Conveyance control system and conveyance control method

Abstract

To improve space efficiency of an arrangement area.SOLUTION: A conveyance control system 1 comprises a communication unit 11, an arrangement determination unit 15, and a conveyance control unit 16. A cargo storage area has a space capable of storing a plurality of cargoes, and in which each of the cargoes can be arranged at an arbitrary position. The arrangement determination unit 15 determines an arrangement position of the cargo to be conveyed in the cargo storage area on the basis of the size of the cargo to be conveyed. The conveyance control unit 16 transmits, from the communication unit 11 to a conveyance robot 2, a conveyance instruction for conveying the cargo to be conveyed to the arrangement position determined by the arrangement determination unit 15. The arrangement determination unit 15 sets a conveyance path, for conveying the cargo to be conveyed to the arrangement position in an arrangement area by the conveyance robot 2, along a predetermined conveyance direction, in the arrangement area in the cargo storage area. The conveyance control unit 16 moves the conveyance robot 2 conveying the cargo to be conveyed along the conveyance path, to convey the cargo to be conveyed to the arrangement position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport control system and a transport control method, and more particularly, to a transport control system and a transport control method for controlling a transport robot that transports luggage. [Background technology]

[0002] Patent Document 1 discloses a storage system that uses automated guided vehicles to perform first-in, first-out of workpieces. This storage system has the automated guided vehicles carry transported vehicles containing workpieces into a store area and carry them out of the store area. The store area is an area where multiple transported vehicles containing workpieces are stored, and is divided into multiple storage lanes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-86923 Summary of the Invention [Problem to be solved by the invention]

[0004] In the store system of Patent Document 1, the store area is divided into multiple storage lanes, and multiple transportable vehicles are placed in each of the multiple storage lanes. When the multiple transportable vehicles are of different sizes, the width of the storage lane needs to be set to match the largest size transportable vehicle. Therefore, if a transportable vehicle that is smaller than the largest size transportable vehicle is placed in the storage lane, there is a problem that wasted space is generated, reducing the space efficiency of the store area (placement area).

[0005] An object of the present disclosure is to provide a transport control system and a transport control method that can improve the space efficiency of the arrangement area. [Means for solving the problem]

[0006] A transport control system according to one aspect of the present disclosure includes a communication unit, a placement determination unit, and a transport control unit. The communication unit is capable of communicating with a transport robot. The transport robot transports a target piece of luggage among the multiple pieces of luggage to a luggage storage area large enough to accommodate multiple pieces of luggage and capable of placing each piece of luggage at any position. The placement determination unit determines a placement position of the target piece of luggage in the luggage storage area based on the size of the target piece of luggage. The transport control unit causes the communication unit to transmit a transport instruction to the transport robot to transport the target piece of luggage to the placement position determined by the placement determination unit. The luggage storage area includes a placement area in which the multiple pieces of luggage can be placed and a passage area along which the transport robot moves while transporting the target piece of luggage from an entrance of the luggage storage area to the placement area. The placement determination unit sets a transport path along a predetermined transport direction in the placement area along which the transport robot will transport the target piece of luggage to the placement position within the placement area. The transport control unit moves the transport robot, which is currently transporting the object to be transported, along the transport path, thereby transporting the object to the placement position.

[0007] A transport control method according to one aspect of the present disclosure is a transport control method for controlling transport work by a transport robot. The transport robot transports a target piece of luggage among a plurality of pieces of luggage to a luggage storage area large enough to accommodate the plurality of pieces of luggage and capable of arranging each of the plurality of pieces of luggage at any position. The transport control method includes a placement determination process and a transport control process. In the placement determination process, a placement position of the target piece of luggage in the luggage storage area is determined based on the size of the target piece of luggage. In the transport control process, a transport instruction is output to the transport robot to transport the target piece of luggage to the placement position determined in the placement determination process. The luggage storage area includes a placement area in which the plurality of pieces of luggage can be placed and a passage area along which the transport robot moves while transporting the target piece of luggage from an entrance of the luggage storage area to the placement area. In the placement determination process, a transport path along a predetermined transport direction is set in the placement area, along which the transport robot transports the target piece of luggage to the placement position within the placement area. In the transport control process, the transport robot, which is currently transporting the transport target object, is moved along the transport path to transport the transport target object to the placement position. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to improve the space efficiency of the placement area. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic system configuration diagram of a transport control system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a perspective view showing a state in which a transport robot controlled by the transport control system transports a component supply unit. [Figure 3] FIG. 3 is a schematic plan view of a component mounting system to which the above-mentioned transfer control system is applied. [Figure 4]FIG. 4 is a flowchart illustrating the operation of the transport control system for instructing the transport of packages on a last-in, first-out basis. [Figure 5] FIG. 5 is a plan view illustrating a transfer operation by the transfer robot. [Figure 6] FIG. 6 is a plan view illustrating a transfer operation by the transfer robot. [Figure 7] FIG. 7 is a plan view illustrating a transfer operation by the transfer robot. [Figure 8] FIG. 8 is a plan view illustrating a transfer operation by the transfer robot. [Figure 9] FIG. 9 is a plan view illustrating a transfer operation by the transfer robot. [Figure 10] FIG. 10 is a plan view illustrating a transfer operation by the transfer robot. [Figure 11] FIG. 11 is a plan view illustrating a transfer operation by the transfer robot. [Figure 12] FIG. 12 is a plan view illustrating a transfer operation by the transfer robot. [Figure 13] FIG. 13 is a plan view illustrating a transfer operation by the transfer robot. [Figure 14] FIG. 14 is a plan view illustrating a transfer operation by the transfer robot. [Figure 15] FIG. 15 is a flowchart illustrating the operation of the transport control system instructing the transport of packages on a first-in, first-out basis. [Figure 16] FIG. 16 is a plan view illustrating the transfer operation by the transfer robot. [Figure 17] FIG. 17 is a plan view illustrating the transfer operation by the transfer robot. [Figure 18] FIG. 18 is a plan view illustrating the transfer operation by the transfer robot. [Figure 19] FIG. 19 is a plan view illustrating a transfer operation by the transfer robot. [Figure 20]FIG. 20 is a plan view illustrating the transfer operation by the transfer robot. [Figure 21] FIG. 21 is a plan view illustrating the transport operation by the transport robot. [Figure 22] FIG. 22 is a plan view illustrating the transport operation by the transport robot. [Figure 23] FIG. 23 is a plan view illustrating the transfer operation by the transfer robot. [Figure 24] FIG. 24 is a plan view illustrating a transport operation that the transport control system of the first modification causes the transport robot to perform. [Figure 25] FIG. 25 is a plan view illustrating a transport operation that the transport control system of the first modification causes the transport robot to perform. [Figure 26] FIG. 26 is a plan view illustrating a transport operation that the transport control system of the first modification causes the transport robot to perform. [Figure 27] FIG. 27 is a plan view illustrating a transport operation that the transport control system of the first modification causes the transport robot to perform. [Figure 28] FIG. 28 is a plan view illustrating a transport operation that the transport control system of the first modification causes the transport robot to perform. [Figure 29] FIG. 29 is a plan view illustrating a transport operation that the transport control system of the first modification causes the transport robot to perform. [Figure 30] FIG. 30 is a plan view illustrating a transport operation that the transport control system of the second modification causes the transport robot to perform. [Figure 31] FIG. 31 is a plan view illustrating a transport operation that the transport control system of the second modification causes the transport robot to perform. [Figure 32] FIG. 32 is a plan view illustrating a transport operation that the transport control system of the second modification causes the transport robot to perform. [Figure 33] FIG. 33 is a plan view illustrating a transport operation that the transport control system of the second modification causes the transport robot to perform. [Figure 34]FIG. 34 is a plan view illustrating a transport operation that the transport control system of the second modification causes the transport robot to perform. DETAILED DESCRIPTION OF THE INVENTION

[0010] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. In the embodiments described below, common elements are designated by the same reference numerals, and redundant descriptions of the common elements may be omitted. The following embodiment is merely one of various embodiments of the present disclosure. Various modifications to the embodiment may be made depending on the design, etc., as long as the object of the present disclosure can be achieved. The drawings described in this disclosure are schematic, and the ratios of the sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios.

[0011] (Embodiment) (1) Overview FIG. 1 is a schematic system configuration diagram of a transport control system 1 according to this embodiment.

[0012] The transport control system 1 includes a communication unit 11, a placement determination unit 15, and a transport control unit 16.

[0013] The communication unit 11 is capable of communicating with the transport robot 2. The transport robot 2 transports a transport target package B1 out of multiple packages B1 to a package storage area A1 (see FIG. 5, etc.). The package storage area A1 is large enough to store multiple packages B1, and each of the multiple packages B1 can be placed in any position.

[0014] The placement determination unit 15 determines the placement position of the baggage B1 to be conveyed in the baggage storage area A1 based on the size of the baggage B1 to be conveyed.

[0015] The transfer control unit 16 causes the communication unit 11 to transmit to the transfer robot 2 a transfer instruction to transfer the package B1 to be transferred to the placement position determined by the placement determination unit 15.

[0016] The luggage storage area A1 includes a placement area A2 in which multiple luggage B1 can be placed, and an aisle area A3 in which a transport robot 2 moves while transporting luggage B1 to be transported from the entrance of the luggage storage area A1 to the placement area A2.

[0017] In the placement area A2, the placement determination unit 15 sets a transfer path NP1 (see FIG. 6) along which the transfer robot 2 transfers the package B1 to be transferred to a placement position within the placement area A2, along a predetermined transfer direction (the direction indicated by the arrow in FIG. 5, which is parallel to the Y-axis direction). The transfer control unit 16 moves the transfer robot 2, which is currently transferring the package B1 to be transferred, along the transfer path NP1, thereby transferring the package B1 to be transferred to the placement position.

[0018] Here, the transport robot 2 is an autonomous mobile robot (AMR) used for transporting goods in facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals, but may also be an automatic guided vehicle (AGV). The transport robot 2 moves by, for example, running on a moving surface G1 (see FIGS. 2 and 3) using one or more wheels. The moving surface G1 is the surface on which the transport robot 2 moves. When the transport robot 2 moves within a facility, the moving surface G1 is the floor of the facility, and when the transport robot 2 moves outdoors, the moving surface G1 is the ground. In addition, an entrance / exit E1 through which the transport robot 2 passes when delivering a package B1 to the package storage area A1 is set in advance, and an area facing the entrance / exit E1 (an area with the same width as the entrance / exit E1) is set as the entrance / exit area A4. The entrance / exit E1 is the entrance when delivering the package B1 to the package storage area A1. The entrance / exit area A4 is provided separately from the passage area A3, but the entrance / exit area A4 may be included in the passage area A3. The passage area A3 extends from the entrance (entrance / exit E1) of the luggage storage area A1 to one end (the rear end in this embodiment) in the first direction (conveyance direction) of the conveyance path along a second direction perpendicular to the first direction. The transport robot 2 and the luggage B1 that enter the passage area A3 from the entrance / exit E1 first exist in the entrance / exit area A4. The entrance / exit area A4 has a width that allows the transport robot 2 coupled to the luggage B1 to turn on the spot together with the luggage B1. If the transport robot 2 is a robot that cannot move laterally, the placement determination unit 15 may set the width dimension of the conveyance path NP1 in the second direction based on the width dimension required for the robot that cannot move laterally to turn together with the luggage B1 to be conveyed.

[0019] If the transport robot 2 is a robot that cannot move laterally, the transport robot 2 turns in the passage area A3 together with the package B1, and therefore the width dimension of the transport path NP1 in the second direction is set based on the width dimension necessary for the robot that cannot move laterally to turn together with the package B1 to be transported. On the other hand, if the transport robot 2 is a robot that can move laterally, the placement determination unit 15 may set the width dimension of the transport path NP1 in the second direction based on the maximum width dimension in a state in which the robot that can move laterally is transporting the package B1 to be transported. The maximum width dimension in a state in which the robot that can move laterally is transporting the package B1 to be transported is, for example, the larger of the width dimension of the robot that can move laterally and the width dimension of the package B1 to be transported.

[0020] The cargo B1 to be transported by the transport robot 2 is an item transported by the transport robot 2. In the following, an example will be described in which the transport robot 2 is a component supply unit that supplies components to manufacturing equipment, such as a component mounter that mounts components on a board, in a factory where the manufacturing equipment is installed, or an automatic transport robot that transports a cart or the like that can accommodate components to be mounted on a board. That is, in this embodiment, the cargo B1 transported by the transport robot 2 includes at least one of a cart that can accommodate components to be mounted on a board and a component supply unit that supplies components to the manufacturing equipment that mounts components on a board.

[0021] In the luggage storage area A1, each of the multiple luggage B1 can be placed at any position. The placement determination unit 15 determines the placement position of the luggage B1 to be transported in the luggage storage area A1 based on the size of the luggage B1 to be transported. Therefore, compared to a case where multiple nodes large enough to accommodate the largest luggage B1 are set in advance in the luggage storage area A1 and one of the multiple nodes is designated as the placement position of the luggage B1 to be transported, wasted space is less likely to occur. Therefore, this embodiment has the advantage of improving the space efficiency of the luggage storage area A1. The space efficiency of the luggage storage area A1 is expressed as the ratio of the area in which the luggage B1 is placed to the usable area of the luggage storage area A1.

[0022] The transfer control unit 16 expresses any position in the transfer area A10, including the luggage storage area A1, as a two-dimensional coordinate system with a predetermined position within the transfer area A10 as the origin, and specifies the placement position of the luggage B1 to the transfer robot 2 using the two-dimensional coordinate system. In other words, in this embodiment, being able to place the luggage B1 at any position in the luggage storage area A1 means being able to specify the placement position of the luggage B1 in coordinate units. The placement determination unit 15 determines the placement position of the luggage B1 to be transferred in the luggage storage area A1 in coordinate units based on the size of the luggage B1 to be transferred. This allows the placement position to be specified with finer resolution than when the placement position is specified in node units. Therefore, when placing multiple luggage B1 in the placement area A2, there is an advantage in that wasted space between adjacent luggage B1 is less likely to occur, improving the space efficiency of the luggage storage area A1.

[0023] (2) Details The transport control system 1 according to this embodiment will be described in detail below with reference to FIGS. 1 to 23 and other figures. In the following description, the direction in which the transport robot 2 moves together with the package B1 in a transport state in which the transport robot 2 is transporting the package B1 along the transport path NP1 is defined as the front, and the opposite direction as the rear, and the front-rear, left-right, and up-down directions are defined accordingly. In FIG. 5 and other figures, when the transport robot 2 transports the package B1 into the placement area A2, the transport robot 2 moves upward in the figure, so the Y-axis direction in FIG. 5 and other figures is defined as the front-rear direction and the X-axis direction as the left-right direction. Furthermore, the positive direction of the Y-axis direction is defined as the front, and the positive direction of the X-axis direction is defined as the right. However, these directions are merely examples and are not intended to limit the directions in which the transport robot 2 is used. Furthermore, the arrows indicating the directions in the figures are merely shown for explanatory purposes and do not represent any physical entities.

[0024] (2.1) Overall structure Hereinafter, a transfer system 3 including a transfer control system 1 according to this embodiment will be described in detail with reference to the drawings.

[0025] The transport system 3 includes a transport control system 1 and a transport robot 2. The transport robot 2 and the transport control system 1 are configured to be able to communicate with each other. In this disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a network NT1 or a relay device 4, etc., using an appropriate communication method such as wired communication or wireless communication. In this embodiment, the transport control system 1 and the transport robot 2 are capable of bidirectional communication, and information can be transmitted both from the transport control system 1 to the transport robot 2 and from the transport robot 2 to the transport control system 1. Although FIG. 1 shows one transport robot 2, the number of transport robots 2 may be two or more.

[0026] (2.2) Transport robot The configuration of the transport robot 2 of this embodiment will be described in more detail. As shown in FIGS. 2 and 3 , the transport robot 2 is an automated guided vehicle (AGV) for transporting a cart 50 such as a parts supply unit 5 as cargo B1. The transport robot 2 is connected to the cart 50 via a connector 25 and autonomously travels together with the cart 50 to a destination. Four wheels 51, for example, are provided on the bottom of the cart 50. Each wheel 51 is a swivel wheel whose rotation axis can rotate in any direction. The cart 50 contacts the moving surface G1 with the four wheels 51 and can move on the moving surface G1 with the four wheels 51. In this embodiment, the transport control system 1 communicates with the transport robot 2 via a network NT1 and a relay device 4 to indirectly control the movement of the transport robot 2.

[0027] The transport robot 2 is used, for example, to transport a component supply unit 5 in a component mounting system 7 (see FIG. 3) including at least one component mounter 8 that mounts components on a board. The component mounting system 7 has the component supply unit 5 and the component mounter 8 that mounts the components supplied from the component supply unit 5 on a board. When the transport robot 2 is applied to the component mounting system 7, the component supply unit 5 is the cargo B1 transported by the transport robot 2.

[0028] The component supply unit 5 is, for example, a batch exchange carriage that collectively exchanges a plurality of tape feeders that respectively supply components to a component mounter 8, which is a manufacturing device. The component mounter 8 is, for example, a machine (a so-called mounter) that mounts components on an object such as a board. The component mounter 8 includes a mounting head that mounts components on the board.

[0029] Upon receiving a transport command from, for example, a host system, the transport robot 2 moves the component supply unit 5, which is cargo B1, to a position where it is connected to the component mounter 8. When the transport robot 2 moves the component supply unit 5 into a recess 81 provided on one side of the component mounter 8, the component mounter 8 and the component supply unit 5 are connected together so that components can be supplied to the component mounter 8. When the transport robot 2 is applied to the component mounting system 7, the cargo B1 transported by the transport robot 2 is, for example, the component supply unit 5, but it may also be a cart carrying components to be supplied to the component mounter 8.

[0030] The transport robot 2 autonomously travels on a flat moving surface G1 formed, for example, by the floor of a facility. The transport robot 2 is equipped with a storage battery such as a lithium-ion battery or a nickel-metal hydride battery, and operates using electrical energy stored in the storage battery. In this embodiment, the transport robot 2 is connected to the cart 50 by gripping a part of the cart 50 with a connecting part 25. The transport robot 2 transports the cart 50 by towing or pushing the cart 50.

[0031] 1, the transport robot 2 includes a control unit 20, a communication unit 21, a detection unit 22, a drive unit 23, a memory unit 24, and a connection unit 25. The control unit 20, the communication unit 21, the detection unit 22, the drive unit 23, the memory unit 24, and the connection unit 25 are mounted on a main body 26 of the transport robot 2.

[0032] The main body 26 of the transfer robot 2 is a rectangular parallelepiped that is longer in the left-right direction than in the front-rear direction.

[0033] The main body 26 is supported on the moving surface G1 by a plurality of (here, four) wheels 27. The plurality of wheels 27 includes a plurality of (here, two) driving wheels 27A and a plurality of (here, two) auxiliary wheels 27B.

[0034] The plurality of drive wheels 27A are arranged on both sides of the main body 26 in the longitudinal direction (left-right direction), and in the center in the lateral direction (front-rear direction) of the main body 26. Each of the plurality of drive wheels 27A receives a driving force from the drive unit 23 and can rotate individually.

[0035] The plurality of auxiliary wheels 27B are arranged at intervals on both sides in the short side direction (front-rear direction) of the main body 26 in the center in the longitudinal direction (left-right direction) of the main body 26. Each of the plurality of auxiliary wheels 27B can rotate independently without receiving a driving force from the drive unit 23.

[0036] In this embodiment, the multiple drive wheels 27A are individually driven by the drive unit 23, allowing the main body 26 to move in all directions. That is, the multiple drive wheels 27A rotate at different angular velocities to turn left or right, and rotate at the same angular velocity to travel linearly (forward or backward). Therefore, the main body 26 can move forward, backward, and turn left or right (including pivot turns and super pivot turns). The main body 26 can also move along a curved trajectory (i.e., a curved path). This transport robot 2 is a robot that cannot move laterally. A robot that cannot move laterally is a transport robot that, when connected to a load B1 to be transported, cannot move straight in two mutually perpendicular directions (a first movement direction and a second movement direction) without changing the orientation of the load B1 to be transported. The first movement direction is, for example, the direction in which the transport robot 2 and the load B1 to be transported are aligned when the transport robot 2 and the load B1 are connected to each other.

[0037] The transport robot 2 also includes a laterally movable robot. The laterally movable robot is a transport robot that, when connected to the load B1 to be transported, can move straight in two mutually perpendicular directions (a first movement direction and a second movement direction) without changing the orientation of the load B1 to be transported. The mobile robot may be configured to move straight in any direction, including the first and second directions, without changing the orientation of the load B1 to be transported, when connected to the load B1 to be transported. The drive unit 23 of the laterally movable robot has, for example, a function of rotating the axial direction of each of the pair of drive wheels 27A within a plane parallel to the movement plane G1. The laterally movable robot, when connected to the load B1 to be transported, can move in a second movement direction perpendicular to the first movement direction by rotating the axial direction of the drive wheels 27A without changing the orientation of the load B1 to be transported. A robot that cannot move laterally cannot change the axial direction of the pair of drive wheels 27A, and instead performs a turning operation by adjusting the rotation amount and direction of the left and right drive wheels 27A.

[0038] The transport robots 2 of this embodiment include robots that can move laterally and robots that cannot move laterally, and the transport operation differs depending on whether the transport robot 2 is a robot that can move laterally or a robot that cannot move laterally.

[0039] The detection unit 22 detects at least the surrounding conditions of the transport robot 2 and the current position of the transport robot 2. The detection unit 22 includes a range sensor 22A, such as a LiDAR (Light Detection and Ranging). The range sensor 22A is provided, for example, on the top of the main body 26 and detects the surrounding conditions of the main body 26. The range sensor 22A emits light (laser light) to the surroundings and measures the distance to and direction of an object based on the light reflected from the object around the main body 26. In this embodiment, a LiDAR with a horizontal scanning range of 360 degrees is used as the range sensor 22A. Therefore, the horizontal scanning range scanned by the range sensor 22A is a circular range centered on the laser light source, and objects around the main body 26 can be detected. However, when the transport robot 2 is connected to the package B1 via the connection unit 25, a blind spot occurs in the direction of the package B1 as viewed from the range sensor 22A. Therefore, when the transfer robot 2 travels within the movement area A10 with the baggage B1 attached, the transfer robot 2 travels at the front while towing the baggage B1. On the other hand, when the transfer robot 2 places the baggage B1 in the placement area A2, the transfer robot 2 travels with the baggage B1 at the front while pushing the baggage B1 from behind so that the baggage B1 being transported can be placed immediately behind the baggage B1 already placed. In this way, the transfer robot 2 travels at the front outside the baggage storage area A1 and transports the baggage B1 at the front on the transfer path NP1. Because the transfer robot 2 travels at the front outside the baggage storage area A1 and transports the baggage B1 at the front, the possibility of a blind spot due to the baggage B1 occurring ahead in the direction of travel is reduced. Furthermore, because the transfer robot 2 travels at the front on the transfer path NP1 and transports the baggage B1 at the front, the baggage B1 can be packed tightly into the placement area A2.

[0040] If the transport robot 2 transporting the baggage B1 is a robot capable of moving laterally, the transport control unit 16 turns the transport robot 2 in the passage area A3 so that the baggage B1 to be transported can be transported at the front, and then moves the transport robot 2 to the transport path NP1. When the transport robot 2 is a robot capable of moving laterally, there is an advantage in that the width dimension of the transport path NP1 can be made smaller than when it is determined based on the dimension necessary for a robot that cannot move laterally to turn with the baggage B1.

[0041] The detection unit 22 may include sensors such as a radar (Radio Detection and Ranging), a sonar sensor, and an image sensor (camera) as sensors for detecting the surrounding conditions of the transport robot 2. Radar is a sensor that uses electromagnetic waves (radio waves) such as microwaves to measure the distance to an object and the direction of the object based on the waves reflected by the object present around the main body 26. When the transport robot 2 transports the currently transported package B1 to a position behind a package B1 already placed on the transport path NP1, the detection unit 22 detects the position of the package B1 in front, and places the currently transported package B1 in a position where it will not hit the package B1 in front.

[0042] The detection unit 22 also has a position identification unit 22B that identifies the current position of the transfer robot 2. As an example, the position identification unit 22B performs a self-position estimation process that estimates the current position based on detection information of surrounding objects by the range sensor 22A and electronic map information of the movement area A10. The position identification unit 22B may estimate the current position using an LPS (Local Positioning System) that uses a radio beacon. The position identification unit 22B may also be realized using a satellite positioning system such as a GPS (Global Positioning System).

[0043] The drive unit 23 directly or indirectly applies a drive force to the two drive wheels 27A. The drive unit 23 is built into the main body 26. The drive unit 23 includes, for example, an electric motor, and indirectly applies the drive force generated by the electric motor to each drive wheel 27A via a gearbox, a belt, or the like. The drive unit 23 may also be configured to directly apply a drive force to each drive wheel 27A, such as an in-wheel motor. Based on a control signal input from the control unit 20, the drive unit 23 drives each of the multiple drive wheels 27A in a rotation direction and at a rotation speed corresponding to the control signal.

[0044] The connecting unit 25 includes, for example, a gripping mechanism capable of mechanically gripping a connecting pin, which is a connected part, provided on the cart 50, which is the cargo B1. The gripping mechanism of the connecting unit 25 performs a gripping operation to grip the connecting pin of the cart 50 to put it in a gripped state, or a gripping release operation to release the connecting pin of the cart 50 to put it in a non-gripped state, in response to a control command from the control unit 20. The connecting unit 25 is provided at the rear of the main body 26. When the transport robot 2 moves to a position where the connecting unit 25 can grip the connecting pin of the cargo B1, the gripping mechanism of the connecting unit 25 performs a gripping operation to grip the connecting pin of the cargo B1 in response to a control command from the control unit 20, thereby connecting the transport robot 2 and the cargo B1.

[0045] The connecting unit 25 is not limited to a unit having a gripping mechanism that mechanically grips the connecting pin of the carriage 50, which is the cargo B1. The connecting unit 25 may be a unit that connects to the cargo B1 by attracting a magnetic body provided on the cargo B1 with an electromagnetic force generated by an electromagnet, for example. Furthermore, the transport robot 2 may be connected to the carriage 50 by lifting the carriage 50 with a lifting mechanism while the transport robot 2 is under the carriage 50. In this case, the connecting unit 25 is configured by a lifting mechanism that lifts the carriage 50, etc.

[0046] The control unit 20 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 20 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0047] The control unit 20 controls the operation of the transport robot 2 by controlling the operation of the drive unit 23, the connection unit 25, etc. based on the control command received by the communication unit 21 from the transport control system 1 and the detection results of the detection unit 22.

[0048] For example, when the control unit 20 receives a transport instruction for baggage B1 from the transport control system 1 via the communication unit 21, it moves the transport robot 2 to a position where the baggage B1 to be transported is located. When the control unit 20 detects via the detection unit 22 that the baggage B1 has moved to the front of the dolly 50, which is the baggage B1, the control unit 20 couples the baggage B1 to the coupling unit 25 by gripping the coupling pin of the baggage B1. Then, while the transport robot 2 is coupled to the baggage B1, the control unit 20 controls the drive unit 23 to autonomously drive the transport robot 2 to the destination (destination) of the baggage B1. When the transport robot 2 reaches the destination, the control unit 20 causes the coupling unit 25 to release the coupling pin, thereby placing the baggage B1 at the destination, and controls the drive unit 23 to move the transport robot 2 from the destination, for example, to a standby position.

[0049] The communication unit 21 is configured to be able to communicate with the transport control system 1. In this embodiment, the communication unit 21 communicates with one or more relay devices 4 installed in the movement area A10 where the transport robot 2 is operated, by wireless communication using radio waves as a medium. Therefore, the communication unit 21 and the transport control system 1 communicate indirectly via at least the network NT1 and the relay device 4.

[0050] Here, the one or more relay devices 4 are devices (access points) that relay communication between the communication unit 21 and the transport control system 1. The relay devices 4 communicate with the transport control system 1 via a network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a license is adopted for communication between the relay devices 4 and the communication unit 21. Furthermore, the network NT1 is not limited to the Internet, and may be, for example, a local communication network within the area where the transport robot 2 is operated or within the operating company of this area.

[0051] The storage unit 24 includes a rewritable nonvolatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory). Information about an electronic map of the movement area A10 in which the transport robot 2 moves is stored in advance in the storage unit 24. The information about the electronic map of the movement area A10 includes position information about the luggage storage area A1, the placement area A2, the aisle area A3, the entrance / exit E1 of the luggage storage area A1, and the entrance / exit area A4, which are set in the movement area A10. The information about the electronic map of the movement area A10 may also include information about the sizes of the luggage storage area A1, the placement area A2, the aisle area A3, and the entrance / exit area A4, which are set in the movement area A10. In this embodiment, the entrance / exit E1 is used both as an entrance for carrying luggage B1 into the luggage storage area A1 and as an exit for carrying luggage B1 out of the luggage storage area A1. The storage unit 24 also stores transport robot information related to the size and weight of the transport robot 2, and luggage information related to the size and weight of multiple luggage B1 transported by the transport robot 2. The transport robot 2 acquires, for example, electronic map information, luggage information, etc. from the transport control system 1 and stores it in the storage unit 24. The transport robot information may be stored in advance in the storage unit 24, or the transport robot 2 may acquire the transport robot information from the transport control system 1 and store it in the storage unit 24.

[0052] Furthermore, the transport robot 2 may be provided with other components than those described above, such as a charging circuit for a storage battery, as appropriate.

[0053] The transport robot 2 of this embodiment is used in a factory or the like where manufacturing equipment for manufacturing products such as circuit boards is installed, and the cargo B1 transported by the transport robot 2 may include a component supply unit 5 that supplies components to the manufacturing equipment. Note that the cargo B1 transported by the transport robot 2 is not limited to the component supply unit 5, but may also be the components themselves. Furthermore, the cargo B1 transported by the transport robot 2 is not limited to the component supply unit 5, components related to the manufacture of circuit boards, carts for storing components, etc., and can be changed as appropriate depending on the location or purpose of use of the transport robot 2.

[0054] (2.3) Transport control system The transport control system 1 is realized by, for example, a computer system. The transport control system 1 controls the transport work performed by the transport robot 2. The transport control system 1 may be located inside a facility where the moving area A10 is provided, or outside the facility.

[0055] The transport control system 1 includes a control unit 10, a communication unit 11, an operation reception unit 12, a display unit 13, and a storage unit 14.

[0056] The communication unit 11 communicates with the transport robot 2 via the network NT1 and the relay device 4. As a communication method between the communication unit 11 and the relay device 4, an appropriate communication method such as wireless communication or wired communication is adopted.

[0057] The operation acceptance unit 12 has a function of accepting operations from a user who uses the transport control system 1. In this embodiment, the operation acceptance unit 12 is realized by, for example, a pointing device such as a mouse, a keyboard, or a combination of these. The operation acceptance unit 12 may also be realized by a voice recognition unit that accepts operations by voice uttered by the user. The operation acceptance unit 12 may also accept information input into a terminal such as a tablet terminal used by the user via the communication unit 11.

[0058] The display unit 13 is used to present information to a user who uses the transport control system 1. The display unit 13 is realized by a display device such as a liquid crystal display or an organic EL display. If the transport control system 1 has a touch panel display, the touch panel display may function as the operation reception unit 12 and the display unit 13.

[0059] The storage unit 14 includes, for example, a memory such as an EEPROM, and a storage such as a hard disk drive or an SSD (Solid State Drive). The storage unit 14 stores, for example, position information of the baggage storage area A1, placement area A2, passage area A3, entrance / exit area A4, entrance / exit E1, etc. input by a user of the transport control system 1.

[0060] The position information of the luggage storage area A1, the placement area A2, the aisle area A3, and the entrance / exit area A4 may also include information regarding the size of the luggage storage area A1, the placement area A2, the aisle area A3, and the entrance / exit area A4 set in the movement area A10. The memory unit 14 also stores luggage information regarding the size and weight of multiple luggage B1 to be transported, in association with identification information for each luggage B1. The memory unit 14 also stores identification information for luggage B1 placed in the placement area A2 and position information regarding the placement position. The memory unit 14 also stores the size and weight of one or more transport robots 2 performing the transport work, in association with the identification information for each transport robot 2. The transport robots 2 are classified into robots capable of moving laterally and robots not capable of moving laterally, and the memory unit 14 stores type information regarding the type of transport robot 2 in association with the identification information for the transport robot 2.

[0061] The control unit 10 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the control unit 10 (for example, the functions of the placement determination unit 15 and the transport control unit 16) are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0062] The placement determination unit 15 determines the placement position of the package B1 to be transferred in the package storage area A1 based on the size of the package B1 to be transferred. The placement determination unit 15 determines the placement position of the package B1 to be transferred in the package storage area A1 based on the size of the package B1 to be transferred and information related to the size of the storage area A2 stored in the memory unit 14. When the transport robot 2 places the package B1 in the package storage area A1, the transport robot 2 transmits position information related to the position coordinates of the position where the package B1 is placed to the transport control system 1. Therefore, when one or more packages B1 have already been placed in the package storage area A1, the placement determination unit 15 may determine the placement position of the package B1 to be transferred based on the position information of the one or more packages B1 present in the package storage area A1 and the size of the package B1 to be transferred.

[0063] In the transport control system 1 of this embodiment, the packages B1 are lined up from the front on a transport path NP1 (see FIG. 6) set at the left end of the empty space in the placement area A2. Therefore, the placement determination unit 15 determines the placement position of the package B1 being transported so that it is placed behind the last package B1 of one or more packages B1 placed on the transport path NP1. If the transport path NP1 becomes full and there is no space to place the package B1 behind the last package B1, the placement determination unit 15 sets a transport path NP1 to the right of the row of packages B1 (see FIG. 9) and determines the placement position of the package B1 being transported so that the package B1 is lined up from the front on this transport path NP1. Note that when multiple packages B1 are lined up in the transport direction (Y-axis direction), the interval between two adjacent packages B1 is determined taking into consideration the placement accuracy of the package B1 by the transport robot 2, the travel distance from when the transport robot 2 starts to stop until it completely stops, etc.

[0064] As shown in FIG. 7, if the width of the package B12 being transported is larger than the width of the transport path (first transport path) NP11 on which the last package B11 is placed, the placement determination unit 15 sets a transport path (second transport path) NP12 to the right of the first transport path NP11, with a width equal to the width of the package B12 being transported (see FIG. 8). The placement determination unit 15 determines the placement position of the package B12 being transported so that the package B12 being transported is placed at the beginning of the transport path (second transport path) NP12. In this way, the package B1 to be transported may include the first package B11 and the second package B12 that is transported to the package storage area A1 after the first package B11. The width dimension of the second package B12 is larger than the passage width of the first transport path, which is the transport path MP11 that the transport robot 2 took when transporting the first package in the placement area A2. In this case, the placement determination unit 15 sets a second conveyance path NP12 having a passage width equal to or greater than the width dimension of the second package B12 as the conveyance path NP1 along the conveyance direction at a position different from the first conveyance path NP11 within the placement area A2. Then, the transfer control unit 16 moves the transfer robot 2 along the second conveyance path NP12 to transfer the second package B12 to the placement position.

[0065] The width of the transport path NP1 is determined based on the width of the package B1 that is first placed on the transport path NP1. The width of the transport path NP1 is set to the minimum width necessary for the transport robot 2 to move straight along the transport direction while holding the package B1 that is first placed on the transport path NP1.

[0066] In addition, if the width of the package B1 being transported is smaller than the width of one or more transport paths NP1 set within the placement area A2, the placement determination unit 15 may determine whether to place the package B1 being transported on an existing transport path NP1 or to set a new transport path with the width of the package B1 being transported and place the package B1 on this transport path, taking the following conditions into consideration. For example, if the remaining number of packages B1 that can be transported is smaller than a predetermined reference value, the placement determination unit 15 sets a new transport path with the width of the package B1 being transported and places the package B1 on this transport path. Also, for example, if the width dimension of the package B1 being transported is less than half the maximum width of the package B1 that can be transported, the placement determination unit 15 sets a new transport path with the width of the package B1 being transported and places the package B1 on this transport path. Also, for example, if the available space within the placement area A2 is smaller than a predetermined area, the placement determination unit 15 places the package B1 being transported on the transport path with the smallest width dimension among the one or more existing transport paths.

[0067] The transport control unit 16 causes the communication unit 21 to transmit a transport instruction to the transport robot 2 to transport the package B1 to be transported to the placement position determined by the placement determination unit 15. The transport robot 2 transports the package B1 to be transported to the placement position determined by the placement determination unit 15 based on the transport instruction received from the transport control system 1.

[0068] (2.4) Operation explanation The transport control system 1 controls the operation of the transport robot 2 to carry the package B1 into the package storage area A1, and the operation of the transport robot 2 to carry the package B1 out of the package storage area A1.

[0069] Here, there are two methods for loading / unloading luggage B1 into luggage storage area A1: Last-in, First-out (LIFO), in which the last item loaded is unloaded first, and First-in, First-out (FIFO), in which the first item loaded is unloaded first.

[0070] The following describes the operation of carrying in / out the package B1 in the last-in, first-out method and the operation of carrying in / out the package B1 in the first-in, first-out method.

[0071] (2.4.1) Last-in, first-out loading / unloading operation The operation of the transport control system 1 to have the transport robot 2 carry in and carry out the package B1 on a last-in, first-out basis will be described with reference to Figures 4 to 14, etc. Note that the flowchart shown in Figure 4 is merely one example of a transport control method performed by the transport control system 1, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate. Note that in Figures 6 to 14, packages B1 that have already been placed in the placement area A2 are shown with dots. Also, in Figures 6 to 14, etc., the circled numbers in the squares representing packages B1 indicate the order in which packages B1 were carried in.

[0072] 5 shows an example of a luggage storage area A1 provided within a movement area A10 in which the transport robot 2 moves. The luggage storage area A1 is provided in a part of the movement area A10. The luggage storage area A1 is, for example, an area obtained by dividing a part of the movement area A10 with a wall or the like. The luggage storage area A1 may be an area obtained by dividing a part of the movement area A10 with a partition, rope, or the like, or may be an area divided by tape or the like attached to the movement surface G1. In FIG. 5, the luggage storage area A1 is, for example, a rectangular area formed by two sides parallel to the X-axis direction and two sides parallel to the Y-axis direction.

[0073] The placement determination unit 15 of the transport control system 1 sets the luggage storage area A1 within the movement area A10 based on, for example, user setting information received by the operation reception unit 12. The setting information includes, for example, coordinate information of the area where the luggage storage area A1 is to be installed, and the placement determination unit 15 sets the luggage storage area A1 within the movement area A10 based on the setting information. Here, the setting information also includes coordinate information of the entrance / exit E1 and coordinate information regarding the placement area A2, aisle area A3, and entrance / exit area A4 of the luggage B1. The placement determination unit 15 further sets the entrance / exit E1 of the luggage storage area A1, the placement area A2, aisle area A3, and entrance / exit area A4 within the movement area A10 based on the setting information. In this embodiment, in the placement area A2, the transport direction in which the transport robot 2 can move is set to a direction parallel to the Y-axis direction, and the passage area A3 and entrance / exit area A4 are provided on one side (e.g., rear side) of the placement area A2 in the Y-axis direction. The entrance / exit E1 is located at the left end of the boundary (for example, the rear boundary) between the luggage storage area A1 and the outside. The width of the entrance / exit E1 is set to a width that allows the largest luggage B1 to pass through. The entrance / exit E1 does not have a door or the like, and the transport robot 2 can enter and exit the luggage storage area A1 through the entrance / exit E1. In this embodiment, the entrance / exit E1 is also used as an exit when taking luggage B1 out of the luggage storage area A1.

[0074] First, a method in which the transport control unit 16 carries the package B1 into the package storage area A1 using the last-in, first-out method will be described.

[0075] The transport control unit 16 determines the transport robot 2 to which the transport task is to be instructed, for example, based on the transport plan for the luggage B1 or user input information received by the operation reception unit 12, and the operating status of the transport robot 2. The transport control unit 16 then causes the communication unit 11 to transmit a transport instruction for the luggage B1 to the transport robot 2. The transport instruction includes, for example, identification information for the transport robot 2, identification information for the luggage B1 to be transported, destination information regarding the destination (the luggage storage area A1 to be transported), and placement position information regarding the placement position of the luggage B1 in the luggage storage area A1. The placement position information is information regarding the placement position determined by the placement determination unit 15 based on the placement positions of the luggage B1 already present in the luggage storage area A1 and the size of the luggage B1 to be transported. When the communication unit 21 receives the transport instruction sent to the transport robot 2 from the transport control system 1, the control unit 20 of the transport robot 2 grasps the luggage B1 specified in the transport instruction and transports it to the entrance / exit E1 of the luggage storage area A1 to be transported. When the transport robot 2 transports the baggage B1 to the entrance E1 of the baggage storage area A1, the transport robot 2 travels at the front while towing the baggage B1.

[0076] When the transport robot 2 arrives at the entrance / exit E1 (ST1), the control unit 20 of the transport robot 2 causes the communication unit 21 to transmit arrival information indicating that the transport robot 2 has arrived at the entrance / exit E1 together with identification information to the transport control system 1. When the transport control unit 16 of the transport control system 1 receives the arrival information from the transport robot 2, it determines whether or not the package B1 has already been placed in the placement area A2 of the package storage area A1 (ST2).

[0077] If it is determined in step ST2 that the package B1 is not placed in the placement area A2 (ST2: No), the transport control unit 16 of the transport control system 1 determines whether the transport robot 2 currently transporting the package B1 is a robot capable of moving laterally (ST3). The transport control unit 16 acquires type information of the transport robot 2 from the memory unit 14 based on the identification information of the transport robot 2, for example, and determines whether the transport robot 2 currently transporting the package B1 is a robot capable of moving laterally.

[0078] If it is determined in step ST3 that the transport robot 2 transporting the package B1 is not a robot capable of moving laterally (i.e., a robot incapable of moving laterally) (ST3: No), the transport control unit 16 causes the transport robot 2 to execute transport process A (ST4). The placement determination unit 15 determines the placement position of the package B1 being transported and the transport path for carrying the package B1 based on the placement position of the package B1 already placed in the placement area A2 and the size of the package B1 being transported. The transport control unit 16 then causes the transport robot 2 to execute transport process A, which transports the package B1 to the placement position on the transport path determined by the placement determination unit 15.

[0079] In the transfer process A, the transfer control unit 16 instructs the transfer robot 2 to enter the entrance / exit area A4 while towing the package B1, and then instructs the transfer robot 2 to turn 180 degrees at the entrance / exit area A4, so that the transfer robot 2 can travel along the transfer direction (Y-axis direction) with the package B1 at the front. Then, the transfer control unit 16 instructs the transfer robot 2 to transfer the package B1 to the innermost part of the placement area A2 and put the package B1 into an unheld state at the innermost part.

[0080] In addition, in the transport process (general transport processes including transport process A) in which the transport robot 2 carries the luggage B1 into the placement area A2, the innermost part of the placement area A2 is the forwardmost position on the transport path when there is no luggage B1 on the transport path, and is the forwardmost position within the range that does not come into contact with the last luggage B1 when there is luggage B1 on the transport path.

[0081] Upon receiving instructions from the transport control system 1, the transport robot 2 enters the entrance / exit area A4 while holding the package B1 and turns 180 degrees at the entrance / exit area A4. Then, the transport robot 2 advances along the transport direction with the package B1 at the front, and transports the package B1 to the innermost part of the placement area A2 (see Figure 5). Note that if the transport robot 2 is a robot that cannot move laterally, it needs to turn before entering the placement area A2 to orient the package B1 at the front. Therefore, if the package B1 is placed at the left end of the placement area A2, a dead space necessary for the transport robot 2 to make its turning motion will be generated between the package B1 and the boundary part at the left end of the placement area A2.

[0082] The transport robot 2 releases the connection by the connector 25 at the innermost portion, places the package B1 at the innermost portion of the placement area A2, and causes the communication unit 21 to transmit package information regarding the size of the package B1 and placement information regarding the location coordinates of the package B1 to the transport control system 1. The control unit 10 of the transport control system 1 receives the package information and placement information for the package B1 from the transport robot 2 and stores the package information and placement information in the memory unit 14. After placing the package B1 in the placement area A2, the transport robot 2 moves in the reverse direction along the path taken when the package B1 was brought in, passes through the entrance / exit area A4, exits the package storage area A1 through the entrance / exit area E1, and moves to a predetermined waiting position. As shown in FIG. 6, when the package B1 is placed in the placement area A2, the transport control unit 16 sets a strip-shaped area in the placement area A2 that has the same width as the package B1 placed in the placement area A2 and extends backward from the package B1 in the conveyance direction as the conveyance path NP1 for carrying in the next package B1. In the present disclosure, two dimensions being the same does not necessarily mean that the two dimensions are completely the same, but rather that there may be a difference between the two dimensions that can be considered a dimensional error.

[0083] On the other hand, if it is determined in step ST3 that the transport robot 2 transporting the package B1 is a robot capable of moving laterally (ST3: Yes), the transport control unit 16 causes the transport robot 2 to execute the transport process B (ST5).

[0084] In transfer process B, the transfer control unit 16 instructs the transfer robot 2 to enter the entrance / exit area A4 while towing the luggage B1, and then instructs the transfer robot 2 to turn 180 degrees at the entrance / exit area A4, so that the transfer robot 2 can travel in the transfer direction (Y-axis direction) with the luggage B1 at the front. The transfer control unit 16 also instructs the transfer robot 2 to move laterally with the luggage B1 to the left end of the luggage storage area A1, and then to transfer the luggage B1 to the innermost part of the placement area A2 and put the luggage B1 in an unheld state at the innermost part.

[0085] Upon receiving an instruction from the transport control system 1, the transport robot 2 turns 180 degrees in the entrance / exit area A4 and moves laterally to a position (e.g., the leftmost position) where the package B1 and the transport robot 2 can travel without coming into contact with the boundary portion (e.g., a wall) at the left end of the package storage area A1. The transport robot 2 then advances from the entrance / exit area A4 along the transport direction and transports the package B1 to the innermost part of the placement area A2. At the innermost part, the transport robot 2 releases the connection state by the connection unit 25 and places the package B1 at the innermost part of the placement area A2. The transport robot 2 then transmits package information regarding the size of the package B1 and placement information regarding the position coordinates of the package B1 from the communication unit 21 to the transport control system 1. Note that the transport robot 2 may transmit identification information of the package B1 from the communication unit 21 to the transport control system 1 instead of package information regarding the size of the package B1, or the transport control system 1 may acquire the size of the package B1 based on the identification information of the package B1. When the control unit 10 of the transport control system 1 receives the luggage information and placement information of luggage B1 from the transport robot 2, it stores the luggage information and placement information in the memory unit 14. After placing luggage B1 in placement area A2, the transport robot 2 moves in the opposite direction to the route taken when luggage B1 was brought in, passes through entrance / exit area A4, exits luggage storage area A1 through entrance / exit E1, and moves to a predetermined waiting position.

[0086] 6, if it is determined in step ST2 that the package B1 has already been placed in the placement area A2 of the package storage area A1 (ST2: Yes), the transport control unit 16 determines whether or not condition A is met (ST6). Condition A is a condition that one or more transport paths NP1 set in the placement area A2 have a width that allows the package B1 being transported to be placed thereon.

[0087] If the condition A is not satisfied in the judgment of step ST6, that is, if there is no conveying path NP1 of a width that can accommodate the luggage B1 being conveyed (ST6: No), the conveying control unit 16 causes the conveying robot 2 to execute a conveying process C that places the luggage B1 being conveyed in an area other than the conveying path NP1 set in the placement area A2 (ST7).

[0088] In the transfer process C, the transfer control unit 16 instructs the transfer robot 2 to enter the entrance / exit area A4 while towing the package B1, and then instructs the transfer robot 2 to make a 90-degree turn in the entrance / exit area A4. The transfer control unit 16 then moves the transfer robot 2 in a direction perpendicular to the transfer direction in the aisle area A3, with the transfer robot 2 at the front, to a position (e.g., the leftmost position) where it can travel in the transfer direction within the placement area A2 without coming into contact with the package B1 already placed in the placement area A2. The transfer control unit 16 then instructs the transfer robot 2 to make a 90-degree turn in the aisle area A3, so that the transfer robot 2 can travel in the transfer direction (Y-axis direction) with the package B1 at the front. The transfer control unit 16 then instructs the transfer robot 2 to transfer the package B1 to the innermost part of the placement area A2 and place the package B1 in an unheld state at the innermost part.

[0089] Fig. 7 is a plan view showing the movement of the transfer robot 2 when the transfer robot 2 performs transfer process C. Arrows D1 to D5 in Fig. 7 indicate the movement of the transfer robot 2. In Fig. 7, the package B1 already placed in the placement area A2 is described as package B11, and the package B1 to be placed next is described as package B12.

[0090] Upon receiving instructions from the transport control system 1, the transport robot 2 enters the entrance / exit area A4 while towing the package B1 (arrow D1), then makes a 90-degree turn in the entrance / exit area A4 (arrow D2). The transport robot 2 then moves in the aisle area A3 in a direction perpendicular to the transport direction to a position (e.g., the leftmost position) where it can travel in the placement area A2 in the transport direction without coming into contact with the package B1 already placed in the placement area A2 (arrow D3). The transport robot 2 then makes a 90-degree turn in the aisle area A3 (arrow D4), becomes ready to travel in the placement area A2 with the package B1 at the front, and transports the package B1 to the innermost part of the placement area A2 (arrow D5), where it becomes ungrasped. The transport robot 2 releases the connection state of the connector 25 at the innermost portion, places the package B1 at the innermost portion of the placement area A2, and causes the communication unit 21 to transmit package information regarding the size of the package B1 and placement information regarding the position coordinates of the package B1 to the transport control system 1. When the control unit 10 of the transport control system 1 receives the package information and placement information for the package B1 from the transport robot 2, it stores the package information and placement information in the memory unit 14. After placing the package B1 in the placement area A2, the transport robot 2 moves in the opposite direction to the path taken when the package B1 was brought in, passes through the entrance / exit area A4, exits the package storage area A1 through the entrance / exit E1, and moves to a predetermined standby position. Note that, as shown in FIG. 8, if package B12 is placed next to (for example, to the right of) package B11 that was already placed in the placement area A2, a transport path NP11 is set behind package B11 and a transport path NP12 is set behind package B12 in the placement area A2.

[0091] Furthermore, if the determination in step ST6 is that condition A is met (ST6: Yes), the transport control unit 16 determines whether condition B is met (ST8). Condition B is a condition that there is an empty space in which the package B1 being transported can be placed on one or more transport paths NP1 set in the placement area A2.

[0092] If the condition B is not satisfied in the determination of step ST8 (ST8: No), the transport control unit 16 causes the transport robot 2 to execute transport process C, which causes the transport robot 2 to place the package B1 being transported in an area other than the transport path NP1 set in the placement area A2 (ST7). In other words, if there is no free space in which the package B1 being transported can be placed on one or more transport paths NP1 set in the placement area A2, the transport control unit 16 causes the transport robot 2 to execute transport process C.

[0093] Furthermore, if the determination in step ST8 is that condition B is met (ST8: Yes), the transport control unit 16 determines whether or not condition C is met (ST9). That is, if there is free space in one or more transport paths NP1 where the package B1 being transported can be placed, the transport control unit 16 determines whether or not condition C is met. Here, condition C is a condition that the package B1 placed on the transport path NP1 where there is free space is a package that has been placed near the left edge boundary of the placement area A2 by a laterally movable robot.

[0094] If the determination in step ST9 is that condition C is not satisfied (ST9: No), the transport control unit 16 causes the transport robot 2 to execute transport process D (ST10). In other words, if the package B1 placed on the transport path NP1 where there is free space is not a package placed near the left edge boundary of the placement area A2 by a laterally movable robot, the transport control unit 16 causes the transport robot 2 to execute transport process D.

[0095] In transfer process D, the transfer control unit 16 instructs the transfer robot 2 to enter the entrance / exit area A4 while towing the package B1, and then instructs the transfer robot 2 to make a 90-degree turn at the entrance / exit area A4. The transfer control unit 16 then moves the transfer robot 2 in a direction perpendicular to the transfer direction within the aisle area A3 with the package B1 at the front until it can enter a transfer path NP1 with available space. The transfer control unit 16 then instructs the transfer robot 2 to make a 90-degree turn at the aisle area A3, enabling the transfer robot 2 to travel in the transfer direction (Y-axis direction) with the package B1 at the front. The transfer control unit 16 then instructs the transfer robot 2 to transfer the package B1 to the innermost part of the placement area A2 and to place the package B1 in an unheld state at the innermost part. Here, when the luggage B1 is already placed on the conveying path NP1 into which the luggage B1 being conveyed is brought, the innermost part of the placement area A2 is the innermost position of the placement area A2 within the range where the luggage B1 being conveyed does not come into contact with the luggage B1 already placed on the conveying path NP1.

[0096] 9 is a plan view showing the movement of the transfer robot 2 when the transfer robot 2 performs a transfer process D. Arrows D11 to D15 in FIG.

[0097] Upon receiving instructions from the transport control system 1, the transport robot 2 enters the entrance / exit area A4 while towing the package B1 (arrow D11), then turns 90 degrees in the entrance / exit area A4 (arrow D12). The transport robot 2 then moves through the passage area A3 in a direction perpendicular to the transport direction, with the transport robot 2 at the front, until it reaches a position where it can enter the transport path NP1 with available space (arrow D13). The transport robot 2 then turns 90 degrees in the passage area A3 (arrow D14), becomes ready to travel through the placement area A2 with the package B1 at the front, transports the package B1 to the innermost part of the placement area A2 (arrow D15), and releases the package B1 from its grip at the innermost part. The transport robot 2 then releases the coupling by the coupling unit 25 at the innermost part, places the package B1 at the innermost part of the placement area A2, and causes the communication unit 21 to transmit package information regarding the size of the package B1 and placement information regarding the position coordinates of the package B1 to the transport control system 1. When the control unit 10 of the transport control system 1 receives the luggage information and placement information of luggage B1 from the transport robot 2, it stores the luggage information and placement information in the memory unit 14. After placing luggage B1 in placement area A2, the transport robot 2 moves in the opposite direction to the route taken when luggage B1 was brought in, passes through entrance / exit area A4, exits luggage storage area A1 through entrance / exit E1, and moves to a predetermined waiting position.

[0098] Furthermore, if the condition C is determined to be true in step ST9 (ST9: Yes), the transfer control unit 16 determines whether the transfer robot 2 currently transferring the package B1 is a robot capable of moving laterally (ST11).

[0099] If it is determined in step ST11 that the transport robot 2 transporting the package B1 is not a robot capable of moving laterally (ST11: No), the transport control unit 16 causes the transport robot 2 to execute transport process E (ST12). If a transport path NP1 with available space is adjacent to the left and right boundary portions and a robot capable of moving laterally has placed package B1 on this transport path NP1, a robot not capable of moving laterally would need space to turn between itself and the boundary portion at the left end, and therefore would not be able to place package B1 on the transport path NP1 and would have to place package B1 in an area other than the transport path NP1. Therefore, the transport control unit 16 causes the transport robot 2 to execute transport process E to place package B1 in an area other than one or more existing transport paths NP1.

[0100] In the transfer process E, the transfer control unit 16 instructs the transfer robot 2 to enter the entrance / exit area A4 while towing the package B1, and then instructs the transfer robot 2 to make a 90-degree turn in the entrance / exit area A4. The transfer control unit 16 then moves the transfer robot 2 in a direction perpendicular to the transfer direction in the aisle area A3, with the transfer robot 2 at the front, to a position (e.g., the leftmost position) where it can travel in the transfer direction within the placement area A2 without coming into contact with the package B1 already placed in the placement area A2. The transfer control unit 16 then instructs the transfer robot 2 to make a 90-degree turn in the aisle area A3, so that the transfer robot 2 can travel in the transfer direction (Y-axis direction) with the package B1 at the front. The transfer control unit 16 then instructs the transfer robot 2 to transfer the package B1 to the innermost part of the placement area A2 and place the package B1 in an unheld state at the innermost part.

[0101] Upon receiving an instruction from the transport control system 1, the transport robot 2 enters the entrance / exit area A4 while towing the package B1 and then turns 90 degrees in the entrance / exit area A4. The transport robot 2 then moves in the aisle area A3 in a direction perpendicular to the transport direction to a position (e.g., the leftmost position) where it can travel in the placement area A2 in the transport direction without coming into contact with the package B1 already placed in the placement area A2. The transport robot 2 then turns 90 degrees in the aisle area A3, becomes able to travel in the placement area A2 in the transport direction with the package B1 at the front, transports the package B1 to the innermost part of the placement area A2, and places the package B1 in an unheld state at the innermost part. The transport robot 2 releases the connection by the connection unit 25 at the innermost part, places the package B1 at the innermost part of the placement area A2, and causes the communication unit 21 to transmit package information regarding the size of the package B1 and placement information regarding the position coordinates of the package B1 to the transport control system 1. When the control unit 10 of the transport control system 1 receives the luggage information and placement information of luggage B1 from the transport robot 2, it stores the luggage information and placement information in the memory unit 14. After placing luggage B1 in placement area A2, the transport robot 2 moves in the opposite direction to the route taken when luggage B1 was brought in, passes through entrance / exit area A4, exits luggage storage area A1 through entrance / exit E1, and moves to a predetermined waiting position.

[0102] On the other hand, if it is determined in step ST11 that the transport robot 2 transporting the package B1 is a robot capable of moving laterally (ST11: Yes), the transport control unit 16 causes the transport robot 2 to execute a transport process F (ST13).

[0103] In the transfer process F, the transfer control unit 16 instructs the transfer robot 2 to enter the entrance / exit area A4 while towing the package B1, and then instructs the transfer robot 2 to turn 180 degrees at the entrance / exit area A4, so that the transfer robot 2 can travel along the transfer direction (Y-axis direction) with the package B1 at the front. The transfer control unit 16 also instructs the transfer robot 2 to move laterally to the transfer path NP1 where the package B1 being transferred will be placed, and then to move forward along the transfer direction to a position where the package B1 being transferred will not come into contact with packages B1 already placed on the transfer path NP1, thereby placing the package B1 in an unheld state. Note that when placing the package B1 on the transfer path NP1 in front of the entrance / exit area A4, the transfer control unit 16 may instruct the transfer robot 2 to turn 180 degrees at the entrance / exit area A4, and then to move forward along the transfer direction to a position where the package B1 being transferred will not come into contact with packages B1 already placed on the transfer path NP1, thereby placing the package B1 in an unheld state.

[0104] Upon receiving instructions from the transport control system 1, the transport robot 2 enters the entrance / exit area A4 while towing the package B1, then turns 180 degrees at the entrance / exit area A4 and moves laterally to the transport path NP1 where the package B1 being transported will be placed. The transport robot 2 then advances along the transport direction within the transport path NP1 until it reaches a position where the package B1 being transported will not come into contact with packages B1 already placed on the transport path NP1. When the transport robot 2 advances to a position where the package B1 being transported will not come into contact with packages B1 already placed on the transport path NP1, it releases the connection by the coupling unit 25, places the package B1 in the placement area A2, and causes the communication unit 21 to transmit package information regarding the size of the package B1 and placement information regarding the position coordinates of the package B1 to the transport control system 1. When the control unit 10 of the transport control system 1 receives the package information and placement information for the package B1 from the transport robot 2, it causes the package information and placement information to be stored in the memory unit 14. After placing the luggage B1 in the placement area A2, the transport robot 2 moves in the opposite direction to the route taken when the luggage B1 was brought in, passes through the entrance / exit area A4, exits the luggage storage area A1 through the entrance / exit E1, and moves to a predetermined waiting position.

[0105] The above is the method for transporting luggage B1 into luggage storage area A1 using the last-in, first-out method, and the transport control unit 16 of the transport control system 1 causes the transport robot 2 to perform the transport operation of transporting luggage B1 into luggage storage area A1 in accordance with the flowchart of Figure 4.

[0106] 10, when the maximum number of packages B1 are placed in the placement area A2, the transfer control unit 16 executes a carry-in process to place the package B1 in the aisle area A3, as shown in FIG. 11. The transfer control unit 16 outputs a transfer instruction to the transfer robot 2 to place the package B1 being transferred at the innermost part of the aisle area A3. In accordance with the transfer instruction from the transfer control unit 16, the transfer robot 2 places the package B1 being transferred from the innermost part of the aisle area A3.

[0107] Then, as shown in FIG. 12, when the maximum number of packages B1 are placed in the placement area A2 and the passage area A3 excluding the entrance / exit area A4, the transport control unit 16 stops carrying the packages B1 into the package storage area A1.

[0108] Furthermore, when carrying out baggage B1 stored in the baggage storage area A1 from the baggage storage area A1, the transport control unit 16 outputs a transport instruction to the transport robot 2, for example, to carry out baggage B1 that was placed in the baggage storage area A1 later first. The transport robot 2 carries out baggage B1 stored in the baggage storage area A1 from the entrance / exit E1 to the outside of the baggage storage area A1 by following the carry-in route in the opposite direction to the carry-in route taken when the baggage B1 was carried into the baggage storage area A1.

[0109] If the multiple packages B1 stored in the package storage area A1 include, for example, three types of packages B21, B22, and B23 with different uses, the transport control unit 16 may set three transport paths NP21, NP22, and NP23 corresponding to the three types of packages B21, B22, and B23, respectively, as the transport path NP1 for the packages B1 within the placement area A2. For example, if the transport system 3 is applied to a factory with multiple mounting lines, the multiple packages B1 may be divided into multiple types according to the mounting lines to which they are supplied, and the packages B1 may be placed on separate transport paths for each of the multiple mounting lines. When instructing the transport robot 2 to carry the packages B1 into the package storage area A1, the transport control unit 16 may instruct the transport robot 2 to carry the packages B1 onto the transport paths NP21, NP22, and NP23 corresponding to the type of package B1. When multiple types of packages B1 are mixed and arranged on the same conveying path NP1, if a package B1 of a different type is placed in front of the package B1 of the type to be removed, the package B1 of the type to be removed cannot be removed until the package B1 of the other type is removed first. However, as shown in FIG. 13 , when separate conveying paths NP1 are arranged for each type of package B1, packages B1 of the same type are arranged on each conveying path NP1, so the package B1 of the type to be removed can be easily removed. Furthermore, when a cart or component supply unit 5 carrying components to be supplied to the component mounter 8 is stored in the package storage area A1 as package B1, the type of components to be supplied to the component mounter 8 may change depending on the time period. Even in such cases, multiple conveying paths NP1 can be set corresponding to each of the multiple time periods, and the cart or component supply unit 5 carrying the components to be supplied during the corresponding time period can be loaded onto each of the multiple conveying paths NP1.

[0110] Furthermore, when the multiple packages B1 stored in the package storage area A1 include, for example, multiple types of packages B1 with different uses, the transport control unit 16 may divide the placement area A2 into multiple type placement areas corresponding to the multiple types of packages B1. Fig. 14 shows an example in which the transport control unit 16 divides the placement area A2 into two type placement areas A21 and A22 corresponding to two types of packages B21 and B22, respectively.

[0111] When the transfer control unit 16 instructs the transfer robot 2 to transfer the package B21, it outputs a transfer instruction to the transfer robot 2 to transfer the package B21 to the package-by-type placement area A21. When the transfer control unit 16 instructs the transfer robot 2 to transfer the package B22, it outputs a transfer instruction to the transfer robot 2 to transfer the package B22 to the package-by-type placement area A22. When the transfer control unit 16 places the packages B21 and B22 in the package-by-type placement areas A21 and A22, respectively, it can simply cause the transfer robot 2 to perform a carry-in operation to carry each of the packages B21 and B22 into the corresponding package-by-type placement areas A21 and A22 according to the flowchart of FIG.

[0112] (2.4.2) First-in, first-out loading and unloading operations The operation of the transport control system 1 to have the transport robot 2 carry in and carry out the package B1 on a first-in, first-out basis will be described with reference to Figures 15 to 23, etc. Note that the flowchart shown in Figure 15 is merely one example of a transport control method performed by the transport control system 1, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate. In Figures 17 to 23, packages B1 that have already been placed in the placement area A2 are shown with dots. Also, in Figures 7 to 23, the circled numbers in the squares representing packages B1 indicate the order in which the packages B1 were carried in.

[0113] Here, FIG. 16 shows an example of a luggage storage area A1 provided within the movement area A10 in which the transport robot 2 moves. The luggage storage area A1 is provided in a part of the movement area A10. The luggage storage area A1 is, for example, an area obtained by dividing a part of the movement area A10 with a wall or the like. The luggage storage area A1 may be an area obtained by dividing a part of the movement area A10 with a partition, rope, or the like, or may be an area divided by tape or the like attached to the movement surface G1. The luggage storage area A1 is, for example, a rectangular area formed by two sides parallel to the X-axis direction and two sides parallel to the Y-axis direction.

[0114] The placement determination unit 15 of the transport control system 1 sets a baggage storage area A1 within the movement area A10, for example, based on user setting information received by the operation reception unit 12. The placement determination unit 15 also sets an entrance / exit E1, a placement area A2, and an aisle area A3 in the baggage storage area A1 based on the setting information. When baggage B1 is carried into / out of the baggage storage area A1 using a first-in, first-out method, the placement determination unit 15 also sets an exit aisle area A5 in the baggage storage area A1 based on the setting information. The setting information includes, for example, coordinate information of the area where the baggage storage area A1 is to be installed. The setting information also includes coordinate information for the entrance / exit E1, and coordinate information for the placement area A2, the aisle area A3, and the exit aisle area A5. The set positions of the entrance / exit E1, the placement area A2, and the aisle area A3 are the same as those in FIG. 5 , and therefore will not be described again. The carry-out passage area A5 is provided in the region opposite the passage area A3 with respect to the placement area A2, across the entire luggage storage area A1 in a direction perpendicular to the conveying direction. The placement determination unit 15 sets the width dimension of the carry-out passage area A5 in the direction along the conveying direction (Y-axis direction) in the placement area A2 to a width dimension that allows the transport robot 2 to pass through when the largest size luggage B1 is connected.

[0115] The method by which the transport control unit 16 carries the luggage B1 into the luggage storage area A1 on a first-in, first-out basis will be described below.

[0116] The transport control unit 16 determines the transport robot 2 to which to instruct the transport work (carry-in work or carry-out work) based on, for example, the transport plan for the luggage B1 or user input information received by the operation reception unit 12, and the operating status of the transport robot 2. Then, the transport control unit 16 causes the communication unit 11 to transmit a carry-in instruction or a carry-out instruction for the luggage B1 to the transport robot 2. The carry-in instruction includes, for example, identification information of the transport robot 2, identification information of the luggage B1 to be transported, and destination information regarding the destination (the luggage storage area A1 to be transported). The carry-out instruction includes position information regarding the entrance / exit E1 of the luggage storage area A1 where the luggage B1 to be transported is placed, and placement position information regarding the placement position of the luggage B1 within the luggage storage area A1.

[0117] When the communication unit 21 of the control unit 20 of the transfer robot 2 receives a carry-in instruction sent to itself from the transfer control system 1, the control unit 20 grasps the luggage B1 specified in the carry-in instruction and transports it to the entrance / exit E1 of the luggage storage area A1, which is the destination. When the transfer robot 2 transports the luggage B1 to the entrance / exit E1 of the luggage storage area A1, the transfer robot 2 travels at the front while towing the luggage B1. Furthermore, when the communication unit 21 of the control unit 20 of the transfer robot 2 receives an unloading instruction sent to itself from the transfer control system 1, the control unit 20 travels toward the entrance / exit E1 of the luggage storage area A1 specified in the unloading instruction.

[0118] When the transport robot 2 arrives at the entrance / exit E1 (ST21), the control unit 20 of the transport robot 2 causes the communication unit 21 to transmit arrival information indicating that the transport robot 2 has arrived at the entrance / exit E1 together with the identification information to the transport control system 1. When the control unit 10 of the transport control system 1 receives the arrival information from the transport robot 2, it determines whether or not the package B1 has already been placed in the placement area A2 of the package storage area A1 (ST22).

[0119] If it is determined in step ST22 that the package B1 is not placed in the placement area A2 (ST22: No), the transport robot 2 is performing the work of carrying in the package B1, and the transport control unit 16 of the transport control system 1 determines whether the transport robot 2 currently transporting the package B1 is a robot capable of moving laterally (ST23). The transport control unit 16 acquires type information of the transport robot 2 from the memory unit 14 based on the identification information of the transport robot 2, for example, and determines whether the transport robot 2 currently transporting the package B1 is a robot capable of moving laterally based on the type information of the transport robot 2.

[0120] If it is determined in step ST23 that the transport robot 2 transporting the package B1 is not a robot capable of moving laterally (i.e., a robot incapable of moving laterally) (ST23: No), the transport control unit 16 causes the transport robot 2 to execute transport process A (ST24). Note that transport process A is the same as transport process A (ST4) described in "(2.4.1) Loading and unloading operations using the last-in, first-out method," and therefore its description will be omitted. 16 shows a state in which the transport robot 2 has performed transport process A and transported the package B1 to the innermost part of the placement area A2, where it does not extend into the carry-out passage area A5 (see FIG. 16). Here, if the transport robot 2 is a robot that cannot move laterally, it needs to turn before entering the placement area A2 to orient the package B1 toward the front. Therefore, when the package B1 is placed at the left end of the placement area A2, a dead space is generated between the package B1 and the boundary portion at the left end of the placement area A2, which is necessary for the transport robot 2 to perform its turning operation.

[0121] When package B1 is placed in placement area A2, conveyance control unit 16 sets a strip-shaped area in placement area A2 that has the same width as package B1 placed in placement area A2 and extends backward from package B1 in the conveyance direction as conveyance path NP1 (see FIG. 16) for carrying in the next package B1. If the width of package B1 to be next carried into package storage area A1 is narrower than the width of conveyance path NP1, package B1 to be next carried into package storage area A1 will be placed behind the last package B1 of the packages B1 already placed on conveyance path NP1 (see FIG. 17).

[0122] On the other hand, if it is determined in step ST23 that the transport robot 2 transporting the package B1 is a robot capable of moving laterally (ST23: Yes), the transport control unit 16 causes the transport robot 2 to execute transport process B (ST25). Note that transport process B is the same as transport process B (ST5) described in "(2.4.1) Loading and unloading operations using the last-in, first-out method," and therefore its description will be omitted.

[0123] Furthermore, if it is determined in step ST22 that the package B1 has already been placed in the placement area A2 of the package storage area A1 (ST22: Yes), the transport control unit 16 determines whether or not condition D is met (ST26). Condition D is a condition that the transport robot 2 is assigned with the carrying-out operation.

[0124] If the determination in step ST26 shows that condition D is not satisfied, that is, if the transport robot 2 is assigned a loading operation (ST26: No), the transport control unit 16 determines whether condition A is satisfied (ST27). Condition A is a condition that, among one or more transport paths NP1 set in the placement area A2, there is a transport path NP1 having a width that allows the package B1 being transported to be placed thereon.

[0125] If the determination in step ST27 is that condition A is not satisfied, that is, if there is no transport path NP1 wide enough to accommodate the package B1 being transported (ST27: No), the transport control unit 16 causes the transport robot 2 to execute transport process C, which places the package B1 being transported in an area other than the transport path NP1 set in the placement area A2 (ST28). Note that transport process C is the same as transport process C (ST7) described in "(2.4.1) Loading and unloading operations using the last-in, first-out method," and therefore its description will be omitted.

[0126] If the determination in step ST27 is that condition A is met (ST27: Yes), the transport control unit 16 determines whether condition B is met (ST29). Condition B is a condition that there is an empty space in which the package B1 being transported can be placed on one or more transport paths NP1 set in the placement area A2.

[0127] If the condition B is not satisfied in the determination of step ST29 (ST29: No), the transport control unit 16 causes the transport robot 2 to execute transport process C, which causes the transport robot 2 to place the package B1 being transported in an area other than the transport path NP1 set in the placement area A2 (ST28). In other words, if there is no free space in which the package B1 being transported can be placed in one or more transport paths NP1 set in the placement area A2, the transport control unit 16 causes the transport robot 2 to execute transport process C.

[0128] Furthermore, if the determination in step ST29 is that condition B is met (ST29: Yes), the transport control unit 16 determines whether or not condition C is met (ST30). That is, if there is free space in one or more transport paths NP1 where the package B1 being transported can be placed, the transport control unit 16 determines whether or not condition C is met. Here, condition C is a condition that the package B1 placed on the transport path NP1 where there is free space is a package that has been placed near the left edge boundary of the placement area A2 by a laterally movable robot.

[0129] If the determination in step ST30 is that condition C is not satisfied (ST30: No), the transfer control unit 16 causes the transfer robot 2 to execute transfer process D (ST31). In other words, if the package B1 placed on the transfer path NP1 where there is free space is not a package placed near the left edge boundary of the placement area A2 by a laterally movable robot, the transfer control unit 16 causes the transfer robot 2 to execute transfer process D. Note that transfer process D is the same as transfer process D (ST10) described in "(2.4.1) Loading and unloading operations using the last-in, first-out method," and therefore its description will be omitted.

[0130] Furthermore, if the condition C is determined to be true in step ST30 (ST30: Yes), the transfer control unit 16 determines whether the transfer robot 2 currently transferring the package B1 is a robot capable of moving laterally (ST32).

[0131] If it is determined in step ST32 that the transport robot 2 transporting the package B1 is not a robot capable of moving laterally (ST32: No), the transport control unit 16 causes the transport robot 2 to execute transport process E (ST33). When a transport path NP1 with free space is adjacent to the boundary between the left and right sides and a robot capable of moving laterally has placed package B1 on this transport path NP1, a robot not capable of moving laterally cannot place package B1 on the transport path NP1 because it needs space between the left and right boundaries to turn, and must place package B1 in an area other than the transport path NP1. Therefore, the transport control unit 16 causes the transport robot 2 to execute transport process E, which places package B1 in an area other than one or more existing transport paths NP1. Note that transport process E is similar to transport process E (ST12) described in "(2.4.1) Loading and Unloading Operations Using the Last-In, First-Out Method," and therefore its description will be omitted.

[0132] On the other hand, if it is determined in step ST32 that the transport robot 2 transporting the package B1 is a robot capable of moving laterally (ST32: Yes), the transport control unit 16 causes the transport robot 2 to execute transport process F (ST34). Note that transport process F is the same as transport process F (ST13) described in "(2.4.1) Loading and unloading operations using the last-in, first-out method," and therefore its description will be omitted.

[0133] Also, if the condition D is determined to be satisfied in step ST26 (ST26: Yes), that is, if the transport robot 2 is performing an unloading operation, the transport robot 2 causes the transport robot 2 to perform the transport process J of the luggage B1 instructed in the unloading instruction (ST35).

[0134] 18, when a transport process J is performed to transport a package B1 located at the innermost part of the transport path NP1 in the placement area A2, the placement determination unit 15 sets the shortest route for the package B1, which involves pulling the package B1 into the transport passage area A5, passing through the placement area A2 and the passage area A3, and arriving at the entrance / exit area A4, as the transport path for the package B1. The placement determination unit 15 sets the transport path taking into consideration the placement position of the package B1 located in the placement area A2, the size of the package B1 to be transported and the transport robot 2, the turning space required for the transport robot 2 to perform a turning operation, and the like. The transport control unit 16 then instructs the transport robot 2 about the transport path and instructs it to transport the package B1 to be transported along the transport path.

[0135] In the example of FIG. 18, because there is space to the right of the conveyance path NP1 where package B1 can be removed, the transport robot 2 enters the entrance / exit area A4 from the entrance E1 (arrow D21), rotates 90 degrees in the entrance / exit area A4 (arrow D22), and moves from the entrance / exit area A4 to the passage area A3 (arrow D23). When the transport robot 2 reaches a position where it can pass next to the conveyance path NP1, it turns 90 degrees (arrow D24) and moves to the right side of the conveyance path NP1 to the unloading passage area A5 (arrow D25). Then, after rotating 90 degrees in the unloading passage area A5 (arrow D26), it moves along the X-axis direction to a position where it can enter the conveyance path NP1 (arrow D27) and rotates 90 degrees again (arrow D28). The transport robot 2 then approaches package B1 and couples with package B1 via the coupling 25. Thereafter, the transport robot 2 travels in the reverse direction along the path it took from the entrance / exit area A4 to the placement position of the package B1, transports the package B1 to the entrance / exit area A4, and carries the package B1 out through the entrance / exit E1.

[0136] In this manner, a first end (e.g., rear end) of the conveying path NP1 in the first direction (conveying direction) connects to the passage area A3, and a second end (e.g., front end) of the conveying path NP1 in the first direction connects to an outlet passage area A5 for carrying multiple packages B1 provided in the package storage area A1. The outlet passage area A5 extends along a second direction perpendicular to the first direction. The conveying control unit 16 causes the conveying robot 2 to carry out the package B1 placed in the placement area A2, through the outlet passage area A5 and an empty space in the placement area A2 where no package B1 is placed, to the outside of the package storage area A1. In the conveying control system 1 of this embodiment, the empty space in the placement area A2 where no package B1 is placed is used as an outlet passage for the package B1. Therefore, in the conveying control system 1 of this embodiment, cargo B1 can be loaded / unloaded on a first-in, first-out basis without providing a dedicated unloading path extending along the first direction (conveying direction) connecting the aisle area A3 and the unloading aisle area A5.

[0137] Here, when the transport robot 2 is a laterally movable robot, the placement determination unit 15 may set the width dimension in the first direction of the carry-out passage area A5 based on the dimension in the first direction of the laterally movable robot when it is transporting the package B1 to be transported. Compared to when the width dimension in the first direction of the carry-out passage area A5 is set based on the width dimension necessary for the transport robot 2 to turn together with the package B1, the width dimension in the first direction of the carry-out passage area A5 can be made smaller.

[0138] Furthermore, when the transport robot 2 is to transport the package B1 to be removed that has been placed in the placement area A2, the transport control unit 16 issues a movement instruction to the transport robot 2 to move from the entrance (entrance / exit E1) of the package storage area A1, through the placement area A2 and the carry-out passage area A5, to the placement position of the package B1 to be removed. Because the transport robot 2 moves from the passage area A3 through the placement area A2 to the carry-out passage area A5, there is no need to provide a passage dedicated to carry-out between the passage area A3 and the carry-out passage area A5, and the space of the placement area A2 can be expanded.

[0139] As shown in Figure 19, when luggage B1 is arranged in two rows in the placement area A2, the conveyance control unit 16 pulls out luggage B1 into the unloading passage area A5, and then sets the shortest route for luggage B1 as the unloading route, passing to the right of luggage B1 already placed in the placement area A2, passing through passage area A3, and reaching entrance / exit area A4.

[0140] Also, as shown in Figure 20, when luggage B1 are arranged in two rows in the placement area A2, the transport robot 2 carries out the luggage B1 in the leftmost row in order from the front, and when all the luggage B1 in the leftmost row have been carried out as shown in Figure 21, the leftmost row from which all the luggage B1 have been carried out becomes available as an exit passage A6 for the transport robot 2 to carry out luggage B1 (see Figure 21).

[0141] 22, the transport robot 2 places the packages B1 in order from the front left of the placement area A2. When, as shown in FIG. 23, only aisle A7, which is wide enough for only one transport robot 2 to pass through, remains in the placement area A2, the transport control unit 16 stops the delivery of packages B1 into the package storage area A1. If packages B1 are placed in aisle A7 or aisle area A3, the packages B1 placed in the placement area A2 cannot be removed first, based on the first-in, first-out method. Therefore, when only aisle A7, which is wide enough for only one transport robot 2 to pass through, remains in the placement area A2, the transport control unit 16 removes packages B1, for example, numbered first through third, and stops the delivery of packages B1 until an available space other than aisle A7 becomes available in the placement area A2 as an aisle for removal. In addition, since the transport robot 2 can connect and transport out the fourth-ordered item B1 from the entrance / exit area A4 side, there is no problem in starting the loading process for the fourth-ordered item B1 while the fourth-ordered item B1 remains in the placement area A2.

[0142] (3) Variations The above-described embodiment is merely one of various embodiments of the present disclosure. Various modifications can be made to the above-described embodiment depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the transport control system 1 may be embodied as a transport control method, a computer program, a non-transitory recording medium having a program recorded thereon, or the like. One aspect of the transport control method is a transport control method for controlling a transport operation by a transport robot 2. The transport robot 2 transports a target package B1 among multiple packages B1 to a package storage area A1 that is large enough to accommodate multiple packages B1 and allows each of the multiple packages B1 to be placed at any position. This transport control method includes a placement determination process and a transport control process. In the placement determination process, a placement position of the target package B1 in the package storage area A1 is determined based on the size of the target package B1. In the transport control process, a transport instruction is output to the transport robot 2 to transport the target package B1 to the placement position determined in the placement determination process. The luggage storage area A1 includes a placement area A2 in which multiple luggage B1 can be placed, and an aisle area A3 in which a transport robot 2 transporting a luggage B1 to be transported moves from the entrance of the luggage storage area A1 to the placement area A2. In the placement determination process, a transport path along a predetermined transport direction is set in the placement area A2 for the transport robot 2 to transport the luggage B1 to be transported to a placement position within the placement area A2. In addition, in the transport control process, the transport robot 2 transporting the luggage B1 to be transported is moved along the transport path to transport the luggage B1 to be transported to the placement position. A (computer) program according to one aspect is a program for causing a computer system to execute the above-mentioned transport control method.

[0143] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combination with the above embodiment. Also, multiple modifications described below can be applied in appropriate combination with the above embodiment. Below, the above embodiment may also be referred to as a basic example.

[0144] The entity that executes the transport control system 1 or transport control method of the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the computer system's memory to realize the functions of the entity that executes the transport control system 1 or transport control method of the present disclosure. The program may be pre-stored in the computer system's memory, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits, including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), or ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmable after the LSI is manufactured, or logic devices that allow the reconfiguration of internal connections or internal circuit partitions of the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0145] Furthermore, it is not essential for the transport control system 1 that multiple functions are concentrated in one housing, and the components of the transport control system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the transport control system 1, for example, some functions of the placement determination unit 15 or the transport control unit 16, may be realized by the cloud (cloud computing) or the like. Furthermore, at least some of the functions of the transport control system 1, for example, some or all of the functions of the placement determination unit 15, may be provided in the transport robot 2.

[0146] (3.1) Variation 1 A transport system 3 equipped with a transport control system 1 according to Modification 1 will be described with reference to Figs. 24 to 29. The configuration of the transport system 3 equipped with the transport control system 1 and the transport robot 2 is the same as in the basic example described above, so the same reference numerals are used for common components and their description will be omitted. In Figs. 24 to 29, luggage B1 that has already been placed in the placement area A2 is shown with a dot. In Figs. 24 to 29, the circled number in the square representing luggage B1 indicates the order in which luggage B1 was carried in.

[0147] In the basic example, when carrying in and out luggage B1 using the first-in, first-out method, an unloading passage area A5 is provided on the opposite side of the passage area A3 from the placement area A2. In contrast, in Modification 1, the transport control unit 16 sets an unloading passage area A51 in an area adjacent to the placement area A2 in the second direction (X-axis direction) within the luggage storage area A1 (see FIG. 24). The transport direction (Y-axis direction) is the first direction, and the transport robot 2 can connect and transport each of the multiple luggage B1 from any one of both sides in the first direction and both sides in a second direction perpendicular to the first direction. The transport control unit 16 then issues a carry-out instruction to the transport robot 2 to carry out the luggage B1 to be unloaded, which has been placed in the placement area A2, through the unloading passage area A51 and out of the luggage storage area A1.

[0148] Here, the planar shape of the luggage B1 is rectangular, and a connecting pin that can be gripped by the connecting unit 25 of the transport robot 2 is provided on each of the four sides of the luggage B1. The connecting unit 25 connects the connecting pin provided on any of the four sides of the luggage B1, so that the transport robot 2 can connect and transport the luggage B1 from both sides in the first direction and both sides in the second direction.

[0149] The carry-out passage area A51 is provided on the left side of the placement area A2. In other words, within the baggage storage area A1, excluding the passage area A3 (including the entrance / exit area A4), a strip-shaped area at the left end along the first direction is set as the carry-out passage area A51. The placement determination unit 15 may set the width dimension of the carry-out passage area A51 in the second direction based on the width dimension required for the transport robot 2 to turn together with the baggage B1 to be carried out. By setting the width dimension of the carry-out passage area A51 in the second direction based on the width dimension that allows the transport robot 2 to turn together with the baggage B1, when carrying out the baggage B1 placed in the placement area A2, the transport robot 2 can turn in the carry-out passage area A51 and transport the baggage B1 at the front.

[0150] In variant example 1, the conveying control unit 16 determines the placement position of the luggage B1 so that the luggage is packed in order from the front left into the placement area A2 set on the right side of the unloading passage area A51, as shown in Figures 24 and 25.

[0151] On the other hand, when the transport robot 2 transports the package B1 placed in the placement area A2 using the first-in, first-out method, as shown in FIG. 26 , the transport control unit 16 outputs a control instruction to the transport robot 2 to move from the entrance / exit E1 through the entrance / exit area A4 into the transport passage area A51 and to a position where the package B1 to be transported is aligned in the left-right direction. Once the transport robot 2 has moved to a position where the package B1 to be transported is aligned in the left-right direction, the transport control unit 16 outputs a control instruction to the transport robot 2 to rotate the coupling unit 25 90 degrees so that the coupling unit 25 faces rightward, and then approach and couple with the package B1 to be transported. Then, once the coupling unit 25 grasps the coupling pin provided on the package B1 to be transported and the transport robot 2 couples with the package B1 to be transported, the transport control unit 16 outputs a control instruction to the transport robot 2 to reverse the movement path from the entrance / exit E1 to transport the package B1 from the package storage area A1. This allows the transport robot 2 to perform a carry-out operation of carrying out the luggage B1 placed in the placement area A2 through the carry-out passage area A51 to the outside of the luggage storage area A1.

[0152] In the example of FIG. 26, five packages B1 are placed in an area adjacent to the carry-out passage area A51 in the placement area A2, and the transfer control unit 16 outputs a control instruction to the transfer robot 2 to first remove the five packages B1 adjacent to the carry-out passage area A51 in order of the first package brought in (from the front) (see FIGS. 26 and 27). Then, when the last package B1 (see FIG. 27) of the five packages B1 adjacent to the carry-out passage area A51 is removed (see FIG. 28), the carry-out passage area A51 expands to include the area where the five removed packages B1 were placed. With the packages B1 placed as shown in FIG. 28, the transfer control unit 16 can instruct the transfer robot 2 to remove the five packages B1 adjacent to the carry-out passage area A51.

[0153] The width of the carry-out passage area A51 in the second direction need only be equal to or greater than the width that allows the transport robot 2 to turn while coupled with the luggage B1. Therefore, as shown in FIG. 29, the transport control unit 16 sets the carry-out passage area A51 in an area adjacent in the second direction to the placement area A2 where the luggage B1 is placed, with a width that allows the transport robot 2 to turn while coupled with the luggage B1. The transport control unit 16 may then set a transport path NP1 for placing new luggage B1 on the opposite side of the placement area A2 from the carry-out passage area A51, thereby increasing the number of luggage B1 that can be stored in the luggage storage area A1. Furthermore, by increasing the area available as the placement area A2 where the luggage B1 is placed, the space efficiency of the luggage storage area A1 can be improved.

[0154] (3.2) Variation 2 In the basic example and the first modified example described above, the luggage storage area A1 is a section of a facility such as a factory, but the luggage storage area A1 may be, for example, the interior space of an elevator car.

[0155] 30 shows an example of placement of a package B1 in a package storage area A11, which is an elevator car. In this case, the placement determination unit 15 may determine the placement position of the package B1 being transported by the transport robot 2 in the package storage area A11 based on the size of the placement area A12 in the package storage area A11, the placement position of the package B1 already placed in the package storage area A11, and the size of the package B1. The transport control system 1 may obtain information about the size of the placement area A12 in the package storage area A11, which is an elevator car, from, for example, an elevator control device that controls the elevator.

[0156] Figure 31 shows an example of the placement of luggage B1 when an entrance / exit E1 is provided at one location in luggage storage area A11, which is an elevator car. The placement determination unit 15 determines the placement position of luggage B1 based on the size of placement area A12 in the car car, the placement positions of luggage B1 already placed in the car car, and the size of luggage B1 being transported. Note that in Figure 31 and other figures, the circled numbers attached to luggage B1 indicate the number of luggage B1.

[0157] FIG. 32 shows an example of how the luggage storage area A11 is configured as an elevator car with entrances E21 and E22 on two opposing sides. In the example shown in FIG. 32, one entrance E21 is used as a carry-in entrance for bringing the luggage B1 into the luggage storage area A11, and the other entrance E22 is used as a carry-out exit for taking the luggage B1 out of the luggage storage area A11. In this case, the placement determination unit 15 sets a conveying path NP3 in the center of the car, sets placement areas A12 on both sides of the car in which the luggage B1 is placed, and places the luggage B1 in the placement area A12. Then, when the placement area A12 is filled with the luggage B1, the luggage B1 is placed on the conveying path NP3 (see FIG. 33). This makes it possible to improve the space efficiency of the luggage storage area A11. Figures 32 and 33 are schematic diagrams, and the width dimension of the transport path NP3 is set to a dimension that allows the transport robot 2 connected to the luggage B1 to rotate on the spot together with the luggage B1 if the transport robot 2 is not a robot capable of moving laterally.

[0158] 33, linked portions 52 such as connecting pins are provided on two opposing sides of the package B1, and the linking portion 25 of the transport robot 2 is mechanically linked to one of the linked portions 52, thereby linking the transport robot 2 and the package B1. Therefore, when the transport robot 2 carries the package B1 in or out, the directions in which the transport robot 2 can link the package B1 are limited to two directions. Therefore, when the transport robot 2 carries the package B1 in or out of the cart through the entrance / exit E21, the package B1 is carried in the order of No. 1 to No. 9. When the transport robot 2 carries the package B1 out of the cart through the entrance / exit E22, the package B1 can be carried out in the order of No. 3, No. 1, No. 2, No. 6, No. 4, No. 5, No. 9, No. 7, and No. 8, for example. The order in which the luggage B1 is brought in and the order in which the luggage B1 is brought out can be changed as appropriate depending on the size of the luggage storage area A11, the size of the entrances and exits E21 and E22, the size of the luggage B1 and the transport robot 2, etc.

[0159] In the example arrangement shown in FIG. 34, a connectable portion such as a connecting pin is provided on all four sides of the package B1, and the connectable portion 25 of the transport robot 2 is mechanically connected to the connectable portion provided on one of the four sides, thereby connecting the transport robot 2 and package B1. In this case, the transport robot 2 can be connected to package B1 from any direction, but when the transport robot 2 carries package B1 into the cart through the entrance / exit E21, it carries package B1 in the order of number 1 to number 9. In FIG. 34, the circled numbers attached to package B1 indicate the number of package B1. When the transport robot 2 carries package B1 out of the cart through the entrance / exit E22, it can carry package B1 out in the order of number 2, number 5, number 9, number 1, number 3, number 4, number 6, number 7, and number 8, for example. The order in which the luggage B1 is carried in and the order in which the luggage B1 is carried out can be changed as appropriate depending on the size of the luggage storage area A11, the size of the entrances / exits E21 and E22, the size of the luggage B1 and the transport robot 2, etc. Also, Fig. 34 is a schematic diagram, and the distance between the luggage B1 placed on the left side of the luggage storage area A11 and the luggage B1 placed on the right side of the luggage storage area A11 is set to a dimension that allows the transport robot 2 coupled to the luggage B1 to turn on the spot together with the luggage B1 if the transport robot 2 is not a robot capable of moving laterally.

[0160] Furthermore, when the transport robot 2 carries the baggage B1 into the elevator car, the transport robot 2 may move to another floor together with the baggage B1 in the car. In this case, the placement determination unit 15 may determine the placement positions of the baggage B1 to be transported and the transport robot 2 currently transporting the baggage B1 based on the sizes of the baggage B1 to be transported and the transport robot 2 currently transporting the baggage B1, and the placement positions of the baggage B1 and the transport robot 2 already placed in the baggage storage area A11.

[0161] Note that, when the baggage storage area A11 is an elevator car, the elevator car has a load weight limit (upper limit). Therefore, the placement determination unit 15 may determine whether to transfer the baggage B1 to be transferred to the baggage storage area A11 based on the weight of the baggage B1 and the transport robot 2 placed in the car and the weight of the baggage B1 to be transferred. If placing the baggage B1 to be transferred in the baggage storage area A11 would exceed the upper load weight limit of the car, the placement determination unit 15 determines not to transfer the baggage B1 to be transferred to the baggage storage area A11, thereby ensuring the upper load weight limit of the car. Note that, when the transport robot 2 enters the elevator car together with the baggage B1 to be transferred, the placement determination unit 15 may determine whether to place the baggage B1 currently being transferred and the transport robot 2 in the baggage storage area A11 based on the weight of the baggage B1 and the transport robot 2 placed in the car, the weight of the baggage B1 to be transferred, and the weight of the transport robot 2 currently being transferred.

[0162] In this way, when there is a limit on the weight that can be loaded into the luggage storage area A1, the placement determination unit 15 may determine whether or not to transport the luggage B1 to be transported to the luggage storage area A1 based on the weight of the luggage B1 to be transported. The transport control system 1 can observe the limit on the weight that can be loaded into the luggage storage area A1.

[0163] The luggage storage area A11 may be a luggage compartment of a truck, a freight car of a freight train, a ship, an airplane, or the like, and the placement determination unit 15 determines the placement position of the luggage B1 based on the size of the luggage B1 to be transported, thereby improving the space efficiency of the luggage compartment. Furthermore, if there is an upper limit on the load weight of the luggage compartment, the placement determination unit 15 may determine whether or not to transport the luggage B1 to be transported to the luggage storage area A11 based on the weight of the luggage B1 and the transport robot 2 already placed in the luggage compartment and the weight of the luggage B1 to be transported.

[0164] If the luggage storage area A11 is a luggage compartment of a moving object such as a truck, a freight car of a freight train, a ship, or an airplane, the size of the luggage compartment, i.e., the size of the luggage storage area A11, may vary depending on the type of moving object. In this case, before the transfer robot 2 carries the luggage B1 into the luggage storage area A11, the transfer robot 2 detects the size of the luggage compartment using the detection unit 22 and transmits the detection result of the detection unit 22 from the communication unit 21 to the transfer control system 1. Upon receiving the detection result of the detection unit 22 transmitted from the transfer robot 2, the transfer control system 1 stores the detection result of the detection unit 22 in the memory unit 14, and the placement determination unit 15 determines the placement position of the luggage B1 based on the detection result of the detection unit 22 and the size of the luggage B1.

[0165] For example, if the luggage storage area A11 is a luggage compartment of a truck, the transport robot 2, which transports luggage B1 to the luggage compartment, moves to a standby position set near the truck's parking position. When the truck arrives at the parking position, the transport robot 2 moves near the entrance to the luggage compartment of the truck and begins a detection operation to detect the size of the luggage compartment. The transport robot 2 is equipped with a range sensor 22A as the detection unit 22. When the range sensor 22A confirms that the luggage compartment door is open, the range sensor 22A detects the size (area) of the luggage compartment. When the range sensor 22A detects the size of the luggage compartment, the transport robot 2 transmits the detection result of the size of the luggage compartment (luggage storage area A11) detected by the range sensor 22A from the communication unit 21 to the transport control system 1. When the communication unit 11 of the transport control system 1 receives the detection result of the size of the luggage storage area A11, the control unit 10 stores the information on the size of the luggage storage area A11 in the memory unit 14. Thereafter, when the placement determination unit 15 determines the placement position of the luggage B1, the placement determination unit 15 determines the placement position of the luggage B1 in the luggage storage area A11 based on the information on the size of the luggage storage area A11 stored in the memory unit 14 and the size of the luggage B1.

[0166] In this way, the conveyance control system 1 may further include a detection unit 22 that detects the size of the luggage storage area A11. The placement determination unit 15 may then determine the placement position of the luggage B1 to be conveyed in the luggage storage area A11 based on the size of the luggage storage area A11 detected by the detection unit 22 and the size of the luggage B1 to be conveyed. Even if the size of the luggage storage area A11 changes, the placement position of the luggage B1 to be conveyed can be determined based on the size of the luggage storage area A11 detected by the detection unit 22.

[0167] In the above basic example and variant example 1, the detection unit 22 of the transport robot 2 may detect the size of the luggage storage area A1, and the placement determination unit 15 may determine the placement position of the luggage B1 based on the detection result of the detection unit 22 and the size of the luggage B1 to be transported.

[0168] (3.3) Other Modifications In the above basic example and modified examples 1 and 2, the case has been described where the cargo B1 transported by the transport robot 2 includes at least one of a cart capable of accommodating components to be mounted on a circuit board and a component supply unit, but the cargo B1 is not limited to a cart or a component supply unit 5. The cargo B1 transported by the transport robot 2 can be changed as appropriate depending on the location where the transport system 3 is applied, the purpose of use of the transport system 3, etc.

[0169] In the above basic example and variants 1 and 2, the luggage storage area A1 was a rectangular area, but the luggage storage area A1 is not limited to a rectangular area and can be modified as appropriate to suit the shape of the facility to which the conveying system 3 is applied.

[0170] In the above basic example and modified examples 1 and 2, when the package B1 placed in the placement area A2 is removed by, for example, a person, the detection unit 22 of the transport robot 2 detects the absence of the package B1 and may transmit the result of the detection of the absence of the package B1 to the transport control system 1. The placement determination unit 15 of the transport control system 1 may update the placement status of the package B1 in the placement area A2 based on the detection result of the detection unit 22 received from the transport robot 2.

[0171] In the above basic example and variants 1 and 2, if there is luggage larger than the size (width or height) of the entrance / exit E1, the conveying control unit 16 may decide whether to allow the luggage B1 to be conveyed to be carried into the luggage storage area A1 based on the size of the entrance / exit E1 and the size of the luggage B1 to be conveyed.

[0172] (summary) The above-described embodiments and the like disclose the following aspects.

[0173] A first aspect of the transport control system (1) includes a communication unit (11), a placement determination unit (15), and a transport control unit (16). The communication unit (11) is capable of communicating with a transport robot (2). The transport robot (2) transports a target unit (B1) among multiple units (B1) to a unit storage area (A1, A11) that is large enough to accommodate multiple units (B1) and allows each of the multiple units (B1) to be placed at an arbitrary position. The placement determination unit (15) determines a placement position of the target unit (B1) in the unit storage area (A1, A11) based on the size of the target unit (B1). The transport control unit (16) causes the communication unit (11) to transmit a transport instruction to the transport robot (2) to transport the target unit (B1) to the placement position determined by the placement determination unit (15). The luggage storage areas (A1, A11) include a placement area (A2) in which multiple luggage (B1) can be placed, and an aisle area (A3) along which a transport robot (2) transporting a luggage (B1) to be transported moves from an entrance (E1) of the luggage storage areas (A1, A11) to the placement area (A2). The placement determination unit (15) sets a transport path (NP1) along a predetermined transport direction in the placement area (A2) along which the transport robot (2) transports the luggage (B1) to be transported to a placement position within the placement area (A2). The transport control unit (16) moves the transport robot (2) transporting the luggage (B1) to be transported along the transport path (NP1), thereby transporting the luggage (B1) to the placement position.

[0174] According to this aspect, the placement determination unit 15 determines the placement position of the luggage B1 based on the size of the luggage B1 in the placement area A2 within the luggage storage areas A1, A11, where the luggage B1 can be placed at any position. Therefore, it becomes possible to pack the luggage B1 into the placement area A2, thereby improving the space efficiency of the placement area A2.

[0175] In the transport control system (1) of the second aspect, in the first aspect, the transport target packages (B1) include a first package (B11) and a second package (B12) that is transported to the package storage area (A1, A11) after the first package (B11). When the width of the second package (B12) is larger than the passage width of the first transport path (NP11), which is the transport path (NP1) taken by the transport robot (2) when transporting the first package (B11) in the placement area (A2), the placement determination unit (15) sets a second transport path (NP12) that has a passage width equal to or larger than the width of the second package (B12) as the transport path (NP1) along the transport direction at a position different from the first transport path (NP11) in the placement area (A2). The transport control unit (16) moves the transport robot (2) along the second transport path (NP12) to transport the second package (B12) to the placement position.

[0176] According to this aspect, the width of the first conveying path (NP11) on which the first unit (B11) is placed can be made smaller than the width of the second conveying path (NP12) on which the second unit (B12) is placed. Therefore, compared to when the width of the first conveying path (NP11) on which the first unit (B11) is placed is widened to match the width of the second unit (B12), it is possible to reduce wasted space and improve the space efficiency of the placement area (A2).

[0177] In the transport control system (1) of the third aspect, in the first or second aspect, the transport direction is a first direction. The passage area (A3) extends from the entrance (E1) of the luggage storage area (A1, A11) to one end of the transport path (NP1) in the first direction along a second direction perpendicular to the first direction. When the transport robot (2) is a robot unable to move laterally, the placement determination unit (15) sets the width dimension of the transport path (NP1) in the second direction based on the width dimension required for the robot unable to move laterally to turn together with the luggage (B1) to be transported. A robot unable to move laterally is a transport robot (2) that is unable to move straight in each of two mutually perpendicular directions without changing the orientation of the luggage (B1) to be transported.

[0178] According to this embodiment, before entering the conveying path (NP1), space can be secured for the robot that cannot move laterally to turn with the luggage (B1) at the front so that it can convey the luggage (B1).

[0179] In the transport control system (1) of the fourth aspect, in any of the first to third aspects, the transport direction is a first direction. The passage area (A3) extends from the entrance (E1) of the luggage storage area (A1, A11) to one end of the transport path (NP1) in the first direction along a second direction perpendicular to the first direction. When the transport robot (2) is a laterally movable robot, the placement determination unit (15) sets the width dimension of the transport path (NP1) in the second direction based on the maximum width dimension in a state in which the laterally movable robot is transporting the luggage (B1) to be transported. The laterally movable robot is a transport robot (2) that can move straight in each of two directions perpendicular to each other without changing the orientation of the luggage (B1) to be transported.

[0180] According to this aspect, the width dimension of the conveying path (NP1) in the second direction can be made smaller than when the width dimension is determined based on the width dimension required for the conveying robot (2) to turn together with the package (B1). Therefore, the placement area (A2) in which the package (B1) can be placed in the package storage area (A1, A11) can be expanded, and more packages (B1) can be stored in the package storage area (A1, A11).

[0181] In a fifth aspect of the transport control system (1), in any one of the first to fourth aspects, the transport direction is a first direction. A first end of the transport path (NP1) in the first direction connects to the passage area (A3), and a second end of the transport path (NP1) in the first direction connects to an outlet passage area (A5) for transporting a plurality of packages (B1) provided in the package storage area (A1, A11). The outlet passage area (A5) extends along a second direction perpendicular to the first direction. The transport control unit (16) causes the transport robot (2) to transport the package (B1) placed in the placement area (A2) out of the package storage area (A1, A11) through the outlet passage area (A5) and an empty space in the placement area (A2) where the package (B1) is not placed.

[0182] According to this embodiment, it is possible to carry in and out the luggage (B1) on a first-in, first-out basis.

[0183] In the sixth aspect of the transport control system (1) of the fifth aspect, when the transport robot (2) is a laterally movable robot, the placement determination unit (15) sets the width dimension in the first direction of the carry-out passage area (A5) based on the dimension in the first direction in a state in which the laterally movable robot is transporting the package (B1) to be transported. The laterally movable robot is a transport robot (2) that can move straight in each of two directions that are perpendicular to each other without changing the orientation of the package (B1) to be transported.

[0184] According to this aspect, the width dimension in the first direction of the carry-out passage area (A5) can be made smaller than when the width dimension is set based on the width dimension required for the transport robot (2) to turn together with the luggage (B1). Therefore, the placement area (A2) in which the luggage (B1) can be placed in the luggage storage area (A1, A11) can be expanded, and more luggage (B1) can be stored in the luggage storage area (A1, A11).

[0185] In the seventh aspect of the transport control system (1), in the fifth aspect, when the transport robot (2) is to transport the luggage (B1) to be removed that has been placed in the placement area (A2), the transport control unit (16) gives a movement instruction to the transport robot (2) to move from the entrance (E1) of the luggage storage area (A1, A11) through the placement area (A2) and the removal passage area (A5) to the placement position of the luggage (B1) to be removed.

[0186] According to this aspect, the transport robot (2) enters the carry-out passage area (A5) from the entrance (E1) through the placement area (A2), so there is no need to secure a dedicated passage from the entrance (E1) to the carry-out passage area (A5) for the transport robot (2) carrying out the package (B1). Therefore, the placement area (A2) in which the package (B1) can be placed in the package storage area (A1, A11) can be expanded, and more packages (B1) can be stored in the package storage area (A1, A11).

[0187] In the eighth aspect of the transport control system (1), in any one of the first to seventh aspects, the transport direction is a first direction. The transport robot (2) can transport each of a plurality of packages (B1) by connecting them from any one of both sides in the first direction and both sides in a second direction perpendicular to the first direction. The placement determination unit (15) sets an output passage area (A51) in the package storage area (A1, A11) in an area adjacent to the placement area (A2) in a direction perpendicular to the transport direction. The transport control unit (16) issues a carry-out instruction to the transport robot (2) to carry the package (B1) to be carried out, which has been placed in the placement area (A2), through the output passage area (A51) to outside the package storage area (A1, A11).

[0188] According to this aspect, the transport robot (2) can carry out the package (B1) to the outside of the package storage area (A1, A11) through the carry-out passage area (A51). Therefore, it is not necessary to provide a carry-out passage area on the opposite side of the passage area (A3) from the placement area (A2), and the placement area (A2) in which the package (B1) can be placed in the package storage area (A1, A11) can be expanded, making it possible to store more packages (B1) in the package storage area (A1, A11).

[0189] In the ninth aspect of the transport control system (1), in the eighth aspect, the placement determination unit (15) sets the width dimension in the second direction of the unloading passage area (A51) based on the width dimension required for the transport robot (2) to turn together with the luggage (B1) to be unloaded.

[0190] According to this aspect, when the luggage (B1) placed in the placement area (A2) is to be transported out, the transport robot (2) can take the lead in transporting the luggage (B1) by turning in the transport passage area (A51).

[0191] In the tenth aspect of the transport control system (1), in any of the first to ninth aspects, the transport robot (2) transports the luggage (B1) to be transported with the transport robot (2) at the front outside the luggage storage area (A1, A11), and on the transport path (NP1), the transport robot (2) transports the luggage (B1) to be transported with the luggage (B1) at the front.

[0192] According to this aspect, the transport robot (2) transports the luggage (B1) at the front outside the luggage storage areas (A1, A11), thereby reducing the possibility of a blind spot being created in front of the luggage (B1) in the direction of travel. Also, the transport robot (2) transports the luggage (B1) at the front on the transport path (NP1), so the luggage (B1) can be packed and placed in the placement area (A2).

[0193] In the transport control system (1) of the eleventh aspect, in the tenth aspect, the transport direction is a first direction. When the transport robot (2) is a laterally movable robot, the transport control unit (16) turns the transport robot (2) in the passage area (A3) so that the transport can be performed with the package (B1) to be transported at the front, and then moves the transport robot (2) to the transport path (NP1). The laterally movable robot is a transport robot (2) that can move straight in each of two directions that are perpendicular to each other without changing the orientation of the package (B1) to be transported.

[0194] According to this aspect, the width of the conveyance path (NP1) in the second direction can be made smaller than when it is determined based on the width required for the conveyance robot (2) to turn together with the package (B1). Therefore, the placement area (A2) in which the package (B1) can be placed in the package storage area (A1, A11) can be widened, and more packages (B1) can be stored in the package storage area (A1, A11).

[0195] In the 12th aspect of the transport control system (1), in any of the first to 11th aspects, when there is a limit to the weight that can be loaded into the luggage storage area (A11), the placement determination unit (15) determines whether or not to transport the luggage (B1) to be transported to the luggage storage area (A11) based on the weight of the luggage (B1) to be transported.

[0196] According to this embodiment, the limit on the weight that can be loaded into the luggage storage area (A11) can be met.

[0197] The transport control system (1) of a thirteenth aspect is any one of the first to twelfth aspects, further including a detection unit (22) that detects the size of the luggage storage area (A1, A11). The placement determination unit (15) determines the placement position of the luggage (B1) to be transported in the luggage storage area (A1, A11) based on the size of the luggage storage area (A1, A11) detected by the detection unit (22) and the size of the luggage (B1) to be transported.

[0198] According to this aspect, even if the size of the luggage storage area (A1, A11) changes, the placement position of the luggage (B1) to be transported can be determined based on the size of the luggage storage area (A1, A11) detected by the detection unit (22).

[0199] In the transport control system (1) of the 14th aspect, in any one of the first to 13th aspects, the cargo (B1) includes at least one of a cart capable of accommodating components to be mounted on the board and a component supply unit (5). The component supply unit (5) supplies components to a manufacturing device that mounts the components on the board.

[0200] According to this embodiment, the space efficiency can be improved when the cargo (B1) including at least one of the cart and the component supply unit (5) is placed in the placement area (A2).

[0201] A fifteenth aspect of the transport control method is a transport control method for controlling transport work by a transport robot (2). The transport robot (2) transports a transport target unit (B1) among a plurality of units (B1) to a unit storage area (A1, A11) large enough to accommodate the plurality of units (B1) and capable of arranging each of the plurality of units (B1) at any position. The transport control method includes a placement determination process and a transport control process. In the placement determination process, a placement position of the unit (B1) in the unit storage area (A1, A11) is determined based on the size of the unit (B1). In the transport control process, a transport instruction is output to the transport robot (2) to transport the unit (B1) to the placement position determined in the placement determination process. The luggage storage areas (A1, A11) include a placement area (A2) in which multiple luggage (B1) can be placed, and an aisle area (A3) along which a transport robot (2) transporting a luggage (B1) to be transported moves from an entrance (E1) of the luggage storage areas (A1, A11) to the placement area (A2). In the transport control process, a transport path (NP1) along which the transport robot (2) transports the luggage (B1) to be transported to a placement position within the placement area (A2) is set in the placement area (A2) along a predetermined transport direction. In the transport control process, the transport robot (2) transporting the luggage (B1) to be transported is moved along the transport path (NP1) to transport the luggage (B1) to the placement position.

[0202] According to this aspect, the placement determination unit 15 determines the placement position of the luggage B1 based on the size of the luggage B1 in the placement area A2 within the luggage storage areas A1, A11, where the luggage B1 can be placed at any position. Therefore, it becomes possible to pack the luggage B1 into the placement area A2, thereby improving the space efficiency of the placement area A2.

[0203] Not limited to the above aspects, various configurations (including modifications) of the transport control system (1) according to the above embodiments and modifications can be embodied as a transport control method, a (computer) program, or a non-transitory recording medium on which a program is recorded, etc.

[0204] The configurations according to the second to fourteenth aspects are not essential for the transport control system (1) and can be omitted as appropriate. [Explanation of symbols]

[0205] 1. Transport control system 2. Transport robots (robots that cannot move laterally, robots that can move laterally) 5 Parts supply unit 11 Communications Department 15 Placement determination section 16 Transport control section 22 Detection unit A1, A11 Luggage storage area A2 Placement Area A3 Passage Area A5, A51 Carry-out passage area B1 Luggage B11 First baggage B12 Second luggage E1 Entrance / Exit (Entrance) NP1 transport path NP11 First conveying path NP12 Second conveyor

Claims

1. a communication unit capable of communicating with a transport robot that transports a target piece of luggage among the plurality of luggage to a luggage storage area having a size large enough to accommodate the plurality of luggage and in which each of the plurality of luggage can be placed at an arbitrary position; a placement determination unit that determines placement positions of the luggage to be transported in the luggage storage area based on the size of the luggage to be transported; a transport control unit that causes the communication unit to transmit to the transport robot a transport instruction to transport the package to the placement position determined by the placement determination unit; Equipped with the luggage storage area includes a placement area in which the plurality of luggage can be placed, and a passage area in which the transport robot moves from an entrance of the luggage storage area to the placement area while transporting the luggage to be transported, The placement determination unit In the placement area, a transport path along which the transport robot transports the package to be transported to the placement position within the placement area is set along a predetermined transport direction; The transport control unit the transport robot, which is currently transporting the object to be transported, is moved along the transport path to transport the object to be transported to the placement position; Conveyor control system.

2. the luggage to be transported includes a first luggage and a second luggage that is transported to the luggage storage area after the first luggage, When the width dimension of the second unit is larger than the passage width of a first conveying path, which is the conveying path taken by the transport robot when transporting the first unit in the placement area, the placement determination unit sets a second conveying path, which has a passage width equal to or larger than the width dimension of the second unit, as the conveying path along the conveying direction at a position different from the first conveying path in the placement area, and the conveying control unit moves the transport robot along the second conveying path to transport the second unit to the placement position. The transport control system according to claim 1 .

3. the conveying direction is a first direction, the passage area extends from the entrance of the luggage storage area to one end of the conveying path in the first direction along a second direction perpendicular to the first direction, The transport robot In the case of a robot that cannot move laterally, the robot cannot move straight in two directions that are perpendicular to each other without changing the orientation of the load to be transported, the placement determination unit sets a width dimension of the transport path in the second direction based on a width dimension required for the laterally immobile robot to turn together with the baggage to be transported. The transport control system according to claim 1 .

4. the conveying direction is a first direction, the passage area extends from the entrance of the luggage storage area to one end of the conveying path in the first direction along a second direction perpendicular to the first direction, The transport robot a laterally movable robot that can move straight in each of two directions perpendicular to each other without changing the orientation of the load to be transported, the placement determination unit sets a width dimension of the transport path in the second direction based on a maximum width dimension in a state in which the laterally movable robot is transporting the load to be transported. The transport control system according to claim 1 .

5. the conveying direction is a first direction, a first end of the conveying path in the first direction connected to the passage area, and a second end of the conveying path in the first direction connected to an exit passage area for the plurality of pieces of luggage provided in the luggage storage area; the unloading passage area extends along a second direction perpendicular to the first direction, the transport control unit causes the transport robot to transport the luggage placed in the placement area to outside the luggage storage area through the carry-out passage area and an empty space in the placement area where no luggage is placed. The transport control system according to claim 1 .

6. The transport robot a laterally movable robot that can move straight in each of two directions perpendicular to each other without changing the orientation of the load to be transported, the placement determination unit sets a width dimension of the carrying-out passage area in the first direction based on a dimension in the first direction in a state in which the laterally-movable robot is carrying the baggage to be carried. The transport control system according to claim 5 .

7. When the transport robot is to transport the luggage to be removed that has been placed in the placement area, the transport control unit gives the transport robot a movement instruction to move from the entrance of the luggage storage area, through the placement area and the removal passage area, to the placement position of the luggage to be removed. The transport control system according to claim 5 .

8. the conveying direction is a first direction, the transport robot is capable of connecting and transporting each of the plurality of packages from any one of both sides in the first direction and both sides in a second direction perpendicular to the first direction, the placement determination unit sets an unloading passage area in an area adjacent to the placement area in the second direction within the luggage storage area, the transport control unit issues a carry-out instruction to the transport robot to cause the transport robot to carry out the luggage to be carried out that has been placed in the placement area through the carry-out passage area to outside the luggage storage area. The transport control system according to claim 1 .

9. the placement determination unit sets a width dimension of the carrying-out passage area in the second direction based on a width dimension required for the transport robot to turn together with the baggage to be carried out. The transport control system according to claim 8 .

10. The transport robot is Outside the luggage storage area, the transport robot takes the lead in transporting the luggage to be transported, The transport path transports the cargo to be transported with the cargo to be transported at the front. The transport control system according to claim 1 .

11. the conveying direction is a first direction, The transport robot a laterally movable robot that can move straight in each of two directions perpendicular to each other without changing the orientation of the load to be transported, The transport control unit turning the transport robot in the passage area so that the transport target package can be transported with the package at the front, and then moving the transport robot to the transport path; The transport control system according to claim 10.

12. When there is a limit to the weight that can be loaded into the luggage storage area, the placement determination unit determines whether or not to transport the luggage to be transported to the luggage storage area based on the weight of the luggage to be transported. The transport control system according to claim 1 .

13. Further, a detection unit is provided to detect the size of the luggage storage area, the placement determination unit determines a placement position of the luggage to be transported in the luggage storage area based on the size of the luggage storage area detected by the detection unit and the size of the luggage to be transported. The transport control system according to claim 1 .

14. The luggage is a carriage capable of accommodating components to be mounted on a board; a component supply unit that supplies the components to a manufacturing device that mounts the components on the board, The transport control system according to claim 1 .

15. A transport control method for controlling a transport operation by a transport robot that transports a target piece of luggage among a plurality of pieces of luggage to a luggage storage area having a size large enough to accommodate a plurality of pieces of luggage and in which each of the plurality of pieces of luggage can be placed at an arbitrary position, the method comprising: a placement determination process for determining placement positions of the luggage to be transported in the luggage storage area based on the size of the luggage to be transported; a transport control process of outputting, to the transport robot, a transport instruction to transport the package to the placement position determined by the placement determination process, the luggage storage area includes a placement area in which the plurality of luggage can be placed, and a passage area in which the transport robot moves from an entrance of the luggage storage area to the placement area while transporting the luggage to be transported, In the placement determination process, In the placement area, a transport path along which the transport robot transports the package to be transported to the placement position within the placement area is set along a predetermined transport direction; In the transport control process, the transport robot, which is currently transporting the object to be transported, is moved along the transport path to transport the object to be transported to the placement position; Transport control method.

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