unit 111, an operation plan unit 112, a first operation plan unit 113, and a second operation plan unit 114.

[0077] The reception control unit 111 receives order information and the like received by the warehouse management device 2 from an external device. Then, the reception control unit 111 stores the received order information list in the ROM 13, the auxiliary storage device 14, and the like. Further, the reception control unit 111 receives the current position information of the moving body 3 from the moving body 3. The reception control unit 111 stores the received position information in the state storage unit 132.

[0078] FIG. 11 is a diagram showing an example of order information. As shown in FIG. 11, the order information includes information such as an order number, a product management number, product information such as the number of products, and information on which shelf 30 the product is stored on. Further, as shown in FIG. 11, it may include information on whether the processing corresponding to the order number has been completed (described as the status in FIG. 11).

[0079] Based on the order information received by the reception control unit 111, the shelf information stored in the shelf information storage unit 131, and the moving body status information stored in the status storage unit 132, the operation planning unit 112 determines which order to assign to which moving body. For example, the operation planning unit 112 determines the moving body 3 that transports the shelf 30 and the destination to which the moving body 3 should move. The operation planning unit 112 stores the determined operation plan in the route plan storage unit 133 as a route plan. Note that the operation planning unit 112 may determine the operation plan in a general manner so as to obtain the minimum route and the shortest time, etc. Therefore, a detailed description of the method for determining the operation plan here is omitted.

[0080] Note that the destination determined by the operation planning unit 112 changes depending on the operation status of the moving body 3. When the moving body 3 does not hold the shelf 30, the position where the shelf 30 to be transported is installed is the destination. On the other hand, when the moving body 3 holds the shelf 30 and before the product is taken out, the picking station 60 where the worker is located is the destination. Further, when the moving body 3 holds the shelf 30 and after the product has been taken out at the picking station 6, the position to return the shelf 30 is the destination.

[0081] Furthermore, the operation planning unit 112 may detect the position of the moving body 3 and manage whether the processing is proceeding as planned in the route plan. Also, the operation planning unit 112 may detect the position of the moving body 3 and manage whether the processing is proceeding as planned in the planned passing order plan.

[0082] The first operation planning unit 113 includes a first route planning unit 1131, a first travel timing determination unit 1132, a passing order determination unit 1133, a first command unit 1134, and a first travel control unit 1135.

[0083] The first route planning unit 1131 creates a route plan for the moving body 3 managed by the first operation management method to move to the destination based on the operation information of the moving body 3 stored in the state storage unit 132.

[0084] The first travel timing determination unit 1132 sets the timing of stopping or decelerating the moving body 3, or the time of departure or arrival at an arbitrary point so that the moving bodies 3 do not compete with each other based on the route plan generated by the first route planning unit 1131.

[0085] The passing order determination unit 1133 updates the passing order plan stored in the passing order plan storage unit 135 using the result set by the first travel timing determination unit 1132.

[0086] The first command unit 1134 is a communication control unit used when transmitting movement command data to the moving body 3.

[0087] The first travel control unit 1135 is a control unit that controls the moving body 3 managed by the first operation management method.

[0088] The second operation planning unit 114 includes a second route planning unit 1141, a management area setting unit 1142, a second travel timing determination unit 1143, a second command unit 1144, and a second travel control unit 1145.

[0089] The second route planning unit 1141 creates a route plan for the moving body 3 managed by the second operation management method to move to the destination based on the operation information of the moving body 3 stored in the state storage unit 132. Also, when a conflict occurs among a plurality of moving bodies 3, a route plan for moving to the destination while resolving the conflict is created.

[0090] The management area setting unit 1142 sets a dynamic management area within the warehouse area taking into account information such as the number of surrounding moving bodies 3 when a conflict occurs in the moving body 3.

[0091] The second travel timing determination unit 1143 sets the timing of stopping or decelerating the moving body 3, the time of departing from an arbitrary point, or the time of arrival so as to resolve a conflict when a conflict occurs.

[0092] The second command unit 1144 is a communication control unit used when transmitting movement command data to the moving body 3.

[0093] The second travel control unit 1145 is a control unit that controls the moving body 3 managed by the second operation management method. For example, it determines whether a conflict occurs between the moving bodies 3, and if it determines that a conflict has occurred, it requests the second route planning unit 1141 and the second travel timing determination unit 1143 to resolve the conflict.

[0094] (Operation) FIG. 12 is a flowchart for explaining an example of the operation when the automatic guided vehicle management device 1 according to the embodiment instructs the moving body 3 to carry the shelf 30. The operation of this flowchart is realized by the processor 11 of the automatic guided vehicle management device 1 reading and executing a program stored in the internal memory, RAM 12, or ROM 13 of the processor 11.

[0095] This flowchart is executed when a request for route planning to the moving body 3 occurs. A request for route planning to the moving body is issued when a new order is received, when there is a moving body 3 whose work has been completed, when the automatic guided vehicle management device 1 detects a conflict of the moving body 3, when a deviation occurs from a previous passing order plan, and the like.

[0096] In step ST101, the operation planning unit 112 detects the position of the moving body 3. The operation planning unit 112 detects the position of the moving body 3 stored in the state storage unit 132. Alternatively, the operation planning unit 112 acquires the position information transmitted by the moving body 3 and detects the position of the moving body 3 based on the acquired position information.

[0097] In step ST102, the operation planning unit 112 updates the route plan. The operation planning unit 112 updates the route plan stored in the route plan storage unit 133 based on the position of the moving body 3. Note that in the process of the first step ST102 when receiving order information, no route plan is stored in the route plan storage unit 133. In such a case, the process of step ST102 may be skipped.

[0098] In step ST103, after the operation planning unit 112 updates the route plan, it determines whether all operations have been completed. If it is determined that all operations have been completed, the process ends. On the other hand, if it is determined that all operations have not been completed, that is, there are unexecuted operations, the process proceeds to step ST104.

[0099] In step ST104, the operation planning unit 112 determines whether the moving body 3 exists in a predetermined area. For example, the operation planning unit 112 determines whether the moving body 3 exists within or enters the management area based on the position information of the moving body 3 acquired in step ST101, the map information in the map information storage unit 134, the route information in the route information storage unit 133, etc. If it is determined that the moving body may exist within or enter the management area, the process proceeds to step ST105. On the other hand, if it is determined that the moving body is not in the management area or has no possibility of entering the management area, the process proceeds to step ST106.

[0100] In step ST105, the operation planning unit 112 updates the operation management method of the moving body 3 passing through the management area determined in step ST104 to the first operation management method based on the route information. Then, the process proceeds to step ST112. Here, at the time of the first operation execution, when there is no route plan for all moving bodies 3, or for the moving body 3 that has no route information because it was in a standby state, the operation planning unit 112 sets the operation planning method to the first operation planning method.

[0101] Here, the first operation planning method is an operation management method that determines the passing order of the mobile body 3 in advance and avoids the occurrence of competition by adhering to the passing order.

[0102] In step ST106, the operation planning unit 112 acquires the operation management information of each mobile body from the state storage unit 132.

[0103] In step ST107, the operation planning unit 112 refers to the mobile body state information stored in the state storage unit 132 and determines whether there is a request to execute replanning including the passing order. For example, if the replanning plan including the determination of the passing order included in the mobile body state information is TRUE, it is determined that there is a request to execute, and if it is NULL, it is determined that there is no request to execute. If it is determined that there is no request to execute, the process proceeds to step ST112. On the other hand, if it is determined that there is a request to execute, the process proceeds to step ST108.

[0104] In addition, when the route plans of all the mobile bodies 3 do not exist at the time of the first operation execution, the operation planning unit 112 sets the operation management method to the first operation planning method in the same manner as in step ST105. Also, for the mobile body 3 that did not have route information because it was in a standby state, the operation management method may be set to the first operation planning method, or the operation management method may be determined in step ST109 described below.

[0105] In step ST108, the operation planning unit 112 determines whether it was planning with the second operation management method. For example, the operation planning unit 112 determines whether the replanning plan from the second operation management method stored in the state storage unit 132 is TRUE. If it is determined to be TRUE, it is determined that it was planning with the second operation management method, and the process proceeds to step ST110. On the other hand, if it is NULL, it is determined that it was not planning with the second operation management method, and the process proceeds to step ST109.

[0106] In step ST109, the operation planning unit 112 determines whether the operation scale is equal to or less than a predetermined threshold value. The operation planning unit 112 determines by setting a predetermined threshold value for any one of the environmental information stored in the operation status storage unit 136. The operation planning unit 112 multiplies a plurality of pieces of the environmental information by a predetermined coefficient and evaluates the value obtained by taking the sum thereof. Alternatively, the operation planning unit 112 makes a determination based on the past performance, based on the time taken for the execution of the route plan or the passing order plan, or either one of them. If it is determined that the operation scale is equal to or less than the predetermined threshold value, the process proceeds to step ST110. On the other hand, if it exceeds the predetermined threshold value, the process proceeds to step ST111.

[0107] Here, as an example, a method of calculating the operation scale based on the occurrence intervals of two events that require a route plan for the mobile body 3, namely, the occurrence interval of competition between the mobile bodies 3 and the occurrence interval of new operations, and the planned time of the route plan and passing order plan of the mobile body 3 will be given. When the occurrence intervals of competition between the mobile bodies 3 and the occurrence interval of new operations are both 10 seconds, the interval at which either one of the events occurs can be regarded as 5 seconds. When the value obtained by subtracting the event occurrence interval from the planned time of the route plan and passing order plan of the mobile body is regarded as the operation scale and the threshold value of the operation scale is set to 0, if the operation scale takes a negative value, since the planned time of the route plan and passing order plan is shorter than the interval in which a route plan is required, it can be regarded that all the mobile bodies 3 can be controlled by the first operation management method.

[0108] In step ST110, the operation planning unit 112 updates the operation management method of the mobile body state information stored in the state storage unit 132 to the first operation planning method. Then, the operation planning unit 112 changes the operation management method of the mobile body state information corresponding to the mobile body 3 for which a replanning request exists to the first operation planning method.

[0109] In step ST111, the operation planning unit 112 updates the operation management method of the moving body state information stored in the state storage unit 132 to a second operation management method. In step ST108, when the operation scale is not less than a predetermined threshold, the operation planning unit 112 changes the operation management method of the moving body state information corresponding to the moving body 3 with a replanning request to the second operation management method. Then, the process proceeds to step ST118.

[0110] Here, the second operation management method is an operation management method that does not pre-determine the passing order of the moving bodies 3, and when a conflict occurs, in order to resolve the conflict, it implements the determination of the passing order and the update of the route plan among the corresponding moving bodies 3.

[0111] In step ST112, the operation planning unit 112 determines whether the operation management method of the moving body state information stored in the state storage unit 132 is the first operation management method. If it is determined that it is the first operation management method, the process proceeds to step ST113. On the other hand, if it is determined that it is not the first operation management method, the process proceeds to step ST118.

[0112] In step ST113, the first route planning unit 1131 of the first operation planning unit 113 updates the route plan for the moving body 3 of the first operation planning method. For example, based on the operation information of the moving body 3 stored in the state storage unit 132, the first route planning unit 1131 updates the route plan for the moving body 3 managed by the first operation management method to move to the destination.

[0113] Here, in step ST113 when the order is received for the first time, the route plan has not been created. In this case, in step ST113, the first route planning unit 1131 may generate a route plan.

[0114] In step ST114, the first passing order determination unit 1133 updates the passing order plan. The first passing order determination unit 1133 determines the passing order of the points (points subject to passing order management) where the routes between the mobile bodies 3 overlap and the passing order of the management area after the update of the route plan. Then, the passing order determination unit 1133 updates the passing order. When updating by the passing order determination unit 1133, based on the route plan generated by the first route planning unit 1131, the first driving timing determination unit 1132 sets the timing of stopping or decelerating the mobile body 3, or the time of departure from or arrival at an arbitrary point so that the mobile bodies 3 do not conflict with each other. Then, the passing order determination unit 1133 updates the passing order plan stored in the passing order plan storage unit 135 using the result set by the first driving timing determination unit 1132. Also, it is assumed that the passing order information and the traveling route information determined in the above steps are provided to the first driving control unit 1135. Also, when the passing order plan has not been created, the passing order determination unit 1133 may of course generate a passing order plan using the same method as the update. Also, the time information set by the first driving timing determination unit 1132 may be added to the route information recording unit 131.

[0115] In step ST115, the first driving control unit 1135 manages the operation of the mobile body 3 by acquiring driving information including the current position information and the conveyance state from the mobile body 3.

[0116] FIG. 13 is a flowchart for explaining the process of step ST115 in more detail. In step ST201, the first driving control unit 1135 detects the position of the mobile body 3. The first driving control unit 1135 detects the current position of the mobile body 3 stored in the state storage unit 132. Alternatively, the first driving control unit 1135 may detect the current position of the mobile body 3 based on the position information of the mobile body 3 received by the reception control unit 111.

[0117] In step ST202, the first travel control unit 1135 acquires map information. The first travel control unit 1135 acquires the map information stored in the map information storage unit 134.

[0118] In step ST203, the first travel control unit 1135 updates the information stored in each storage unit. For example, the first travel control unit 1135 updates the moving body state information stored in the state storage unit 132, the route information stored in the route plan storage unit 133, and the passage order plan stored in the passage order plan storage unit 135, respectively.

[0119] In step ST204, the first travel control unit 1135 determines whether there is a moving body 3 scheduled to pass through the dynamic management area. For example, the first travel control unit 1135 determines whether there is a moving body 3 scheduled to pass through the dynamic management area or whether there is a moving body 3 within the dynamic management area. If it is determined that there is a moving body scheduled to pass through the dynamic management area or there is a moving body 3 within the dynamic management area, the process proceeds to step ST206. On the other hand, if it is determined that there is no moving body 3 scheduled to pass through the dynamic management area or there is no moving body 3 within the dynamic management area, the process proceeds to step ST205.

[0120] In step ST205, the first travel control unit 1135 updates the map information. If it is determined that there is no moving body 3 scheduled to pass through the dynamic management area or there is no moving body 3 within the dynamic management area, the dynamic management area is not necessary. Therefore, the first travel control unit 1135 releases the dynamic management area and updates the map information.

[0121] In step ST206, the first travel control unit 1135 acquires the passage order plan from the passage order plan storage unit 135. If it is determined that there is a moving body 3 scheduled to pass through the dynamic management area or there is a moving body 3 within the dynamic management area, the release of the dynamic management area is not performed. Then, the first travel control unit 1135 acquires the passage order plan of the moving body 3 from the passage order plan storage unit 135.

[0122] In step ST207, the first travel control unit 1135 determines whether passage is possible. For example, in the passage order plan of the position to which a certain moving body 3 will next move, if the moving body 3 that should pass first matches the certain moving body 3, it is determined that the passage order plan is being followed. In this case, the process proceeds to step ST208. On the other hand, in the passage order plan of the position to which a certain moving body 3 will next move, if there is a moving body 3 that should pass first, that is, if there is another moving body 3 that should pass first, it is determined that the passage order plan is not being followed. In this case, the process proceeds to step ST209.

[0123] In step ST208, the first travel control unit 1135 transmits movement command data to the moving body 3 to continue the movement. For example, the first travel control unit 1135 transmits movement command data to the moving body 3 registered as the first operation plan method via the first command unit 1134. As a result, the moving body 3 managed by the first operation management method will continue to move.

[0124] In step ST209, the first travel control unit 1135 transmits a stop command to the moving body 3. In the passage order plan, since there is another moving body 3 that passes through the position where the moving body 3 will next move, it is necessary to stop until the other moving body 3 passes. Therefore, the first travel control unit 1135 transmits a stop command to the moving body 3 via the first command unit 1134.

[0125] Returning to FIG. 12, in step ST116, the first travel control unit 1135 determines whether there is a deviation from the passage order plan based on the current position of the moving body 3. If it is determined that there is a deviation from the previously determined passage order plan, the first travel control unit 1135 determines that it is necessary to execute the re-implementation of the route plan. Therefore, the process returns to step ST101. On the other hand, if it is determined that there is no deviation from the previously determined passage order plan, that is, if it is determined that the pre-plan is being followed, the process proceeds to step ST115.

[0126] Here, the determination when a deviation occurs from the passing order plan may be made by any method, for example, in the passing order plan of step ST209 in FIG. 13, when the time that the moving body 3 waits for another moving body 3 passing through the position where the moving body 3 will move next exceeds a certain time, although the passing order plan is being followed, if there is a deviation of more than a certain time between the planned passing time and the actual passing time, or if a conflict occurs with the moving body 3 being managed by the operation management method 2, etc.

[0127] In step ST117, the first travel control unit 1135 determines whether there is a moving body whose planned travel has ended. For example, the first travel control unit 1135 determines whether a moving body 3 that has arrived at the destination, that is, whose operation has been completed as per the route plan, has occurred. If it is determined that such a moving body has occurred, it is determined that it is necessary to execute the re - implementation of the route plan, and the process returns to step ST101. On the other hand, if it is determined that there is no moving body 3 that has arrived at the destination, the process returns to step ST115. That is, when the pre - plan can be adhered to and there is no moving body 3 that has arrived at the destination, the process will repeat steps ST115 to ST117.

[0128] In step ST118, the second route planning unit 1141 of the second operation planning unit 114 updates the route plan for the moving body 3 using the second operation planning method. For example, the second route planning unit 1141 updates the route plan for the moving body 3 to move to the destination based on the operation information of the moving body 3 stored in the state storage unit 132.

[0129] In step ST119, the second travel control unit 1145 manages the operation of the moving body 3 by acquiring travel information including the current position information and the conveyance state from the moving body 3.

[0130] FIG. 14 is a flowchart that further details the process of step ST119. In step ST301, the second travel control unit 1145 detects the position of the moving body 3. The second travel control unit 1145 detects the current position of the moving body 3 stored in the state storage unit 132. Alternatively, the second travel control unit 1145 may detect the current position of the moving body 3 based on the position information of the moving body 3 received by the reception control unit 111.

[0131] In step ST302, the second travel control unit 1145 acquires map information. The second travel control unit 1145 acquires the map information stored in the map information storage unit 134.

[0132] In step ST303, the second travel control unit 1145 determines whether there is a moving body entering the management area. For example, the second travel control unit 1145 determines whether there is a moving body entering the management area in the next movement command based on the movement route stored in the route plan storage unit 133, the position information of the moving body 3, and the map information stored in the map information storage unit 134. Here, the management area includes both a static management area and a dynamic management area. If there is a corresponding moving body 3, the process proceeds to step ST314. On the other hand, if there is no corresponding moving body 3, the process proceeds to step ST306.

[0133] In step ST304, the second travel control unit 1145 updates the operation management method of the moving body 3 in the management area to the first operation management method. The second travel control unit 1145 updates the operation management method of the corresponding moving body 3 in the moving body state information stored in the state storage unit 132 to the first operation management method.

[0134] In step ST305, the second travel control unit 1145 transmits stop command data to the moving body 3 in the management area. The second travel control unit 1145 transmits stop command data to the corresponding moving body 3 via the second command unit 1144. Note that the stop command data may be executed when the execution time of the replanning is sufficiently longer than the time to move to the position where the conflict occurs, and may not be executed when the execution time of the replanning is sufficiently short.

[0135] In step ST306, the second travel control unit 1145 updates the replanning request. The second travel control unit 1145 updates the replanning request of the mobile body state information stored in the state storage unit 132 and requests replanning.

[0136] In step ST307, the second travel control unit 1145 determines whether there is a possibility of conflict between the mobile bodies 3. The second travel control unit 1145 determines whether there is a possibility of conflict between the mobile bodies 3 based on the map information stored in the map information storage unit 134, the position information of the mobile body 3, and the travel route stored in the route planning storage unit 133. As a determination method, for example, any method such as whether it is a movement command targeting the same position, whether the distance between the mobile bodies has become equal to or less than a certain value, whether there is an overlap in the routes and the travel distances to the overlapping points are the same, etc. may be used for determination. If it is determined that there is no possibility of conflict, the process proceeds to step ST312. On the other hand, if it is determined that there is a possibility of conflict, the process proceeds to step ST307.

[0137] In step ST308, the second travel control unit 1145 determines whether the operation density is equal to or less than a predetermined threshold. Here, the operation density refers to the number of mobile bodies 3 operating with respect to the area in an arbitrary region within a certain warehouse. When the area within the warehouse is managed in cells, the operation density may be the number of mobile bodies 3 operating with respect to the cells. Here, regarding the threshold for the number of mobile bodies, the user of the system may freely determine it according to the aisle width of the warehouse and the number of operating mobile bodies. Also, when the number of operating units changes moment by moment, the ratio to the number of operating units may be used as the threshold so as to change according to the operation status.

[0138] If the operation density is equal to or less than the predetermined threshold, the process proceeds to step ST309. On the other hand, if the operation density is greater than the predetermined threshold, the process proceeds to step ST313.

[0139] In step ST309, the second travel control unit 1145 determines whether the conflict state can be resolved. The second travel control unit 1145 determines whether the conflict state can be resolved by changing the route of one of the moving objects 3 in the conflict state, determining the passing order, or both. For example, it is determined whether the conflict state can be resolved by having one moving object 3 stop on the spot, decelerate, or change direction and move to a movable evacuation location.

[0140] FIG. 15 is a diagram showing an example of an evacuation method for the moving object 3. As shown in FIGS. 15(a) and 15(b), the conflict state is resolved by evacuating one of the moving objects in the conflict state, the moving object 3, to a location different from the travel route.

[0141] Here, as an example, a method of changing only the route or passing order of one moving object, or both, has been described, but the number of objects to be changed is merely an example and the number is not limited. However, if the number increases, it may take time to determine whether the conflict state can be resolved. Therefore, taking into account the risk of an increase in the waiting time until restart due to an increase in the determination time, the designer may freely set it. Also, the determination of whether it can be resolved may be made based on whether the second route planning unit 1141 or the second travel timing determination unit 1143 can generate a route plan or passing order that can resolve the conflict state within the time specified by the designer.

[0142] If it is determined that the conflict state can be resolved, the process proceeds to step ST310. On the other hand, if it is determined that the conflict state cannot be resolved, the process proceeds to step ST304.

[0143] In step ST310, the second travel control unit 1145 updates the route of the corresponding moving object 3 to the route generated by the second route planning unit 1141. The second travel control unit 1145 updates the route plan stored in the route plan storage unit 133 corresponding to the evacuated moving object 3.

[0144] In step ST311, the second travel control unit 1145 updates the passing order plan of the corresponding mobile body 3 to the passing order generated by the second travel timing determination unit 1143. The second travel control unit 1145 updates the passing order stored in the passing order plan storage unit 135 corresponding to the mobile body 3 that has taken shelter according to the degree of evacuation.

[0145] In step ST312, the second travel control unit 1145 transmits movement command data to each of the mobile bodies 3. The second travel control unit 1145 transmits movement command data to each of the mobile bodies 3 via the second command unit 1144. Then, the process proceeds to step ST121.

[0146] In step ST313, the second travel control unit 1145 sets a dynamic management area. In step ST308, when it is determined that the operation density is greater than a predetermined threshold, the second travel control unit 1145 sets a dynamic management area. After setting the dynamic management area, the process proceeds to step ST304.

[0147] FIG. 16 is a diagram showing an example of a method for setting a dynamic management area. As shown in FIG. 16, when there is a mobile body 3 that causes a conflict within a certain range (within the determination area) centered on an arbitrary point on the map, or a mobile body 3 that has a conflict with a previously set passing timing plan (a mobile body 3 that is waiting for the passage of another mobile body beyond the pre-plan), and the number of mobile bodies 3 within the determination area exceeds the threshold, a dynamic management area is set. The dynamic management area may be the same as the determination area, or may be set in a form that includes nodes adjacent to the determination area. Also, when setting the management area, the management area may be set based on the current position of the mobile body 3 existing within the determination area, the route information of the planned passage, and the like.

[0148] Returning to FIG. 12, in step ST120, the second travel control unit 1145 determines whether there is a mobile body whose travel plan has ended. For example, the second travel control unit 1145 determines whether a mobile body 3 that has arrived at the destination, that is, a mobile body 3 whose operation has been completed as per the route plan, has occurred. If it is determined that such a mobile body has occurred, it is determined that it is necessary to execute re-implementation of the route plan, and the process returns to step ST101. On the other hand, if it is determined that there is no mobile body 3 that has arrived at the destination, the process returns to step ST119. That is, when there is no mobile body that has arrived at the destination, the process repeats steps ST119 to ST120.

[0149] Here, the operations of steps ST115 and ST119, that is, the operations in FIGS. 13 and 14, may be operated in parallel with the processing of each step in FIG. 12. That is, the management of the mobile body 3, which is the operation of steps ST115 and ST119, may be carried out during the operation of all steps.

[0150] (Advantages and effects of the embodiment) According to the embodiment described above, the automatic guided vehicle management device 1 can realize efficient travel of the mobile body according to the operating status of the warehouse by switching between two operation management methods.

[0151] [First modification example of the embodiment] Next, in the embodiment, an example in which the processor 11 of the automatic guided vehicle management device 1 includes the first operation planning unit 113 and the second operation planning unit 114 has been described. However, in the first modification example of the embodiment, only the first operation planning unit 113 is provided.

[0152] FIG. 17 is a diagram showing an example of the software configuration of the automatic guided vehicle management device 1 according to the first embodiment of the embodiment. As shown in FIG. 17, in the first embodiment of the embodiment, the first operation planning unit 113 is different from the first embodiment in that, in addition to the first route planning unit 1131, the first driving timing determination unit 1132, the passing order determination unit 1133, the first command unit 1134, and the first driving control unit 1135, it includes a management area setting unit 1142, a second driving timing determination unit 1143, a second command unit 1144, and a second driving control unit 1145.

[0153] In the first modification of the embodiment, the operation performed by the second route planning unit 1141 may be performed by the first route planning unit 1131. The other software configurations may be the same as those in the embodiment.

[0154] [Second Modification of the Embodiment] Next, in the embodiment, the area for observing the passing order is set as the management area. However, the case where the passing order is set only when a conflict occurs and the area for observing the operation management method is set as the management area will be described.

[0155] FIG. 18 is a diagram showing an example of a method for setting a management area in the second modification of the embodiment. A situation where the second modification of the embodiment is applied is a case where most of the inside of the warehouse is occupied by a pre-set management area. In a situation where the passage between the shelf storage areas is pre-set as the management area, there is a possibility that the passage width may temporarily increase when a shelf is transported from the shelf storage area. In such a case, even if a conflict occurs between moving bodies on the passage, since a retreat place can be secured, if a dynamic management area where the passing order is not defined is set, it is possible to pass in the order of arrival at the passage, so there is a possibility of realizing more efficient conveyance.

[0156] Note that the dynamic area will be released triggered by, for example, the passage width returning to the original width due to the return of a shelf or the like.

[0157] (Operational Effects of the Modification of the Embodiment) According to the modification example of the embodiment described above, when the passage width expands due to the conveyance of the shelf, the automatic guided vehicle management device 1 sets the area as a dynamic management area that does not define the passing order. Thereby, the moving bodies can be passed in the order of arrival at the passage, and efficient conveyance can be realized.

[0158] [Other Embodiments] In the embodiment, an example in which one processor, that is, the first operation planning unit 113 and the second operation planning unit 114 are executed within one device has been described, but they may be implemented separately by two processors, that is, two devices. That is, the automatic guided vehicle management system may include a first automatic guided vehicle management device that implements the first operation planning unit 113 and a second automatic guided vehicle management device that implements the second operation planning unit.

[0159] The program according to the present embodiment may be transferred in a state stored in an electronic device (computer) as the automatic guided vehicle management device 1, or may be transferred in a state not stored in the electronic device. In the latter case, the program may be transferred via a network or may be transferred in a state stored in a storage medium. The storage medium is a non-transitory tangible medium. The storage medium is a medium (computer-readable medium) readable by a computer as the automatic guided vehicle management device 1. The storage medium may be any medium that can store a program and is readable by a computer, such as an optical disk (for example, CD-ROM), a magnetic disk, or a semiconductor memory (for example, a memory card), and its form is not limited.

[0160] Although several 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, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and its equivalent scope.

Explanation of Reference Numerals

[0161] 100…Automated guided vehicle management system 1…Automated guided vehicle management device 11…Processor 111…Receiving control unit 112…Operation planning unit 113…First operation planning unit 1131…First route planning unit 1132…First travel timing determination unit 1133…Passing order determination unit 1134…First command unit 1135…First travel control unit 114…Second operation planning unit 1141…Route planning unit 1142…Management area setting unit 1143…Travel timing determination unit 1144…Command unit 1145…Travel control unit 12…RAM 13…ROM 131…Shelf information storage unit 132…Status storage unit 133…Route plan storage unit 134…Map information storage unit 135…Passing order plan storage unit 136…Operation status storage unit 14…Auxiliary storage device 15…Communication interface 2…Warehouse management device 21…Processor 22…RAM 23…ROM 24…Auxiliary storage device 25…Communication interface 3…Moving body 31…Processor 32…RAM 33…ROM 34…Auxiliary storage device 35…Communication interface 36…Drive unit 301…Tire 37…Sensor 38…Battery 39…Charging mechanism 30…Shelf 40…Shelf storage area 50…Conveying area 60…Picking station

Claims

1. An operating status memory unit that stores environmental information related to the environment in which the automatic guided vehicle in the warehouse is operating; It is managed by a first operation management method that complies with the passing order determined in advance for the passing order of the automatic guided vehicle at any point according to the route plan until the automatic guided vehicle moves to the destination, and determines whether the operation scale calculated from the environmental information is equal to or less than a predetermined threshold value. If it is determined that it is equal to or less than the threshold value, it is managed by the first operation management method. If it is determined that it exceeds the threshold value, the passing order of the automatic guided vehicle is not determined in advance, and when a conflict occurs, it is managed by a second operation management method that updates the passing order or the route plan to resolve the conflict. An operation planning unit; A travel control unit that controls the automatic guided vehicle by the operation management method determined by the operation planning unit; An automatic guided vehicle management device comprising:

2. While being managed by the second operation management method, when the operation planning unit performs replanning of the route plan, it is managed by the first operation management method. The automatic guided vehicle management device according to Claim 1.

3. The travel control unit determines whether a deviation from the route plan has occurred based on the position information of the current automatic guided vehicle being managed by the first operation management method. If the deviation has occurred, it outputs a request to replan the route plan to the operation planning unit. The automatic guided vehicle management device according to Claim 1 or 2.

4. The travel control unit determines whether a deviation from the passing order has occurred based on the passing order of the current automatic guided vehicle at any point being managed by the first operation management method. If the deviation has occurred, it outputs a request to replan the route plan to the operation planning unit. The automatic guided vehicle management device according to Claim 1 or 2.

5. The travel control unit determines whether the automatic guided vehicle enters a management area where the passing order is set based on the position information and map information of the current automatic guided vehicle being managed by the second operation management method. If it is determined that the automatic guided vehicle enters the management area, it updates the operation management method of the automatic guided vehicle to the first operation management method and outputs a request to replan the route plan to the operation planning unit. The automatic guided vehicle management device according to Claim 1 or 2.

6. ​ ​ ​ ​ Based on the position information of the current automated guided vehicle (AGV) managed by the second operation management method, the travel control unit determines whether there is a possibility of conflict between AGVs. If it is determined that there is a possibility of conflict, it further determines whether the number of AGVs present in the determination area, which includes the area around the AGV with the possibility of conflict, is less than or equal to a predetermined threshold. The automated guided vehicle management device according to claim 1.

7. If it is determined that the number of AGVs is less than or equal to the threshold, the travel control unit determines whether it is possible to handle one of the AGVs with the possibility of conflict in terms of route or passing order. If it is possible to handle, the route of the one AGV is updated. The automated guided vehicle management device according to claim 6.

8. If it is determined that the number of AGVs is less than or equal to the threshold, the travel control unit determines whether it is possible to handle one of the AGVs with the possibility of conflict in terms of route or passing order. If it is not possible to handle, a request to replan the route plan is output to the operation planning unit. The automated guided vehicle management device according to claim 6.

9. If it is determined that the number of AGVs is greater than the threshold, the travel control unit sets the determination area as a dynamic management area. The automated guided vehicle management device according to claim 6.

10. If it is determined that the number of AGVs is greater than the threshold, the travel control unit sets the area including the nodes adjacent to the determination area as a dynamic management area. The automated guided vehicle management device according to claim 6.

11. The travel control unit updates the management of the AGVs within the dynamic management area to the first operation management method. The automated guided vehicle management device according to claim 9 or 10.

12. The travel control unit transmits stop command data to the AGVs updated to the first operation management method. The automated guided vehicle management device according to claim 11.

13. The environmental information includes the floor area of the warehouse, the control interval of the AGVs, the number of operating AGVs, the generation interval of new orders, the occurrence interval of conflicts between AGVs, the route plan indicating the movement route until the AGV moves to the destination, and the time required to generate a passing order plan for determining the passing order in the management area where the passing order of the AGVs is determined in advance, and the ratio of the management area to the floor area. The automated guided vehicle management device according to claim 1 or 2.

14. The threshold value is a value corresponding to any one of the environmental information. The automatic guided vehicle management device according to claim 13.

15. A route plan storage unit that stores a series of movement routes until the automatic guided vehicle moves to the destination, A state storage unit that stores the current position of the automatic guided vehicle and movement body state information including the current state of the automatic guided vehicle, further comprising, based on the movement route and the current position, the operation planning unit determines whether the automatic guided vehicle exists in or may enter a dynamic management area where the passing order is set, and when the automatic guided vehicle exists in or may enter the dynamic management area, the automatic guided vehicle is managed by the first operation management method. The automatic guided vehicle management device according to claim 1 or 2.

16. further comprising a state storage unit that stores whether there is a request for replanning including determination of the current position, operation management method, and passing order of the automatic guided vehicle, when the automatic guided vehicle does not exist in or is unlikely to enter the dynamic management area, the operation planning unit determines whether there is a request for replanning including determination of the passing order. The automatic guided vehicle management device according to claim 15.

17. when there is a request for re-request including determination of the passing order, the operation planning unit manages the automatic guided vehicle by the first operation management method. The automatic guided vehicle management device according to claim 16.

18. when there is no request for re-request including determination of the passing order, the operation planning unit determines whether the operation scale is less than or equal to the threshold value. The automatic guided vehicle management device according to claim 16.

19. An automatic guided vehicle management method executed by a processor of an automatic guided vehicle management device, storing environmental information related to the environment in which the automatic guided vehicle in the warehouse is operating, managing by a first operation management method that complies with a pre-determined passing order in which the passing order of the automatic guided vehicle at any point is determined in advance according to the route plan until the automatic guided vehicle moves to the destination, determining whether the operation scale calculated from the environmental information is less than or equal to a predetermined threshold value, when it is determined that it is less than or equal to the threshold value, managing by the first operation management method, when it is determined that it exceeds the threshold value, managing by a second operation management method that does not pre-determine the passing order of the automatic guided vehicle and updates the passing order or the route plan to resolve a conflict when a conflict occurs. Controlling the automatic guided vehicle by a defined operation management method; An automatic guided vehicle management method comprising the above.

20. An automatic guided vehicle management program comprising instructions for execution by a processor of an automatic guided vehicle management device, the program comprising: Storing environment information related to the environment in which the automatic guided vehicle in the warehouse is operating; Managing by a first operation management method that complies with a pre-determined passing order of the automatic guided vehicle at any point according to a route plan until the automatic guided vehicle moves to a destination; Determining whether the operation scale calculated from the environment information is equal to or less than a predetermined threshold; When it is determined that the scale is equal to or less than the threshold, managing by the first operation management method; When it is determined that the scale exceeds the threshold, managing by a second operation management method that does not pre-determine the passing order of the automatic guided vehicle and updates the passing order or the route plan to resolve a conflict when a conflict occurs; Controlling the automatic guided vehicle by a defined operation management method; An automatic guided vehicle management program comprising the above.

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