Automatic moving system, automatic moving body, automatic moving method, and program

Abstract

To provide an automatic moving system, an automatic moving body, an automatic moving method, and a program that are able to reduce a work load when returning the automatic moving body to a state before an instruction to move is given.SOLUTION: The present invention includes: an automatic moving body that moves on a predetermined route; a via-point recognition unit that recognizes a via-point through which the automatic moving body has passed when moving on the route; and a return movement control unit that moves the automatic moving body on a route from the via-point to a current position of the automatic moving body, in a direction from the current position to the via-point.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an automated moving system, an automated moving body, an automated moving method, and a program. [Background technology]

[0002] In order to operate an automated moving object such as an AGV (Autonomous Guided Vehicle), a route (course) must be created in advance. Route creation can be performed in advance on a personal computer (PC) using a layout diagram of the site, etc. However, there are cases where objects that are not shown on the layout diagram are actually placed, and ultimately, it is necessary to check the operation using the actual device. For this reason, it is often the case that the actual device is brought in and the route is created on site from the beginning. In such cases, a method has been devised to make route creation easier by storing the actual movement of the AGV as waypoints (see Patent Document 1). Summary of the Invention [Problem to be solved by the invention]

[0003] However, in the method of creating a route by moving the AGV and memorizing the waypoints, the route is created by instructing it to move to the next waypoint and memorizing the actual movement results in sequence.However, if there is a problem with the movement results, the AGV must be returned to the original waypoint and the movement instructions must be given again.

[0004] While it is desirable for AGVs to travel automatically when returning, there are cases where guided AGVs cannot be returned by simply reversing the guide line, and a person must often push them back by hand. Guideless AGVs can be returned to their starting position, but if the AGV's status (for example, speed or obstacle settings) has been changed at a waypoint, the settings must be changed manually to return it to its original state. Furthermore, when creating routes in narrow sections, it is often necessary to redo and fine-tune the route multiple times within a single section, resulting in a significant workload and labor-intensive process.

[0005] The present invention has been made in consideration of the above, and aims to provide an automatic moving system, an automatic moving body, an automatic moving method, and a program that can reduce the workload when returning an automatic moving body to a state before a movement instruction was issued. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the present invention comprises an automatic moving body that moves along a predetermined route, a via point recognition unit that recognizes via points passed by the automatic moving body as it moves along the route, and a return movement control unit that moves the automatic moving body from its current position in the direction of the via point on the route from the via point to the current position of the automatic moving body. [Effects of the Invention]

[0007] According to the present invention, it is possible to reduce the workload when returning an automated moving body to the state before a movement instruction was issued. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of an overall configuration of a transport system according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the appearance of the automatic guided vehicle according to the first embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of a hardware configuration of the automatic guided vehicle according to the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a functional configuration of the automatic guided vehicle according to the first embodiment. [Figure 5] FIG. 5 is a diagram illustrating an example of a process for creating a movement path in the conveyance system according to the first embodiment. [Figure 6] FIG. 6 is a flowchart illustrating an example of the flow of the reset operation in the transport system according to the first embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of a functional configuration of an automatic guided vehicle according to the second embodiment. [Figure 8] FIG. 8 is a diagram illustrating an example of a process for creating a movement path in the conveyance system according to the second embodiment. [Figure 9] FIG. 9 is a flowchart illustrating an example of the flow of the reset operation in the transport system according to the second embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of a process for creating a movement path in the conveyance system according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, with reference to the accompanying drawings, embodiments of an automatic moving system, an automatic moving body, an automatic moving method, and a transport system to which a program is applied will be described in detail.

[0010] (First embodiment) FIG. 1 is a diagram illustrating an example of an overall configuration of a transport system according to a first embodiment.

[0011] The transport system 1 includes an operation management server 10, a travel control server 20, an automated guided vehicle (AGV) 30, a bucket station 40, and an autorator 50.

[0012] The fleet management server 10 is communicably connected to the bucket station 40. Wireless communication is preferable to increase the degree of freedom in the layout of the bucket station 40, but wired communication is also acceptable. The fleet management server 10 is also communicably connected to the travel control server 20.

[0013] The fleet management server 10 manages the operation of the automated guided vehicles 30. Specifically, when a signal indicating that a bucket (baggage basket) has been placed is received from a bucket station 40, the fleet management server 10 selects an automated guided vehicle 30 to transport the bucket. Then, the fleet management server 10 transmits a signal indicating a movement request to the driving control server 20. The signal indicating the movement request includes an identifier for identifying the selected automated guided vehicle 30 and an identifier for the bucket station 40 where the bucket has been placed.

[0014] The driving control server 20 controls the driving of the automated guided vehicle 30. Specifically, the driving control server 20 is connected to the automated guided vehicle 30 via wireless communication so that it can communicate with the automated guided vehicle 30. When the driving control server 20 receives a signal indicating a movement request from the traffic management server 10, it determines a movement route based on the current position of the selected automated guided vehicle 30 and the position of the movement destination. Then, it transmits information indicating the movement route to the automated guided vehicle 30.

[0015] The automated guided vehicle 30 is an example of an automated moving body that travels (an example of movement) along a travel route (an example of a predetermined route) that includes waypoints such as the bucket station 40. In this embodiment, the automated guided vehicle 30 is a traveling body that transports a bucket. When the automated guided vehicle 30 receives information indicating a travel route from the travel control server 20, it travels along the travel route. Then, the automated guided vehicle 30 transports the bucket placed on the bucket station 40 to the autorator 50. Note that in this embodiment, there may be multiple automated guided vehicles 30.

[0016] The bucket station 40 is a platform on which buckets are placed. The bucket station 40 detects the bucket placed thereon with a sensor and transmits a signal indicating that the bucket has been detected to the fleet management server 10. In this embodiment, there may be multiple bucket stations 40.

[0017] The autolator 50 is a bucket transport device. In this embodiment, the autolator 50 is the destination to which the automatic guided vehicle 30 transports the bucket. In the following, an example in which there is one autolator 50 will be shown.

[0018] Next, the external appearance and hardware configuration of each device will be described.

[0019] FIG. 2 is a diagram illustrating an example of the appearance of the automatic guided vehicle according to the first embodiment.

[0020] The automated guided vehicle 30 includes wheels 301, a conveyor 302, an LRF (Laser Range Finder) 303, a photoelectric sensor 304, and a camera 312 (see FIG. 3).

[0021] The automated guided vehicle 30 drives wheels 301 to travel, and when it reaches the bucket station 40, it drives the conveyor 302 to load the bucket. Furthermore, the automated guided vehicle 30 detects markers attached to the bucket station 40 using the LRF 303, photoelectric sensor 304, and camera 312. The automated guided vehicle 30 can determine the exact position of the bucket station 40 using the detected markers. In other words, the LRF 303, photoelectric sensor 304, and camera 312 function as an example of a way point recognition unit that recognizes way points, such as the bucket station 40, that the automated guided vehicle 30 passes through as it moves along its travel path. The way points do not need to be located on the path, as long as they are set within a range that can be recognized by the way point recognition unit. The LRF 303, photoelectric sensor 304, and camera 312 also function as an example of an obstacle detection unit that detects obstacles around the automated guided vehicle 30. When the present invention is applied to an automated guided vehicle 30, the automated guided vehicle 30 is not limited to a form having a conveyor 302, but may also be a form that pulls a cart (an example of an object to be transported) or a form that lifts and transports a shelf (an example of an object to be transported).

[0022] FIG. 3 is a diagram illustrating an example of a hardware configuration of the automatic guided vehicle according to the first embodiment.

[0023] In addition to the components described above, the automated guided vehicle 30 includes a wireless communication device 305, a CPU 306, a memory 307, an encoder 308, a wheel motor 309, a conveyor motor 310, and a D / A converter 311.

[0024] The wireless communication device 305 is a device that communicates with the driving control server 20 via wireless communication.

[0025] The CPU 306 is a processing unit that executes various processes described below.

[0026] The memory 307 is a volatile or non-volatile storage medium that stores various types of information and functions as a work area for the CPU 306 .

[0027] The encoder 308 is a sensor (rotary encoder) that detects the rotation angle of the wheel 301. The encoder 308 transmits data indicating the detected rotation angle of the wheel 301 to the CPU 306.

[0028] The wheel motor 309 is a drive device that rotates the wheels 301. The wheel motor 309 is driven under the control of the CPU 306 via a D / A (digital-analog) converter 311.

[0029] The conveyor motor 310 is a driving device that rotates the conveyor 302. The conveyor motor 310 is driven under the control of the CPU 306 via a D / A (digital-to-analog) converter 311.

[0030] 4 is a diagram showing an example of the functional configuration of the automated guided vehicle according to the first embodiment. In this embodiment, the CPU 306 executes a program stored in the memory 307 to implement a travel control unit 306a and an AGV setting value acquisition unit 306b.

[0031] The AGV setting value acquisition unit 306b is an example of a setting information acquisition unit that acquires AGV setting values ​​(an example of setting information) of the AGV 30 at waypoints. Here, the AGV setting values ​​are values ​​that are set in the AGV 30, and include, for example, the traveling speed of the AGV 30, the operation of movable parts such as the rotation angle of the wheels 301, the setting of the obstacle detection range (hereinafter referred to as the obstacle detection range) by the obstacle detection unit, the travel distance between waypoints, and communication operations with external devices. The AGV setting value acquisition unit 306b also stores the acquired AGV setting values ​​in a storage unit such as the memory 307. That is, the memory 307 functions as an example of a storage unit that stores AGV setting values. Specifically, the memory 307 stores the AGV setting values ​​of a first waypoint through which the AGV 30 passes and a second waypoint through which the AGV 30 passes after the first waypoint.

[0032] The travel control unit 306a is an example of a return travel control unit that controls the AGV 30 to travel from a waypoint, such as the bucket station 40, recognized by the camera 312, along a travel path from the current position to the waypoint. This automates the movement and setting changes of the AGV 30 when restoring the AGV 30 to its state before a travel instruction, thereby reducing the workload required to restore the AGV 30 to its state before a travel instruction. In an embodiment of the present invention, the autonomous vehicle may be an autonomous vehicle or a drone. When the autonomous vehicle is an autonomous vehicle, the predetermined route may be a road, and the waypoint may be a stop line at an intersection, for example. In this case, the return travel control unit controls the autonomous vehicle to return to a point that does not cross the stop line when the autonomous vehicle passes the stop line and stops. When the autonomous vehicle is a drone, the predetermined route may be a route connecting the driving start position and the destination, and the waypoint may be a building, utility pole, or other landmark that has been set in advance. The return driving control unit controls the drone to return to the route if it deviates from the route.

[0033] In this embodiment, the travel control unit 306a causes the automated guided vehicle 30 to travel in the direction of the waypoint based on the AGV setting value. Specifically, when passing the second waypoint, the travel control unit 306a reads the AGV setting value for the first waypoint from the memory 307, and causes the automated guided vehicle 30 to travel in the direction of the first waypoint based on the AGV setting value. More specifically, the travel control unit 306a obtains the traveling direction of the automated guided vehicle 30 based on the AGV setting value, converts the traveling direction to a reverse direction, and causes the automated guided vehicle 30 to travel in the direction of the waypoint based on the converted reversed traveling direction. For example, when the travel control unit 306a obtains "turn right" from the AGV setting value, it converts it to "turn left" during return travel.

[0034] Fig. 5 is a diagram for explaining an example of a process for creating a movement path in the conveyance system according to the first embodiment. Specifically, Fig. 5 shows a case in which a movement path is created in which a guide-type AGV that travels according to floor markers starts from a waypoint S101 with its travel speed set to the maximum speed in advance, changes its travel speed to the minimum speed at a waypoint S102, and stops at a waypoint S103.

[0035] In actual operation of the automated guided vehicle 30, one-way traffic is assumed, and a movement route from via point S103 to via point S101 is not created, so the automated guided vehicle 30 cannot be made to travel in reverse from the via point S103 side toward via point S101. However, when creating a movement route for the first time or when correcting a movement route, there are cases where it is desired to make the automated guided vehicle 30 travel in reverse from the via point S103 side toward via point S101.

[0036] For example, when it is desired to fine-tune the position of way point S102 or change the speed of the automated guided vehicle 30 after passing way point S102, the automated guided vehicle 30 may be repeatedly subjected to test runs until the adjustment is complete. In such a case, it is necessary to return the automated guided vehicle 30 from way point S103 to way point S101 after each test run to check the speed, which requires manually moving the automated guided vehicle 30.

[0037] Furthermore, because the travel speed of the automated guided vehicle 30 is set to the minimum at the way point S103, it is also necessary to set the travel speed back to the maximum when returning to the way point S101. To avoid this hassle, it is possible to create a test run travel route from the way point S103 to the way point S101, but creating a test run travel route every time a route is created is a lot of work and is not realistic.

[0038] Therefore, in this embodiment, the setting values ​​(AGV setting values) of the automated guided vehicle 30 when it passes a waypoint during travel are stored, and a reset operation is added in which the automated guided vehicle 30 moves to the waypoint before travel and returns to its original state. This allows the automated guided vehicle 30 to repeat test runs without having to manually move the automated guided vehicle 30 or reset its settings. Here, the AGV setting values ​​include the travel speed, obstacle detection settings, and travel distance between waypoints, but other necessary settings may also be added. Furthermore, although this embodiment uses a guided automated guided vehicle 30 as an example, the present invention is also applicable to guideless AGVs that use lasers or map information.

[0039] 6 is a flowchart showing an example of the flow of a reset operation in the conveyance system according to the first embodiment. When a user issues a travel instruction to the automated guided vehicle 30 (step F101), the AGV set value acquisition unit 306b stores the AGV set values ​​for each of the way points S101 to S103 in the memory 307 (steps F102 to F104). For example, the AGV set value acquisition unit 306b stores the AGV set value for the maximum traveling speed at the way point S101, and the AGV set value for the minimum traveling speed at the way point S102 in the memory 307.

[0040] Next, if the user has not instructed the automatic guided vehicle 30 to perform a reset operation (step F105: No), the traveling control unit 306a ends the process without performing a reset operation. On the other hand, if a reset operation has been instructed (step F105: Yes), the traveling control unit 306a sets the traveling speed to the minimum speed in accordance with the AGV setting value at the waypoint S102, and starts traveling in the direction opposite to the forward direction (step F106).

[0041] Furthermore, the travel control unit 306a sets the travel speed to the maximum speed in accordance with the AGV setting value for the waypoint S101, and continues travel (step F107). Thereafter, the travel control unit 306a completes travel at the waypoint S101, and ends the reset operation (step F108). By performing the reset operation in this way, when the user wants to travel the same travel route multiple times, for example, when creating a route, the automatic guided vehicle 30 can travel the same travel route repeatedly without creating a dedicated route to return the automatic guided vehicle 30 to its original state, and without manually moving or setting the route.

[0042] In this way, according to the conveyance system of the first embodiment, when redoing route creation, the workload when returning the autonomous vehicle to the state before the movement instruction can be reduced by automating the movement and setting changes of the autonomous vehicle when returning the autonomous vehicle to the state before the movement instruction.

[0043] (Second embodiment) In this embodiment, a junction point on a travel route is determined, and AGV setting values ​​at the junction point are acquired. In the following description, description of the same configuration as in the first embodiment will be omitted.

[0044] 7 is a diagram showing an example of the functional configuration of an automated guided vehicle according to the second embodiment. In this embodiment, the CPU 306 executes a program stored in the memory 207 to implement a travel control unit 306a, an AGV setting value acquisition unit 306b, and a determination unit 306c.

[0045] The determining unit 306c is an example of a determining unit that determines a junction point on the travel route. The AGV setting value acquiring unit 306b acquires the AGV setting value at the junction point.

[0046] Fig. 8 is a diagram for explaining an example of a process for creating a movement route in the conveyance system according to the second embodiment. Specifically, Fig. 8 shows a case in which a route is created in which a guided automated guided vehicle 30 starts from a way point S201, merges with another main line at a way point S202, and then stops at a way point S203. If a reset operation is performed in this case, the automated guided vehicle 30 traveling in reverse from the way point S203 passes the merging point and does not reach the way point S201.

[0047] Therefore, in this embodiment, the automated guided vehicle 30 stores the AGV setting values ​​not only when passing through a via point but also at a junction point (via point S202), and by adding the turning angle at the junction point and the travel distance from the junction point to the next via point as the AGV setting values ​​to be stored at the junction point, it is possible to return to via point S201 taking the junction point into consideration when performing the reset operation.

[0048] A junction point can be determined, for example, by whether the guide line considered to be the main line has changed. A guide line change can be determined by constantly monitoring the position of the guide line, which normally changes continuously, and detecting a change in the guide line position by a certain value or more. Because the guided automated guided vehicle 30 does not have a mechanism for determining absolute coordinates on a map, the turning angle and travel distance from the junction point can be determined by a simple method using the amount of wheel rotation or by specifying numerical values ​​in advance in a route setting file. In the example shown in FIG. 8, the determination unit 208c determines a junction point when the position of the guide line changes by 90 degrees. However, any method may be used as long as the position of the guide line changes by a certain value or more. For example, a junction point can also be determined when the position of the guide line changes by 120 degrees.

[0049] 9 is a flowchart showing an example of the flow of a reset operation in the conveyance system according to the second embodiment. When a user issues a travel instruction to the automated guided vehicle 30 (step F201), the AGV setting value acquisition unit 306b stores the AGV setting value at the waypoint S201 in the memory 207 (step F202). For example, the AGV setting value acquisition unit 306b stores the AGV setting value at the waypoint S201, which is the maximum travel speed, in the memory 207.

[0050] Next, the determination unit 306c detects a change in the guide lines and determines the junction point. The AGV setting value acquisition unit 306b stores the AGV setting values ​​at the junction point (way point S202) in the memory 207 (step F203). Because the junction point is not a way point explicitly designated by the user, the AGV setting values ​​are the same as the AGV setting values ​​at the way point S201. At this time, the AGV setting value acquisition unit 306b also stores information such as the amount of rotation at the junction point and the motor rotation speed at the junction point in the memory 207. Thereafter, the AGV setting value acquisition unit 306b completes traveling at way point S203 and stores the AGV setting values ​​at way point S203 in the memory 207 (step F204).

[0051] Next, if the user has not instructed the automatic guided vehicle 30 to perform a reset operation (step F205: No), the traveling control unit 306a ends the process without performing a reset operation. On the other hand, if a reset operation has been instructed (step F205: Yes), the traveling control unit 306a sets the traveling speed to the maximum speed in accordance with the AGV setting value at the waypoint S202, and starts traveling in the direction opposite to the forward direction (step F206).

[0052] Next, the travel control unit 306a detects that the motor rotation speed information matches the AGV setting value at the waypoint S202, determines that the AGV has reached the junction (waypoint S202), and changes the traveling direction according to the turning amount included in the AGV setting value (step F207). Thereafter, the travel control unit 306a continues traveling according to the AGV setting value at the waypoint S201 (step F207). Then, the automatic guided vehicle 30 completes traveling at the waypoint S201 and ends the reset operation (step F208).

[0053] In this way, according to the conveying system of the second embodiment, the AGV setting values ​​at the junction point are stored in addition to the via points set by the user, and the amount of rotation and motor rotation speed information at the junction point are also stored, so that reset operations can be performed even when multiple routes converge.

[0054] (Third embodiment) This embodiment has a mode selection function that selects between a minimum setting mode that selectively fixes the AGV setting value and a normal mode that does not fix the AGV setting value, and when the minimum setting mode is selected by the mode selection function, the automated guided vehicle travels according to the fixed AGV setting value. In the following explanation, explanations of the same configuration as the above-mentioned embodiment will be omitted.

[0055] In this embodiment, the automated guided vehicle 30 has a normal mode and a minimum setting mode. Here, the normal mode is a mode in which the AGV setting value is not fixed and the automated guided vehicle 30 travels according to the AGV installation value. Here, the minimum setting mode is a mode in which the AGV setting value is selectively fixed and the automated guided vehicle 30 travels.

[0056] In this embodiment, the traveling control unit 306a has a mode selection function for selecting a normal mode or a minimum setting mode, and when the minimum setting mode is selected by the mode selection function, the automatic guided vehicle 30 travels according to the fixed AGV setting values. For example, the AGV setting values ​​fixed by the minimum setting mode may include a range in which the obstacle detection unit can detect an obstacle and which is narrower than the obstacle detection range in the normal mode.

[0057] Fig. 10 is a diagram for explaining an example of a process for creating a movement path in the conveyance system according to the third embodiment. Specifically, Fig. 10 illustrates a case in which a guided automated guided vehicle 30 traveling according to floor markers starts from a way point S301, passes through a way point S302, and stops due to the detection of an obstacle before stopping at a further way point S303.

[0058] In this case, the user needs to review the route settings, and therefore needs to narrow the obstacle detection range at waypoint S302. After setting the obstacle detection range, the user needs to issue a reset command to check again whether there are any problems with the automatic guided vehicle 30's travel, and return the automatic guided vehicle 30 to the state at waypoint S301.

[0059] However, in the reset operation described above, the automated guided vehicle 30 first starts traveling in the direction opposite to the forward direction according to the AGV setting value at the way point S302, but at this time, there are cases where the automated guided vehicle 30 cannot start traveling due to the setting of the obstacle detection range at the way point S302. For example, in the case of an automated guided vehicle 30 that needs to turn 180 degrees to travel in the direction opposite to the forward direction, there are cases where the automated guided vehicle 30 detects a wall or obstacle during the turning operation and is unable to move.

[0060] Furthermore, even if the automated guided vehicle 30 can move backward without making a 180-degree turn, there are cases where the vehicle detects an obstacle only when moving backward, causing it to stop and be unable to start moving again, because the obstacle detection methods for the forward and reverse sides are different. Even in such cases, if safety is ensured, there are cases where it is desirable to temporarily switch the obstacle detection range off or to the minimum and perform a reset operation.

[0061] Therefore, in this embodiment, a mode selection function is added to the traveling control unit 306a, and in a minimum setting mode other than the normal mode, a specific AGV setting value is fixed regardless of the AGV setting value stored at the waypoint. For example, in the minimum setting mode, the obstacle detection range is set to off or minimum regardless of the AGV setting value stored at the waypoint, so that traveling by reset operation can be performed even in the above case.

[0062] It is possible to set multiple AGV setting values ​​to be fixed in the minimum setting mode. For example, by also setting the travel speed to the minimum speed, it is possible to reduce the collision risk that occurs when the obstacle detection range is set to off or minimum. Possible fixed AGV setting values ​​include the AGV setting values ​​shown in Table 1 below. [Table 1]

[0063] In this way, according to the conveyance system according to the third embodiment, even in a situation where the reset operation cannot return the conveyance system to the state at the start of travel, the reset operation can be performed.

[0064] The program executed by the automated guided vehicle 30 of this embodiment is provided in a state where it is pre-installed in a ROM (Read Only Memory) or the like. The program executed by the automated guided vehicle 30 of this embodiment may also be provided by being recorded in an installable or executable file format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk).

[0065] Furthermore, the program executed by the automated guided vehicle 30 of this embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the program executed by the automated guided vehicle 30 of this embodiment may be provided or distributed via a network such as the Internet.

[0066] The program executed by the automated guided vehicle 30 in this embodiment has a modular configuration including the above-mentioned units (travel control unit 306a, AGV setting value acquisition unit 306b, and determination unit 306c), and in actual hardware, an example of a processor such as CPU 306 reads the program from the above-mentioned ROM and executes it, thereby loading the above-mentioned units into a main storage device, and generating the travel control unit 306a, AGV setting value acquisition unit 306b, and determination unit 306c on the main storage device. In this embodiment, the travel control unit 306a, AGV setting value acquisition unit 306b, and determination unit 306c are realized in the automated guided vehicle 30, but it is also possible to realize at least a part of the travel control unit 306a, AGV setting value acquisition unit 306b, and determination unit 306c in an external device such as the fleet management server 10 and the travel control server 20.

[0067] For example, aspects of the present invention are as follows. <1> an automated moving object that moves along a predetermined route; a waypoint recognition unit that recognizes waypoints passed by when the autonomous moving body moves on the route; a return movement control unit that moves the automatic moving body from the current position toward the via point on a route from the via point to the current position of the automatic moving body; An automated transport system comprising: <2> a setting information acquisition unit that acquires setting information of the automatic moving body at the waypoint; the return movement control unit moves the automatic moving body in the direction of the via point based on the setting information; <1> The automated transport system according to claim 1. <3> a storage unit that stores the setting information of a first waypoint that the autonomous moving body passes through and a second waypoint that the autonomous moving body passes through next to the first waypoint; the return movement control unit reads out the setting information of the first way point from the storage unit when passing through the second way point, and causes the automatic moving body to travel in the direction of the first way point based on the setting information. <2> The automated transport system according to claim 1. <4> the return movement control unit acquires a traveling direction of the automatic moving body based on the setting information, converts the traveling direction into a reverse direction, and moves the automatic moving body toward the recognized point based on the traveling direction converted into the reverse direction. <2> or <3> The automated transport system according to claim 1. <5> a determination unit for determining a junction point on the route; The setting information acquisition unit further acquires the setting information at the meeting point. <2> from <4> 10. An automated transportation system according to any one of claims 1 to 9. <6> a minimum setting mode in which the setting information is selectively fixed, and a normal mode in which the setting information is not fixed, the return movement control unit has a mode selection function for selecting the normal mode or the minimum setting mode, and when the minimum setting mode is selected, moves the automatic moving body in accordance with the fixed setting information; <2> from <5> 10. An automated transportation system according to any one of claims 1 to 9. <7> an obstacle detection unit that detects obstacles around the autonomous moving body; the setting information fixed in the minimum setting mode includes a range in which the obstacle is detected by the obstacle detection unit and a narrower obstacle detection range in the normal mode; <6> The automated transport system according to claim 1. <8> a waypoint recognition unit that recognizes waypoints passed by an automatic moving body traveling along a predetermined route; a return movement control unit that causes the automatic moving body to travel from the current position in a direction toward the via point on a route from the via point to the current position of the automatic moving body; An automated vehicle comprising: <9> An automated moving method executed by an automated moving object moving along a predetermined route, comprising: a step of recognizing waypoints passed by when the autonomous vehicle moves along the route; a step of causing the automated moving body to travel from the current position in a direction toward the via point on a route from the via point to the current position of the automated moving body; Automated movement methods including. <10> Computer, a waypoint recognition unit that recognizes waypoints passed by an automatic moving body traveling along a predetermined route; a return movement control unit that moves the automatic moving body from the current position toward the via point on a route from the via point to the current position of the automatic moving body; A program to make it function as such. [Explanation of symbols]

[0068] 10. Traffic management server 20 Driving control server 30 Automated Guided Vehicle 40 Bucket Station 50 Autolator 303 LRF 304 Photoelectric Sensor 306 CPU 306a Driving control unit 306b AGV setting value acquisition unit 306c Judgment part 307 Memory 312 Camera [Prior art documents] [Patent documents]

[0069] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-219723

Claims

1. an automated moving object that moves along a predetermined route; a waypoint recognition unit that recognizes waypoints passed by when the autonomous moving body moves on the route; a return movement control unit that moves the automatic moving body from the current position toward the via point on a route from the via point to the current position of the automatic moving body; An automated transport system comprising:

2. a setting information acquisition unit that acquires setting information of the automatic moving body at the waypoint; The automated moving system according to claim 1 , wherein the return movement control unit moves the automated moving body in the direction of the waypoint based on the setting information.

3. a storage unit that stores the setting information of a first waypoint through which the autonomous moving body passes and a second waypoint through which the autonomous moving body passes after the first waypoint; The automatic moving system of claim 2, wherein the return movement control unit reads the setting information of the first way point from the memory unit when passing through the second way point, and moves the automatic moving body in the direction of the first way point based on the setting information.

4. The automatic moving system described in claim 2 or 3, wherein the return movement control unit obtains the direction of travel of the automatic moving body based on the setting information, converts the direction of travel to a reverse direction, and moves the automatic moving body in the direction of the via point based on the converted reverse direction of travel.

5. a determination unit for determining a junction point on the route; The automated travel system according to claim 2 , wherein the setting information acquisition unit further acquires the setting information for the meeting point.

6. a minimum setting mode in which the setting information is selectively fixed, and a normal mode in which the setting information is not fixed, 3. The automatic moving system according to claim 2, wherein the return movement control unit has a mode selection function for selecting the normal mode or the minimum setting mode, and when the minimum setting mode is selected, moves the automatic moving body in accordance with the fixed setting information.

7. an obstacle detection unit that detects obstacles around the autonomous moving body; 7. The automated mobile system according to claim 6, wherein the setting information fixed in the minimum setting mode includes a range in which the obstacle detection unit detects the obstacle and a narrower obstacle detection range in the normal mode.

8. a waypoint recognition unit that recognizes waypoints passed by an automatic moving body traveling along a predetermined route; a return movement control unit that moves the automatic moving body from the current position toward the via point on a route from the via point to the current position of the automatic moving body; An automated vehicle comprising:

9. An automated travel method executed by an automated vehicle traveling on a predetermined route, comprising: a step of recognizing waypoints passed by when the autonomous vehicle moves along the route; moving the automatic moving body from the current position in a direction toward the via point on a route from the via point to the current position of the automatic moving body; Automated movement methods including.

10. Computer, a waypoint recognition unit that recognizes waypoints passed by an automatic moving body traveling along a predetermined route; a return movement control unit that moves the automatic moving body from the current position toward the via point on a route from the via point to the current position of the automatic moving body; A program to make it function as such.

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