Conveyance support system and conveyance support method

Abstract

To provide a conveyance support system and a conveyance support method for efficiently conveying a conveyance target.SOLUTION: A management device 20 includes a control part 21 that controls a conveyance device 10 in a building. Then the control part 21 acquires information related to attributes of a conveyance target, acquires a structure map in the building, and specifies a conveyable region of the conveyance device in the structure map according to the attributes. Further, the control part 21 specifies a conveyance route from a conveyance start position to a target position in the building by using the conveyable region, and provides the conveyance device 10 with instructions for conveying the conveyance target by using the conveyance route.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport assistance system and a transport assistance method for transporting an object to be transported. [Background technology]

[0002] When transporting luggage within a building, a self-propelled transport device may be used (see, for example, Patent Document 1). In the technology described in this document, a control unit identifies the object to be transported based on an image acquired from a camera. Furthermore, using location information acquired from a range sensor, the control unit drives wheels so that the device moves under the object to be transported. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-79890 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses that when the starting point and destination of a transport are on different floors, an elevator is used. However, in a building, not only transport devices but also people may be moving back and forth. When people and transport devices share the same space, efficient transport is difficult because the transport device needs to avoid contact with people. [Means for solving the problem]

[0005] A transportation assistance system that solves the above problem includes a control unit that controls a transportation device within a building, and the control unit acquires information about attributes of an object to be transported, acquires a structural map of the building, identifies a transportable area of ​​the transportation device in the structural map according to the attributes, identifies a transportation route from a start position of transportation to a destination position within the building using the transportable area, and instructs the transportation device to transport the object using the transportation route. [Effects of the Invention]

[0006] According to the present disclosure, objects to be transported can be transported efficiently. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram of a transportation support system according to an embodiment. [Figure 2] FIG. 2 is an explanatory diagram of a hardware configuration according to an embodiment. [Figure 3] FIG. 1 is a cross-sectional view of a building according to an embodiment. [Figure 4] FIG. 2 is a plan view of a seismic isolation layer according to an embodiment. [Figure 5] FIG. 2 is an explanatory diagram of a processing procedure according to an embodiment. [Figure 6] FIG. 2 is an explanatory diagram of a processing procedure according to an embodiment. [Figure 7] FIG. 10 is a plan view of a seismic isolation layer in another example. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, a specific embodiment of a transportation support system and a transportation support method will be described with reference to FIGS. 1, the transportation support system A1 uses a transportation device 10 and a management device 20. The transportation device 10 is connected to the management device 20 via a network to send and receive data.

[0009] (Configuration example of information processing device) FIG. 2 shows an example of the hardware configuration of an information processing device H10 that functions as the transport device 10, the management device 20, and the like.

[0010] The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a storage device H14, and a processor H15. Note that this hardware configuration is an example, and the information processing device H10 may include other hardware.

[0011] The communication device H11 is an interface that establishes a communication path with other devices and executes data transmission and reception, and is, for example, a network interface card or a wireless interface.

[0012] The input device H12 is a device that accepts input from a user, etc., and is, for example, a mouse, a keyboard, etc. The display device H13 is a display, a touch panel, etc. that displays various information.

[0013] The storage device H14 is a storage device that stores data and various programs for executing various functions of the transport device 10 and the management device 20. Examples of the storage device H14 include a ROM, a RAM, and a hard disk.

[0014] The processor H15 uses programs and data stored in the storage device H14 to control each process in the information processing device H10, which functions as the conveying device 10, management device 20, etc. Examples of the processor H15 include a CPU and an MPU. The processor H15 loads programs stored in a ROM or the like into a RAM and executes various processes corresponding to the various processes. For example, when an application program for the conveying device 10 or management device 20 is launched, the processor H15 runs a process that executes each process described below.

[0015] The processor H15 is not limited to a processor that performs all of its processing using software. For example, the processor H15 may include a dedicated hardware circuit (e.g., an application-specific integrated circuit (ASIC)) that performs hardware processing for at least some of the processing it performs. That is, the processor H15 may be configured as follows:

[0016] [1] One or more processors that operate according to a computer program (software). [2] One or more dedicated hardware circuits that perform at least some of the various processes; or [3] Circuits containing combinations of these The processor includes a CPU and memory, such as RAM and ROM, that stores program code or instructions configured to cause the CPU to perform processes. Memory, or computer-readable media, includes any available media that can be accessed by a general-purpose or special-purpose computer.

[0017] (Building structure) As shown in FIG. 3, in this embodiment, it is assumed that transportation is performed within a building B1. Building B1 is composed of multiple floors, including the first floor L1, second floor L2, and third floor L3. Building B1 has a seismic isolation structure with a seismic isolation layer L0 on which a seismic isolation foundation F0 is placed. In seismic isolation layer L0, a seismic isolation device D1 is placed on the lower foundation F1 of the seismic isolation foundation F0, and the seismic isolation device D1 supports the upper foundation F2 that supports the first floor L1. Markers M1 are affixed to the foundation (upper foundation F2) on which the seismic isolation device is installed, each with an identifier (two-dimensional code) printed on it to identify each seismic isolation device D1, which is placed at a predetermined interval.

[0018] The building B1 is equipped with elevators E1 and E2 (elevating devices) as elevating devices (EV) that can ascend and descend from each upper floor (L1 to L3) to the seismic isolation layer L0. When an object to be transported is transported from a departure point P1 to a destination P2, a transport device 10 is used. For example, when transporting an object from a departure point P1 on the third floor L3 to a destination P2 on the second floor L2 via a seismic isolation layer L0, the transport device 10 uses an elevator E1 close to the departure point P1 to descend from the third floor L3 to the seismic isolation layer L0. The transport device 10 then travels along a route R1 from the elevator E1 (starting position within the seismic isolation layer L0) within the seismic isolation layer L0 to an elevator E2 (destination position within the seismic isolation layer L0). Next, the transport device 10 uses the elevator E2 to ascend from the seismic isolation layer L0 to the second floor L2 and travel within the second floor L2 to the destination P2.

[0019] Figure 4 is a plan view of the base isolation layer L0 of building B1. Base isolation bases F0 and damping devices D2 are arranged at predetermined intervals on the base isolation layer L0. In Figure 4, in addition to elevators E1 and E2, elevators E3 and E4 are also arranged.

[0020] Additionally, the height at which people can pass through the seismic isolation layer L0 varies depending on the location. The normal height is 2m, but there are areas where the height varies depending on the area, such as area AR1 being 1m and area AR2 being 1.5m.

[0021] (Configuration of the conveying device 10) As shown in FIG. 1, the transport device 10 carries an object to be transported and moves from a departure point to a destination. To this end, the transport device 10 is equipped with a sensor 101 and a camera 102. The sensor 101 is a scanning optical distance sensor that acquires location information by scanning a laser beam and measuring the distance to the detected object. The sensor 101 is used to create an environmental map of the floor, recognize obstacles, and so on. The camera 102 recognizes a marker M1 by capturing an image of the area around the transport device 10. Then, by recognizing the marker M1, the transport device estimates its own position. The transport device 10 includes a travel control unit 11 and a travel drive unit 12 that drives the drive wheels. The travel control unit 11 controls the travel drive unit 12 to move from the departure point to the destination.

[0022] (Functions of management device 20) Next, the function of the management device 20 will be described with reference to Fig. 1. The management device 20 is a computer system used by an administrator of the transport device 10. Transport instructions are given to the transport device 10 using this management device 20. The management device 20 includes a control unit 21, a map storage unit 22, and a transport information storage unit 23.

[0023] The control unit 21 executes information processing at an acquisition stage, a route setting stage, an instruction stage, etc. For this purpose, a transport instruction program is stored in the control unit 21. By starting this transport instruction program, the control unit 21 functions as an acquisition unit 211, a route setting unit 212, and an instruction unit 213.

[0024] The acquisition unit 211 executes a process of acquiring user instructions and various information from the transport device 10. The acquisition unit 211 holds priority determination information for determining priorities according to the contents of the transport object. For example, a high priority is assigned to an attribute of the transport object that needs to be transported urgently. The route setting unit 212 executes a process of setting a movement route of the conveyance device 10 on a map showing a floor layout. The instruction unit 213 executes a process of instructing the transport device 10 to transport.

[0025] Map management data of the floor layout of each story of building B1 is recorded in the map storage unit 22. The map management data is recorded when a map is registered. The map management data includes a story identifier and information about the map.

[0026] The floor identifier is an identifier for identifying each floor of the building B1. The map is a structural map showing the floor layout of this level. This map shows the passageways and obstacles located on each level. For example, on the seismic isolation layer L0, the seismic isolation base F0 with the seismic isolation device D1 and the damping device D2 are located as obstacles.

[0027] The transport information storage unit 23 records transport management data relating to the transport status using the transport device 10. This transport management data is recorded when a transport instruction is received. This transport management data includes data relating to a transport identifier, start date and time, departure point, destination, end date and time, transport device identifier, transport object, priority, route, and transport status.

[0028] The transport identifier is an identifier for identifying each transport, and the order in which transport requests are received can be identified by this transport identifier. The start date and time is the date and time when the transport device 10 started transporting. The origin and destination are the origin and destination of the transport device 10 to transport.

[0029] The end date and time is the date and time when the transport device 10 completed the transport. The transport device identifier is an identifier for identifying the transport device 10 used for transport. The transport object is the attribute (contents, size, weight, etc.) of the transport object.

[0030] The priority is the order of priority when multiple transfers are performed at the same time. In this embodiment, for example, a high priority is assigned to a transfer that needs to be performed quickly, so that the transfer is performed with priority over other transfers.

[0031] The route is the route used for transportation on the floor map. The transport status is information indicating the status of transport, and is recorded as "waiting," "transporting," or "completed."

[0032] (Transportation request processing) The transportation request process will be described with reference to FIG. First, the control unit 21 of the management device 20 executes a process for acquiring transport information (step S11). Specifically, transport request information is input to the transport device 10. This transport request information includes information about the object to be transported (such as the departure point, destination, and attributes of the object to be transported). In this case, the acquisition unit 211 of the control unit 21 acquires the transport request information from the transport device 10. Then, the acquisition unit 211 generates transport management data with a transport identifier assigned based on the transport request information, and records the data in the transport information storage unit 23. In this case, the acquisition unit 211 uses the priority determination information to identify the priority according to the contents of the object to be transported. Then, the acquisition unit 211 records "waiting" as the priority and transport status in the transport management data.

[0033] Next, the control unit 21 of the management device 20 executes a process for generating a first route candidate (step S12). Specifically, the route setting unit 212 of the control unit 21 uses the map storage unit 22 to generate the shortest route from the departure point to the destination without passing through the seismic isolation layer L0 as the first route candidate. Here, if the departure point and the destination are on the same floor, the map for that floor is used. If the departure point and the destination are on different floors, an elevator is used, so the route from the departure point to the elevator and from the elevator to the destination is also generated. This transportation route generation can be performed using the well-known Dijkstra algorithm or the a* algorithm. For example, the a* algorithm calculates the straight-line distance between the departure point and the destination, and selects, among the points that have not yet been visited from the departure point, the point with the shortest sum of the straight-line distance and the distance traveled so far. Then, the selected point is marked as visited, and the distance from that point to points that have not yet been visited is updated. These processes are repeated until all points have been visited.

[0034] Next, the control unit 21 of the management device 20 executes a height determination process (step S13). Specifically, the route setting unit 212 of the control unit 21 determines the height of the object to be transported from the attributes of the object to be transported recorded in the transport management data. Then, the height position of the platform of the transport device 10 and the height of the object to be transported placed on the platform are added together to determine the height at the time of transport (vehicle height at the time of transport).

[0035] Next, the control unit 21 of the management device 20 executes a process for identifying a transportable area (step S14). Specifically, the route setting unit 212 of the control unit 21 uses the map of the seismic isolation layer L0 stored in the map storage unit 22 to identify an area whose floor height is higher than the vehicle height at the time of transportation. For example, if the vehicle height at the time of transportation exceeds 1.5 m, the transportable area is identified as an area excluding areas AR1 and AR2. Furthermore, if the vehicle height at the time of transportation is more than 1 m but less than 1.5 m, the transportable area is identified as an area excluding area AR1 from the transportable area.

[0036] Next, the control unit 21 of the management device 20 executes a process for generating a second route candidate (step S15). Specifically, the route setting unit 212 of the control unit 21 uses the map storage unit 22 to create a route for transportation from the departure point to the destination via the seismic isolation layer L0. In this case, the route is generated including a route from the departure point to the nearest first elevator, a route to the second elevator in the seismic isolation layer L0 that is nearest to the destination, and a route from the second elevator to the destination. The route within the seismic isolation layer L0 uses the transportable area within the seismic isolation layer L0. As shown in Figure 4, for example, if the vehicle height during transportation exceeds 1.5 m, route candidate RT1 is identified in the transportable area excluding areas AR1 and AR2. If the vehicle height during transportation is less than 1 m, area AR2 is passable, so route candidate RT2 is identified.

[0037] Next, the control unit 21 of the management device 20 executes a process for determining a transport route (step S16). Specifically, the route setting unit 212 of the control unit 21 calculates the required time for the first route candidate (first transport efficiency index) and the required time for the second route candidate (second transport efficiency index). In this case, it is assumed that the movement speed on the seismic isolation layer L0 is faster than the movement speed on the upper floors above the first floor L1. Then, the route setting unit 212 compares the required time for the first route candidate with the required time for the second route candidate, and determines the route with the shorter required time as the transport route and records it in the transport information storage unit 23.

[0038] Next, the control unit 21 of the management device 20 executes a transport instruction process (step S17). Specifically, the instruction unit 213 of the control unit 21 transmits a transport instruction to the transport device 10 for the transport request with the earliest received order among the transport requests with the highest priority in the "waiting" transport management data. Then, the instruction unit 213 records the start date and time, the transport device identifier, and "in transport" as the transport status in the transport management data. The transport device 10 then transports the material according to the determined transport route. In this case, transport may occur within the same floor or between different floors. Furthermore, transport may occur via the seismic isolation layer L0 or without. When the transport device 10 arrives at the destination, the instruction unit 213 records the end date and time, the transport device identifier, and the transport status "completed" in the transport management data.

[0039] (Seismic isolation transport processing) The seismic isolation transport process will be explained using Figure 6. Here, transport via the seismic isolation layer L0 will be explained.

[0040] First, the control unit 21 of the management device 20 executes a loading process (step S21). Specifically, the instruction unit 213 of the control unit 21 instructs the transport device 10 to move to the departure point. Then, the instruction unit 213 instructs the transport device 10 to load at the departure point.

[0041] Next, the control unit 21 of the management device 20 executes a process of moving to the seismic isolation layer (step S22). Specifically, when the conveyance device 10 detects an input indicating that loading is complete, the instruction unit 213 of the control unit 21 instructs the conveyance device 10 to move to the first elevator on the conveyance route. Then, the instruction unit 213 instructs the conveyance device 10 to get on the elevator and move to the seismic isolation layer L0.

[0042] Next, the control unit 21 of the management device 20 executes a movement process within the seismic isolation layer (step S23). Specifically, the instruction unit 213 of the control unit 21 instructs the conveying device 10 to move from the first elevator to the second elevator in the seismic isolation layer L0. As shown in FIG. 4, the conveying device 10 moves from the first elevator (elevator E1) to the second elevator (elevator E2) using a transportable area according to the vehicle height during transport.

[0043] Next, the control unit 21 of the management device 20 executes a process of moving to the destination floor (step S24). Specifically, when the conveying device 10 arrives at the entrance of the second elevator, the instruction unit 213 of the control unit 21 instructs the conveying device 10 to get on the second elevator and move to the destination floor.

[0044] Next, the control unit 21 of the management device 20 executes the unloading process (step S25). Specifically, when the destination floor is reached, the instruction unit 213 of the control unit 21 instructs the vehicle to disembark from the second elevator and move to the destination. Then, when the vehicle arrives at the destination, the instruction unit 213 instructs the conveyance device 10 to unload the vehicle at the destination. When the conveyance device 10 detects an input indicating that unloading is complete, the instruction unit 213 instructs the next conveyance.

[0045] According to this embodiment, the following effects can be obtained. (1) In this embodiment, the control unit 21 of the management device 20 executes a process of acquiring transportation information (step S11) and a process of generating a first route candidate (step S12). This allows a route candidate to be generated based on the shortest distance from the departure point to the destination.

[0046] (2) In this embodiment, the control unit 21 of the management device 20 executes a height specification process (step S13) and a transportable area specification process (step S14). As a result, although the height of the seismic isolation layer L0 varies depending on the location, it is possible to specify an area in the seismic isolation layer L0 that can be passed through depending on the vehicle height during transport.

[0047] (3) In this embodiment, the control unit 21 of the management device 20 executes a process for generating a second route candidate (step S15), thereby generating a second route candidate for transportation via the seismic isolation layer L0.

[0048] (4) In this embodiment, the control unit 21 of the management device 20 executes a process for determining a transportation route (step S16). This allows the control unit 21 to compare route candidates that do not pass through the seismic isolation layer L0 with route candidates that pass through the seismic isolation layer L0, thereby determining an efficient transportation route.

[0049] (5) In this embodiment, the control unit 21 of the management device 20 executes a transport instruction process (step S17). This allows the control unit 21 to instruct the transport device 10 to transport. In this case, priority is used, so the order of transport can be determined according to the attributes of the objects to be transported, etc.

[0050] (6) In this embodiment, the control unit 21 of the management device 20 executes the loading process (step S21), the movement process to the seismic isolation layer (step S22), and the movement process within the seismic isolation layer (step S23). As a result, the seismic isolation layer L0, where there are usually no people, is used, and therefore, the transportation can be performed without contact with people.

[0051] (7) In this embodiment, the control unit 21 of the management device 20 executes a process of moving to the destination floor (step S24) and a process of unloading (step S25). This allows the transported object transported on the seismic isolation layer L0 to be delivered to the destination.

[0052] This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility. In the above embodiment, the conveyance device 10 includes the sensor 101, the camera 102, the travel control unit 11, and the travel drive unit 12. The hardware configuration of the conveyance device 10 is not limited to these.

[0053] In the above embodiment, one conveying device 10 is used from the departure point to the destination. The number of conveying devices 10 used for one transport is not limited to one, and multiple conveying devices 10 may be used. For example, the objects to be transported may be transferred to a different conveying device 10 along the way.

[0054] As shown in FIG. 7, assume that multiple objects are placed on a conveying device 10a at the departure point for transport. When transporting within the seismic isolation layer L0, the multiple objects placed on the conveying device 10a are transferred to multiple conveying devices 10b. In this case, a robot arm located near the entrance of elevator E1 in the seismic isolation layer L0 is used to distribute the objects so that the vehicle height of each conveying device 10b is low during transport. Then, multiple conveying devices 10b are used to transport within the seismic isolation layer L0. Furthermore, a robot arm located near the entrance of elevator E2 in the seismic isolation layer L0 is used to collect the objects distributed to conveying device 10b onto conveying device 10c. By distributing the multiple objects to multiple conveying devices 10, the vehicle height during transport can be reduced, allowing for efficient transport using the low-rise area AR1.

[0055] In this case, in generating the second route candidate (step S15), the objects to be transported are transported in a stacked state on the departure and destination floors, and on the seismic isolation layer L0, the second route candidate is generated in which the objects are transported by being distributed among multiple transport devices. In this case, the required transport time is calculated taking into account the transfer time from transport device 10a to transport device 10b and from transport device 10b to transport device 10c. This allows for greater flexibility in transport route selection depending on the transfer time and efficiency in a wide transportable area.

[0056] In the above embodiment, the vehicle height of the conveying device 10 during conveyance may be limited at the departure point, taking into consideration the height of the seismic isolation layer L0. This allows the conveyance area to be expanded, increasing the degree of freedom in the conveyance route. In the above embodiment, it is assumed that the moving speed on the seismic isolation layer L0 is faster than the moving speed on the upper floors (1st floor L1 and above). Here, the transport method may be adjusted depending on the attributes of the transported object. For example, the moving speed may be determined depending on the attributes (contents, size, weight, etc.) of the transported object.

[0057] In the above embodiment, the transport device 10 is driven based on instructions from the management device 20. The transport device 10 may also acquire a transport request from a departure point to a destination, generate route candidates, and determine a transport route. In the above embodiment, the conveying device 10 conveys the object via the seismic isolation layer L0 in the building B1. However, the area is not limited to the seismic isolation layer L0, as long as it is an area with limited public foot traffic or other restricted access. It is also possible to use restricted access areas where horizontal travel distance can be secured, such as the rooftop area, basement area, warehouse area, underfloor area, or attic where the facilities of the building B1 are located, or a quiet, sparsely populated area with little foot traffic.

[0058] Next, the technical ideas that can be understood from the above-described embodiment and other examples will be described below together with their effects. (a) acquiring a height of the object to be conveyed as the attribute; Calculating a vehicle height during transportation when the object to be transported is transported by the transport device; Identifying a transportable area according to the vehicle height during transport using the structure map; 2. The transportation support system according to claim 1, wherein the transportation route is identified in the transportable area. This makes it possible to identify the transportable area.

[0059] (b) calculating a first conveyance efficiency index for the identified conveyance route; Calculating a second conveyance efficiency index when the conveyance height of the conveyance device is changed; 2. The transport assistance system according to claim 1, wherein the transport route is determined based on a comparison between the first transport efficiency index and the second transport efficiency index. This allows transport to be performed with transport efficiency taken into consideration.

[0060] 2. The transportation support system according to claim 1, wherein the transportation method is adjusted according to the attributes of the object to be transported. This allows the transport of the object to be carried out taking into consideration the attributes of the object.

[0061] (d) A transportation support system described in any one of (a) to (c) above, characterized in that a marker used in the transportation device is placed on the foundation on which the seismic isolation device is installed in the seismic isolation layer. As a result, the base parts of the seismic isolation layer are arranged at predetermined intervals, and the location of the transportation device can be identified and transportation can be carried out using markers placed on each base part.

[0062] (e) the control unit instructing the elevator device to lower the transport device from the upper floor of the building to the start position of the seismic isolation layer; A transportation support system as described in any one of (a) to (d) above, characterized in that at the destination position, the lifting device is instructed to lift the transportation device from the seismic isolation layer to an upper floor of the building. This allows transportation to be carried out by using the elevator to move the transportation device to the seismic isolation layer. [Explanation of symbols]

[0063] 10...conveying device, 101...sensor, 102...camera, 11...travel control unit, 12...travel drive unit, 20...management device, 21...control unit, 211...acquisition unit, 212...route setting unit, 213...instruction unit, 22...map storage unit, 23...transport information storage unit.

Claims

1. A transportation support system including a control unit that controls a transportation device within a building, The control unit Acquire information about the attributes of the transported object, obtaining a structural map of the building; In the structure map, a transportable area of ​​the transport device is identified according to the attribute; Using the transportable area, a transport route is identified from a transport start position to a destination position within the building; A transport support system that instructs the transport device to transport the object using the transport path.

2. The transportation support system according to claim 1 , wherein the control unit acquires a structural map of a seismic isolation layer within the building.

3. A method for assisting transportation using a transportation assistance system including a control unit that controls a transportation device in a building, the method comprising: The control unit Acquire information about the attributes of the transported object, obtaining a structural map of the building; In the structure map, a transportable area of ​​the transport device is identified according to the attribute; Using the transportable area, a transport route is identified from a transport start position to a destination position within the building; A transport support method, comprising instructing the transport device to transport the object using the transport path.

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