Transport vehicle control system and transport vehicle control method

Abstract

To provide a control system of a carrier and a control method of the carrier, capable of enhancing carrying efficiency of a carrying object between a plurality of areas.SOLUTION: According to the present disclosure, the temporary placement area is set by arranging a plurality of unit areas each of which is a combination of a loaded transported article area in which a loaded transported article loaded with the predetermined article is temporarily placed and a non-loaded transported article area in which a non-loaded transported article not loaded with the predetermined article is temporarily placed, when the transport vehicle transports the loaded transport item from the first area to the temporary placement area, the target position determination section determines the movement target position by giving priority to a loaded transport item area adjacent to the unloaded transport item area in which the unloaded transport item is disposed over a loaded transport item area adjacent to the unloaded transport item area in which the unloaded transport item is not disposed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control system and a control method for a transport vehicle. [Background technology]

[0002] In recent years, automated guided vehicles capable of autonomous travel have been put to practical use for transporting luggage within facilities such as factories and warehouses (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-094328 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, at manufacturing sites, parts are transported by automated guided vehicles from an area where upstream processes such as product molding are carried out to an area where downstream processes such as painting are carried out. In this case, if the processing speeds of each area differ, the transported items will be concentrated in one place, resulting in a problem of long waiting times.

[0005] Therefore, the present disclosure has been made in consideration of at least one of the above problems, and its purpose is to provide a transport vehicle control system and a transport vehicle control method that can improve the efficiency of transporting items between multiple areas. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a control system for a transport vehicle that transports an object by releasably coupling the object in a travel area including a first area for sending out an object loaded with a predetermined object, a second area for receiving the object loaded with the predetermined object, and a temporary storage area located between the first area and the second area, a storage unit that stores map information of the travel area; a transport vehicle information acquisition unit that acquires current position information of the transport vehicle; a transported goods information acquisition unit that acquires information on transported goods to be placed in each area; a target position determination unit that determines a target position for the transport vehicle based on the arrangement of the transported objects in each area; a travel control unit that controls travel of the transport vehicle based on the map information, the current position of the transport vehicle, and information on the movement target position, the temporary storage area is set by arranging a plurality of unit areas each of which is a combination of a loaded transported article area for temporarily storing a loaded transported article that has loaded the predetermined article and an unloaded transported article area for temporarily storing an unloaded transported article that does not have the predetermined article loaded thereon; A control system for a transport vehicle is provided in which, when the loaded transported item is transported from the first area to the temporary storage area by the transport vehicle, the target position determination unit determines the movement target position by giving priority to a loaded transported item area adjacent to the non-loaded transported item area in which the unloaded transported item is placed, over a loaded transported item area adjacent to the non-loaded transported item area in which the unloaded transported item is not placed.

[0007] According to the present disclosure, there is provided a method for controlling a transport vehicle that transports a transported object by releasably coupling the transported object in a travel area including a first area for sending out a transported object loaded with a predetermined object, a second area for receiving the transported object loaded with the predetermined object, and a temporary storage area located between the first area and the second area, the method comprising: The control unit a storage process for storing map information of the travel area; a transportation vehicle information acquisition process for acquiring current position information of the transportation vehicle; a transported goods information acquisition process for acquiring information on transported goods to be placed in each area; a target position determination process for determining a target position for the transport vehicle based on the arrangement of the transported object in each area; a travel control process for controlling travel of the transport vehicle based on the map information, the current position of the transport vehicle, and information on the movement target position; the temporary storage area is set by arranging a plurality of unit areas each of which is a combination of a loaded transported article area for temporarily storing a loaded transported article that has loaded the predetermined article and an unloaded transported article area for temporarily storing an unloaded transported article that does not have the predetermined article loaded thereon; A method for controlling a transport vehicle is provided in which, when the loaded transported item is transported from the first area to the temporary storage area by the transport vehicle, the target position determination process determines the movement target position by giving priority to a loaded transported item area adjacent to the non-loaded transported item area in which the unloaded transported item is placed, over a loaded transported item area adjacent to the non-loaded transported item area in which the unloaded transported item is not placed. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to provide a control system and a control method for a transport vehicle that can improve the efficiency of transporting objects between multiple areas. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a plan view showing an example of a travel area of ​​a transport vehicle to which the system according to the present embodiment can be applied. [Figure 2] FIG. 2 is an enlarged plan view of a part of FIG. [Figure 3] FIG. 1 is a diagram showing an example of transporting an object in a transport system according to the present embodiment. [Figure 4] FIG. 4 is a diagram showing a state after a predetermined time has elapsed since the state of FIG. 3. [Figure 5] FIG. 5 is a diagram showing a state after a predetermined time has elapsed since the state of FIG. 4. [Figure 6] 10A and 10B are diagrams illustrating another example of transporting an object in the transport system according to the embodiment. [Figure 7] FIG. 7 is a diagram showing a state after a predetermined time has elapsed since the state of FIG. 6. [Figure 8]FIG. 8 is a diagram showing a state after a predetermined time has elapsed since the state of FIG. 7. [Figure 9] FIG. 2 is a perspective view illustrating an example of a hardware configuration of the transport vehicle according to the present embodiment. [Figure 10] FIG. 2 is a bottom view illustrating an example of a hardware configuration of the transport vehicle according to the present embodiment. [Figure 11] FIG. 2 is a diagram illustrating an example of a hardware configuration when a transport vehicle and a towing carriage according to the present embodiment are coupled together. [Figure 12] FIG. 10 is a diagram illustrating another example of the hardware configuration when the transport vehicle and the towing carriage according to the present embodiment are coupled together. [Figure 13] FIG. 2 is a diagram showing an example of the configuration of a motion area according to the present embodiment. [Figure 14] 1 is a diagram showing an example of an overall configuration diagram of a transport system according to an embodiment of the present invention; [Figure 15] FIG. 2 is a configuration diagram of an integrated control device according to the present embodiment. [Figure 16] FIG. 2 is a diagram showing a functional configuration of a transport vehicle according to the present embodiment. [Figure 17] FIG. 2 is a diagram illustrating an example of a control flow of the control system according to the present embodiment. [Figure 18] FIG. 10 is a plan view showing another example of a travel area of ​​a transport vehicle to which the system according to the present embodiment can be applied. DETAILED DESCRIPTION OF THE INVENTION

[0010] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0011] For example, in a manufacturing factory, an automated guided vehicle transports a cart loaded with workpieces from an upstream process to a downstream process, and then transports the empty cart after removing the workpieces from the downstream process back to the upstream process. This system is not limited to such manufacturing factories, but can be applied to any environment, such as a logistics warehouse.

[0012] The system of this embodiment is a control system for a transport vehicle that can connect and transport objects in a travel area including a first area where predetermined objects are loaded onto an object that can be transported by the transport vehicle, a second area where the predetermined objects are removed from the object on which the predetermined objects are loaded, and a temporary storage area located between the first and second areas. The transport vehicle is an unmanned transport vehicle that can travel autonomously, but the system can also be applied to various vehicles that can carry people. The object can be, for example, a cart, a basket cart, etc., and the predetermined object can be a processed product, but is not limited to these.

[0013] As shown in FIG. 1, an automated guided vehicle 10 travels through travel areas including a first area A1, a temporary storage area B, and a second area A2, and can transport carts C1 and C2 between the areas. Note that cart C1 is a cart loaded with an item P, and cart C2 is an empty cart that does not load an item P. In this example, the guided vehicle 10 is configured to slide under carts C1 and C2 to couple to them, but this is not limited to this. The first area A1 can be an area where upstream processes such as injection molding and press molding are performed and the parts are loaded onto the carts, and the second area A2 can be an area where downstream processes such as painting and assembly are performed, but this is not limited to this.

[0014] As shown in Fig. 1, a plurality of temporary storage areas B are set on either side of an aisle in the travel area. In Fig. 1, the temporary storage areas B extending in the vertical direction are arranged in three rows with spaces between them in the horizontal direction between the first area and the second area, but this is not limited to this.

[0015] 2, the temporary storage area B is set up by arranging a plurality of unit areas B1, each of which combines a loaded item area B11 for temporarily storing loaded items carrying a predetermined item and an unloaded item area B12 for temporarily storing unloaded items not carrying the predetermined item. Adjacent temporary storage areas B across an aisle are arranged so that the loaded item areas B11 face each other or the unloaded item areas B12 face each other. In other words, both sides of a single aisle are adjacent to each other with loaded item areas B11 or unloaded item areas B12.

[0016] In the example of Fig. 2, a loaded goods area B11 and an unloaded goods area B12 are set adjacent to each other in the horizontal direction (first direction) of Fig. 2. Furthermore, a plurality of unit areas B1 are arranged in the vertical direction (second direction) perpendicular to the horizontal direction (first direction) of Fig. 2.

[0017] In the example of FIG. 2, the aisles on both sides of the temporary storage area B are set up so that they are one-way in opposite directions (see arrow M in the figure). For example, the aisle T1 adjacent to the loaded item area B11 is set up in the direction from the first area A1 to the second area A2 (from top to bottom in FIGS. 1 and 2), and the aisle T2 adjacent to the unloaded item area B12 is set up in the direction from the second area A2 to the first area A1 (from bottom to top in FIGS. 1 and 2). As shown in FIG. 1, when multiple temporary storage areas B are set up with an aisle between them, it is preferable that the item areas on both sides of the aisle be areas with a common loading state. In other words, the loaded item areas B11 are set up on both sides of the aisle T1, which restricts the movement direction from the first area A1 to the second area A2, and the unloaded item areas B12 are set up on both sides of the aisle T2.

[0018] As shown in FIG. 3, when a loaded carrier C1 carrying an item P is transported from the first area A1 to the temporary storage area B, the travel control unit of the transport vehicle 10 determines the loaded item area B11, which is adjacent to (or closest to) the unloaded item area B12 where the empty carrier C2 is placed, as the destination (target position). In other words, the unloaded item area B12 where the empty carrier C2 is placed and the loaded item area B11 constituting the unit area B1 are determined as the destination with priority. Note that, since a carrier cannot be placed in the loaded item area B11 where the loaded carrier C1 is already placed, the control unit determines the loaded item area B11 where at least no carrier is placed as the target position. In this case, whether or not a carrier is present in each loaded item area B11 may be detected by a sensor provided in the transport vehicle 10, or information may be acquired and referenced from a detection unit such as a fixed camera fixed within the travel area. In this way, in this system, it may be possible to determine where to transport the article based on whether or not a cart is placed at a predetermined position in the temporary storage area.

[0019] Furthermore, if there are multiple unloaded transported item areas B12 in which an empty transport vehicle C2 is placed, the location closest to the first area A1 may be prioritized as the destination, or the location closest to the current location may be prioritized. Furthermore, the location farthest from the first area A1 may be prioritized as the destination, or the location farthest from the current location may be prioritized. Furthermore, if there is no unloaded transported item area B12 in which an empty transport vehicle C2 is placed, the location closest to the first area A1 may be prioritized as the destination, or the location closest to the current location may be prioritized. Furthermore, the location farthest from the first area A1 may be prioritized as the destination, or the location farthest from the current location may be prioritized. Such conditions for determining the target position can be stored in advance in a storage unit. Furthermore, the conditions can be stored and updated based on information input by a user.

[0020] As shown in Figure 4, after transporting the loaded cart C1 to the loaded transport area B11 and uncoupling (disconnecting) it, the transport vehicle 10 can transport the empty cart C2 in the adjacent non-loaded transport area B12 to the first area A1, as shown in Figure 5.

[0021] 6, when an empty carrier C2 is transported from the second area A2 to the temporary storage area B, the non-loaded item area B12 adjacent to (or closest to) the loaded item area B11 where the loaded carrier C1 is placed is determined as the destination (target movement position). As shown in FIG. 7, the empty carrier C2 is transported to the non-loaded item area B12 and separated, and the loaded carrier C1 placed in the adjacent loaded item area B11 can be transported to the second area A2 (see FIG. 8).

[0022] In this way, when transporting a cart to temporary storage area B located between first area A1 and second area A2, the distance the transport vehicle travels from when the cart is detached at temporary storage area B to when the next cart (the cart in temporary storage area B) is connected can be shortened, allowing the transport vehicle to be moved efficiently to transport the cart.

[0023] In this system, a trolley may be transported directly from the first area A1 to the second area A2, or from the second area A2 to the first area A1, without passing through the temporary storage area B. For example, if the number of loaded trolleys C1 present in the second area A2 is equal to or less than a predetermined number, that is, if there are relatively few loaded trolleys C1 waiting in the second area A2, the trolley is transported from the first area A1 to the second area A2 without passing through the temporary storage area B. Similarly, if there are relatively few empty trolleys C2 waiting in the first area A1, the trolley may be transported from the second area A2 to the first area A1 without passing through the temporary storage area B. In this way, the control unit may determine the movement target position based on the waiting status or congestion status of the trolley in the first area A1 or the second area A2. In this case, the control unit acquires the waiting status or congestion status of the trolley. Information on the waiting status or congestion status of the carriages can be acquired, for example, from fixed detection devices such as fixed cameras installed in the first area A1 and the second area A2, detection information for each area (such as the presence or absence of carriages and the number of carriages) by the detection unit of the automated guided vehicle, or input information input by the worker (user) via an information processing terminal.The control unit can then determine the movement target position based on any of the various types of information or any combination thereof.Each guided vehicle can transmit the detection information acquired by the detection unit while traveling to an external device such as the worker's terminal (control device 3000) or a management device (overall control device 4000).The management device can update (store) the information for each area based on the acquired various types of information.

[0024] Furthermore, the control unit may determine the movement target position based on the arrangement status (including availability), waiting status, or congestion status of the carts in temporary storage area B. In this case, the waiting status or congestion status of the carts in temporary storage area B can be acquired from, for example, a fixed detection device such as a fixed camera installed in temporary storage area B, detection information for each area (information on the presence or absence of carts, information on the number of carts, etc.) detected by a detection unit of the automated guided vehicle, or input information input by a worker (user) via an information processing terminal. The control unit can determine the movement target position based on the waiting status or congestion status of the carts in temporary storage area B. For example, if the temporary storage area is filled with carts, the cart can be transported to the first area A1 or the second area A2 through the temporary storage area.

[0025] Furthermore, each section (loaded transported item area B11, non-loaded transported item area B12) in the temporary storage area B may be assigned unique identification information (number, ID, etc.). The presence or absence of a cart in each section may be managed. Furthermore, the identification information may be used as movement target position information.

[0026] The hardware configuration of the transport vehicle and the towed carriage will be described using Figs. 9 to 12. Fig. 9 is a perspective view showing an example of the hardware configuration of the transport vehicle according to this embodiment. The transport vehicle in this example is an unmanned transport vehicle, but the present invention can also be applied to various vehicles that people can ride in. Arrow 15 in Fig. 9 indicates the traveling direction of the transport vehicle. The traveling direction is basically the front of the transport vehicle, but it can also be the rear depending on the situation. As shown in Fig. 9, the transport vehicle is equipped with a coupling unit 11 for switching between a coupled state and a non-coupled state with the carriage, an object position detection unit 12 for detecting objects around the transport vehicle, drive wheels 13, and non-drive wheels 14.

[0027] Furthermore, a connecting unit 11 and an object position detection unit 12 are mounted on the top surface of the transport vehicle. The connecting unit 11 is configured, for example, by an actuator, and is configured such that when connecting to a carriage, the actuator extends upward to connect to a connecting receiving portion (not shown) on the carriage, and when disconnecting, the actuator retracts to disconnect the connecting unit from the connecting receiving portion on the carriage. The connecting units 11 are arranged at four positions surrounding the drive wheels 13 of the transport vehicle on a plane, and can be connected to the carriage at five positions. In this embodiment, an example having four connecting units will be described, but the number of connecting units does not necessarily have to be five, and any number greater than or equal to one can be selected. The connecting structure between the transport vehicle and the transported object is not particularly limited, and any connecting structure can be adopted.

[0028] The object position detection unit 12 is a device that detects the distance from the transport vehicle to an object. Examples of the object position detection unit 12 include a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by emitting laser light and measuring the time it takes for the light to hit the object and bounce back; a millimeter-wave radar that detects the distance to an object based on a millimeter-wave transmission signal and a received signal that is reflected off the object and returns; and a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the photographed image. In this embodiment, an example is shown in which the object position detection unit 12 is disposed on the top surface of the transport vehicle, at the front in the traveling direction. However, instead, the object position detection unit 12 may be disposed on the front side in the traveling direction. Furthermore, the object position detection unit 12 may be disposed not only at the front but also at the rear side or both left and right sides in the traveling direction.

[0029] The object position detection unit 12 may be configured to detect objects in a 360-degree range around the transport vehicle, but is configured to be able to detect objects at least in the traveling direction 15 of the transport vehicle. The traveling direction 15 may be forward or backward.

[0030] FIG. 10 is a bottom view showing an example of the hardware configuration of a transport vehicle according to this embodiment. Drive wheels 13 are provided on the bottom of the transport vehicle at both the left and right sides in the direction of travel 15 of the transport vehicle, and non-drive wheels 14 are provided in front of and behind each drive wheel 13. The drive wheels 13 are connected to the rotating shaft of a motor and driven, and the right drive wheel and the left drive wheel are controlled individually. The control unit can control the speed of the transport vehicle by controlling the rotation speed of the drive wheels. The control unit can also individually control the rotation speed and rotation direction of each drive wheel to make the transport vehicle curve, turn the transport vehicle on the spot to change direction, stop the transport vehicle, and move backward. The non-drive wheels 14 are not driven and rotate passively as the transport vehicle moves due to the drive wheels 13. The non-drive wheels 14 have, for example, forks that secure the wheels and axles, and the forks are formed by swivel casters that are rotatably connected to the bottom member of the transport vehicle. Therefore, the wheel rotation direction of the non-driven wheels 14 changes passively depending on the traveling direction and rotational movement of the transport vehicle. Although Fig. 10 illustrates a hardware configuration of a transport vehicle having two driven wheels and four non-driven wheels at the four corners, the present invention is not limited to this hardware configuration, and it is also possible to adopt a configuration with a total of four wheels, two driven wheels and two non-driven wheels, and it is also possible to adopt a configuration in which the front wheels are steerable in the four-wheel configuration.

[0031] A guide line detector 16 for detecting guide lines (track lines) is provided on the bottom of the transport vehicle. The guide line detector 16 is preferably provided ahead of the drive wheels 13 in the direction of travel of the transport vehicle. This allows the transport vehicle to easily follow the guide lines when traveling around curved guide lines. Furthermore, by quickly receiving information from the guide lines as the transport vehicle and the towing carriage travel, they can quickly execute actions such as stopping. The guide line detector uses a sensor appropriate for the type of guidance method, as described above. A pickup coil is used as the guide line detector sensor when an electromagnetic induction method is used; a magnetic sensor is used when a magnetic induction method is used; and a camera is used when an image recognition method is used. Track lines are not limited to being provided on the floor, but may also be provided on the side walls or ceilings of buildings. The transport vehicle's sensors (including cameras) can be installed in positions where the track lines can be recognized (such as the bottom, side, or top of the transport vehicle). Furthermore, the track lines may be virtually defined on two-dimensional or three-dimensional map data. The control unit of the transport vehicle may control the travel of the transport vehicle along a virtual track line based on map information and track information (travel route information) stored in advance in the memory unit, and current self-position information estimated based on information from cameras, sensors, etc.

[0032] 11 shows an example of the hardware configuration when the transport vehicle and towing dolly according to this embodiment are coupled, specifically showing an example in which the transport vehicle 10 is coupled to the dolly while sliding under the dolly to be towed. In this case, a cone-shaped coupling receiver is disposed on the bottom of the dolly at a position corresponding to the conical coupling part 11, and the dolly can be coupled by extending the coupling part 11 upward, and can be released from the coupling to the dolly by retracting the coupling part 11.

[0033] FIG. 12 shows another example of a hardware configuration when a transport vehicle and a towing dolly according to this embodiment are coupled together. In the example shown in FIG. 12, the transport vehicle is coupled to the dolly while positioned next to the dolly 2000 (not directly below the dolly, but offset forward, backward, left, or right). The dolly has a coupling receiving portion 2010 that couples with at least a part of the coupling portion 11 of the transport vehicle. The dolly can be coupled to the dolly by extending the coupling portion 11 upward, and can be released from the dolly by retracting the coupling portion 11. In FIGS. 11 and 12, an example is shown in which the coupling portion 11, which is formed by an actuator or the like and located on the top surface of the transport vehicle, is extended and contracted in the vertical direction to couple and release the coupling from the dolly. However, the coupling method between the transport vehicle and the dolly is not limited to this, and other coupling methods may be used. Furthermore, the transported object coupled to the transport vehicle is not limited to the dolly, and may be, for example, a pallet or cabinet without wheels, a conveyor, a robot arm, or the like. When transporting a pallet or cabinet, the transport vehicle slides under the pallet or cabinet and is coupled to the pallet or cabinet in a lifted state.

[0034] FIG. 13 is a diagram showing an example of the configuration of an operating area 130 according to this embodiment. Note that the guided vehicle may move solely in an autonomous driving mode, rather than using guideline navigation. As shown in FIG. 13 , guide lines 131 are laid within the operating area 130. When a guided vehicle traveling in autonomous driving mode detects the guide lines 131 at a preset driving mode switching position 132, the travel control mode is switched from the autonomous driving mode to the guided driving mode. Conversely, when a guided vehicle traveling in guided driving mode on the guide lines enters the preset driving mode switching position 132, the travel control mode is switched from the guided driving mode to the autonomous driving mode. In order to guide the guided vehicle to a position close to a shelf where packages are stored, a conveyor belt, or a worker's work position, a track formed by the guide lines 131 is laid at a position close to the shelf or work position via multiple branch points.

[0035] A guided vehicle 10 traveling in an autonomous travel area where no guide lines are installed in autonomous travel mode changes its travel mode to a guided travel mode in which it follows the guide lines when it enters travel mode switching position 132 and detects a guide line 131. On the other hand, when a guided vehicle traveling in guided travel mode on a guide line enters travel mode switching position 132, the travel control mode is switched from the guided travel mode to the autonomous travel mode, and the guided vehicle leaves the guide line and starts autonomous travel.

[0036] As the guide line 131 shown in Fig. 13, various conventionally used guide lines of the guide system described below can be applied. Specifically, for example, an electromagnetic induction system in which a pickup coil on the transport vehicle detects a magnetic field generated by passing a weak alternating current through a metal wire installed as the guide line, a magnetic induction system in which a magnetic sensor on the transport vehicle reads a magnetic tape laid on the floor as the guide line, or an image recognition system in which a camera on the transport vehicle takes an image of a code (such as a barcode or a two-dimensional code) laid on the floor as the guide line and processes the image.

[0037] <Conveyor system configuration> Next, the configuration of the transport system of this embodiment will be described. Fig. 14 is a diagram showing an example of the overall configuration of the transport system according to this embodiment. The transport system 1000 includes a plurality of transport vehicles (10a, 10b), a dolly 2000 (an example of an object) that is a transported object, a control device 3000 (a user terminal) that can display the status of the transport vehicles or input commands to the transport vehicles, a general control device 4000 that manages information necessary for the operation of the transport vehicles, an input / output device 5000 that displays information from the general control device and inputs information to the general control device, and a communication network 6000 that communicably connects the plurality of transport vehicles (10a, 10b), the control device 3000, and the general control device 4000.

[0038] The transport system 1000 can also be connected to an external system 7000 via a communication network 6000. When the transport system 1000 is introduced into a manufacturing factory to transport parts required for manufacturing from a storage warehouse to a manufacturing line, the transport system 1000 performs inter-system cooperation with a manufacturing management system as the external system 7000. In this case, by obtaining information on the operational progress of manufacturing work from the manufacturing management system, the transport volume and transport route of the transport vehicle can be dynamically adjusted according to the progress of the manufacturing work.

[0039] As another example, when the conveyance system 1000 is introduced into a logistics warehouse, and when cargo is brought into the warehouse by truck or the like, the incoming cargo is transported from an inlet to a storage warehouse, and when cargo is shipped from the warehouse, the cargo to be shipped from the storage warehouse is transported to an outlet, the conveyance system 1000 performs inter-system cooperation with a logistics management system as an external system 7000. In this case, by obtaining information related to carrying in and shipping from the logistics management system, the transportation volume and transportation route by the transport vehicle can be changed.

[0040] In a facility where a transport system is installed, a plurality of transport vehicles (10a, 10b) are generally in operation, and each transport vehicle is communicably connected to other transport vehicles and other components via a communication network 6000. For example, the transport vehicle transmits various detection information detected by its own detection unit and other control information to the control device 3000, the overall control device 4000, and other transport vehicles 10. The transport vehicle 10 is also electrically connected to the cart 2000 or communicably connected via short-range communication means, and is configured to be able to receive information about the connection state and cart identification information from the cart.

[0041] The controller 3000 has a function to display status information of each transport vehicle and a function to input various commands and information to a designated transport vehicle. For example, the status information of a transport vehicle displayed on the controller includes the identification information, position (coordinates, position on a map), speed, direction, driving history, remaining charge information of the battery mounted on the transport vehicle and serving as the power source for the transport vehicle, and identification information of the transported object, such as a cart, transported by the transport vehicle. The controller also displays the status of each area (presence or absence of transported objects, number of waiting objects, number of missing objects, arrangement status of transported objects in temporary storage areas, etc.). The controller may also display map information, the position of the transport vehicle, the position of the transported object, the position of the article, etc. Commands input to the transport vehicle include, for example, command information regarding the destination (target position) of the transport vehicle, operation commands to couple or uncouple from the cart, a command to start the transport vehicle, a command to stop the transport vehicle, a command to return to the charging station, etc.

[0042] 15 shows a configuration diagram of the overall control device 4000 in this embodiment. The overall control device 4000 has a status information recording unit 4010 that records status information of multiple guided vehicles operating in a facility area, an operation scenario management unit 4020 that manages operation scenarios of the multiple guided vehicles, a map management unit 4030 that generates and updates a map of the work area based on detection information of the guided vehicles including detection information of guide lines acquired by a guide line detection unit of the guided vehicles, an abnormality determination unit 4040 that determines abnormalities in the guide lines and the guided vehicles based on the detection information of the guided vehicles, and a communication unit 4050 that communicates with an external input / output device 5000 and a communication network 6000.

[0043] The status information of the guided vehicles recorded by the status information recording unit 4010 includes, for example, detection information of transported objects detected by multiple guided vehicles during operation, detected positions of obstacles, detected positions of guided lines, history information of the travel positions of the guided vehicles, information on the battery charge level, identification information of the carriages connected to the multiple guided vehicles, operation modes of the multiple guided vehicles (guided travel mode or autonomous travel mode), various other detection information detected by the detection unit 230 of the guided vehicles, map information of the work area, etc. The operation scenario managed by the operation scenario management unit 4020 includes, for example, information on the destination of each of the multiple guided vehicles, multiple operation contents to be performed until reaching the destination, the operation sequence of the multiple operations, and switching conditions for the multiple operations. The operation contents include information such as the travel route, which transported object is to be transported from where to where, etc.

[0044] The map management unit 4030 generates a map including the position information of obstacles and guide lines within the work area based on the historical information of the obstacle detection positions, guide line detection positions, and travel position of the guided vehicle detected by the guided vehicle. Furthermore, the map management unit 4030 updates the information of the guide lines and work area registered in the map based on the information of the detected positions of the guide lines accumulated by one or more guided vehicles.

[0045] The abnormality determination unit 4040 determines abnormalities based on the position information of each area, transported item, worker, guide line, etc. registered in the map information, and the detection information of the transport vehicle including the detected position information of each area, transported item, worker, guide line, etc. detected by the transport vehicle.

[0046] The input / output device 5000 displays information recorded in the status information recording unit 4010 of the overall control device 4000, map information (including map update information), and the determination results by the abnormality determination unit, and can add or update new operation scenarios by inputting operation scenarios managed by the operation scenario management unit 4020. Information input to the input / output device 5000 includes, for example, that the destination of an arbitrary transport vehicle is a specific position in the temporary storage area, the second area, etc., the travel route, the operation details in each area (connecting, connected), operation conditions, etc.

[0047] <Functions of the transport vehicle> The functions of the transport vehicle will be described using Fig. 16. Fig. 16 is a diagram showing the functional configuration of the transport vehicle according to this embodiment. The transport vehicle 10 is equipped with a communication unit 210 that communicates with a carriage 2000 outside the transport vehicle and a communication network 6000, a recording unit 220 (including a memory unit), a detection unit 230 equipped with various sensors described below, a coupling unit 11 for coupling with the carriage, a wheel drive unit 280 that drives the wheels, an input unit 240, a display unit 250, a control unit 260 that controls the operation of the wheel drive unit 280, etc.

[0048] The recording unit 220 has a function of recording information received from the outside by the communication unit 210, detection information detected by the detection unit 230, and information generated and output by the control unit. The recording unit 220 can store information such as the destination position, movement route, and movement history of the transport vehicle. The recording unit 220 can store speed information according to the distance to the destination position, calculation formula (program) information for calculating the speed information, and the like.

[0049] The detection unit 230 includes an object position detection unit 12, a guide line detection unit 16, a travel distance detection unit 233, a collision detection unit 234, a posture detection unit 235, and a charge amount detection unit 236. As described above, the object position detection unit 12 includes a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by emitting laser light and measuring the time it takes for the light to hit the object and bounce back; a millimeter-wave radar that detects the distance to an object based on a millimeter-wave transmission signal and a received signal that is reflected off the object; or a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the captured image. The control unit can estimate information about the current position and current speed of the transport vehicle based on information from the detection unit. The detection unit 230 includes a position sensor, such as a GNSS, that detects the current position of the transport vehicle, and a speed sensor that detects the speed of the transport vehicle.

[0050] As described above, the guide line detection unit 16 uses a sensor according to the type of guidance method. When the electromagnetic induction method is used, a pickup coil is used as the sensor for the guide line detection unit; when the magnetic induction method is used, a magnetic sensor is used; and when the image recognition method is used, a camera is used. The guide line detection unit detects the guide line when it is located directly above the guide line and outputs a detection signal. Furthermore, in the case of an image recognition method in which a camera reads a guide line using a two-dimensional code or barcode, position information is generated based on information from the detected code in addition to the guide line detection signal, and further, information on the relative angle between the guide line and the transport vehicle can be generated by examining image information from the code.

[0051] The travel distance detection unit 233 detects the number of rotations of the non-driven wheels 14 or the driven wheels 13, and can measure the travel distance and travel speed of the transport vehicle based on the detected information on the number of rotations and information on the diameter (or circumference) of the non-driven wheels or the driven wheels (in this case, the travel distance detection unit 233 can function as a speed sensor). As an alternative, it is also possible to apply a means for detecting the travel speed of the transport vehicle using a millimeter wave sensor that irradiates millimeter waves in any direction, such as the horizontal direction (wall surface, floor surface, etc.) and detects reflected waves, and estimating the travel distance by integrating the travel speed. Also, any method for measuring the travel distance or acquiring the travel speed other than the above-mentioned methods is applicable.

[0052] The collision detection unit 234 has a function of detecting when the transport vehicle collides with an object or a person. Specifically, it can detect acceleration using a gyro sensor or the like and determine that a collision has occurred when a sudden change in acceleration is detected. As an alternative, it is possible to provide a physical switch along with a bumper at the front of the transport vehicle in the traveling direction and determine that a collision has occurred when the physical switch is pressed. Collision detection methods other than those described above can also be applied. When the collision detection unit 234 detects a collision, it stops the transport vehicle and records at least one of information on the collision occurrence and the collision location in a recording unit, and notifies the information to the overall control device 4000 and the control device 3000. The attitude detection unit 235 detects the direction (attitude) of the host vehicle based on a magnetic compass, information on the rotation speeds of the left and right drive wheels, or wheel steering information.

[0053] The charge amount detection unit 236 detects the charge amount of the battery that is the power source for the transport vehicle. When the charge amount detected by the charge amount detection unit 236 falls below a predetermined value, the unit determines that charging is necessary, records the detection information of the decrease in charge amount in the recording unit, and notifies the information to the overall control device 4000 and the control device 3000. Furthermore, when it is detected that the charge amount is below a predetermined value, in addition to the above processing, the unit may automatically move to a charging spot and charge the vehicle. Note that the predetermined value used by the charge amount detection unit 236 to determine that charging is necessary may be a value set in advance based on at least one of the distance to the destination set for the transport vehicle and the weight of the transported object coupled to the transport vehicle.

[0054] The input unit 240 is configured with a physical switch or a touch panel mounted on the transport vehicle, and allows the user to directly input operation commands, etc. to the transport vehicle. The display unit 250 is configured with, for example, a liquid crystal panel mounted on the transport vehicle, and can display status information of the transport vehicle (various types of detection information by the detection unit 230, the type of driving mode, the operation scenario currently being executed, etc.).

[0055] The control unit 260 includes an operation determination unit 261, a mode switching unit 262, a connection control unit 263, a display control unit 264, a position estimation unit 265 (vehicle information acquisition unit), and a travel control unit 266. The operation determination unit 261 determines the operation of the transport vehicle based on the operation scenario of the transport vehicle acquired from the operation scenario management unit 4020. The control unit 260 includes a target position determination unit 267 that determines a target position for the transport vehicle, and a transported object information acquisition unit 268 that acquires information about the transported object to be placed in the temporary storage area.

[0056] The mode switching unit 262 switches the travel mode of the transport vehicle between a guided travel mode and an autonomous travel mode based on conditions predetermined by an operation scenario or the like or commands input by the input unit 240. The connection control unit 263 controls the operation of the connection unit 11 to control connection / disconnection with a transported object such as a cart based on conditions predetermined by an operation scenario or the like or commands input by the input unit 240. The display control unit 264 controls the input IF of the input unit 240 and the display unit 250 described above.

[0057] The position estimation unit 265 can estimate the position of the vehicle at a given time, including the current position of the vehicle, within the entire travel area, based on the travel distance detected by the travel distance detection unit 233, information on the direction of the vehicle detected by the attitude detection unit 235, and map information on the entire area recorded in the recording unit 220. Alternatively, the position of the vehicle within the entire travel area can be estimated based on information on the distance and direction from the vehicle to an object measured by the object position detection unit 12 and map information on the entire area recorded in the recording unit 220. Alternatively, when the vehicle is traveling on a guide line formed by a two-dimensional code, the position of the vehicle within the entire travel area can be estimated based on the identification information of the two-dimensional code and the map information. The position estimation unit 265 can also acquire position information using a GNSS or the like provided in the transport vehicle.

[0058] The position estimation unit 265 can estimate the position of an object (transported article, article, person, obstacle, etc.) based on the estimated vehicle position information and distance information from the vehicle to the object detected by the object position detection unit 12. Furthermore, based on the vehicle position information when the guide line detection unit 16 detects the guide line, it estimates the installation position of the guide line.

[0059] The travel control unit 266 can control the travel of the transport vehicle based on predetermined map information, estimated vehicle position information, and information on the movement target position. The travel control unit 266 can further control the travel of the transport vehicle based on at least one of determination information from the operation determination unit 261 and the mode switching unit 262. The travel control unit 266 can control the forward movement, backward movement, stopping, turning, and the travel speed and turning speed of the transport vehicle. Specifically, the travel control unit 266 individually controls the right wheel drive unit 281 and the left wheel drive unit 282 of the wheel drive unit 280. The right wheel drive unit 281 and the left wheel drive unit 282 are configured with, for example, motors, and by individually controlling the rotation speed and rotation direction of each drive wheel, it is possible to make the transport vehicle travel around a curve with an arbitrary trajectory radius or to rotate the transport vehicle to change direction.

[0060] FIG. 17 shows the flow of the process of determining a movement target position by the control unit. First, at a predetermined timing, the control unit of the transport vehicle acquires operation scenario information (S101). The operation scenario information may include, for example, information on the transport target object (identification information, current position of the object), the transport start position, the movement route, and the destination. Specifically, the scenario information may be information on transporting a loaded object with a specific identification number from the first area to the temporary storage area. Furthermore, the destination information included in the operation scenario information may be information on a broad range such as the temporary storage area B, or may be information on a narrow range such as a specific section in the temporary storage area B (loaded object area B11, unloaded object area B12).

[0061] Next, the transported goods information acquisition unit 268 of the control unit acquires information on the transported goods to be placed in each area (first area, second area, each temporary storage area) (S102). The information on the transported goods can include, but is not limited to, at least one of the presence or absence of transported goods, the number of waiting goods, the number of surplus goods, the number of shortage goods, and the state of the loaded goods (presence or absence of loaded goods, whether loading or unloading or not).

[0062] The target position determination unit 267 determines a target position for the transport vehicle based on the arrangement of the transported objects in each area (S103). When transporting loaded objects from the first area to the temporary storage area by the transport vehicle, the target position determination unit 267 determines the target position by prioritizing a loaded object area adjacent to an unloaded object area where unloaded objects are located over a loaded object area adjacent to an unloaded object area where no unloaded objects are located. For example, the transport vehicle transports the loaded vehicle C1 to a loaded object area B11 adjacent to an unloaded object area B12 where an empty vehicle C2 (unloaded object) is located. With this configuration, after the loaded vehicle C1 is detached at the destination, the adjacent empty vehicle C2 can be immediately carried out.

[0063] The travel control unit 266 controls the travel of the guided vehicle based on predetermined map information, estimated vehicle position information, and information on the movement target position (S104). The travel control unit 266 generates a travel route that passes through the passage T, with the current vehicle position in the map information as a start point and the movement target position as a goal point, and controls the travel of the guided vehicle so that the vehicle travels autonomously along the travel route. In this case, travel control may be performed in a guided travel format in which part of the travel route travels along pre-installed guide lines (guidelines). Furthermore, when multiple passages exist, the passage may be selected based on passage direction information (one-way conditions). If no direction information is set, the passage may be selected so as to minimize the travel distance. Furthermore, the passage may be selected based on a predetermined priority, or may be selected based on the position of an obstacle, the position of a worker, or the like. For example, a passage with fewer obstacles, a passage with (or a large number of) workers, or a passage without (or a small number of) workers may be preferentially selected. These conditions are stored in a storage unit in advance and can be updated according to user input.

[0064] Furthermore, the target position determination unit 267 may determine (or update) the movement target position based on any one or a combination of the number of workers in each area (including information on their presence or absence), the presence or absence of obstacles, the congestion status of the aisles (the location or number of other guided vehicles in each aisle, the location of the workers), the operation status of each area (including whether the area is stopped), and a predetermined priority. For example, the destination may be determined by giving priority to an area where workers are present, or conversely, by giving priority to an area where no workers are present. Alternatively, the destination may be determined by giving priority to an area where there are no obstacles in the area itself, or an area where there are no obstacles or guided vehicles in the passages along the way. Furthermore, if the operation status of each area indicates that the processing process in the first or second area is stopped, there is a risk of carts accumulating in that area, so transport to the temporary storage area may be given priority. Furthermore, if there are multiple target position candidates with the same conditions, the position with the highest predetermined priority may be determined as the target position. When multiple conditions are included, it is also possible to set priorities for each condition item (number of workers, number of obstacles, operating status, etc.), and determine the movement target position based on the priorities.

[0065] Furthermore, the target position determination unit 267 may determine (or update) the movement target position based on at least one of information on the remaining charge of the transport vehicle, information on a charging command, and information on a maintenance command. For example, when it is detected that the remaining charge of the transport vehicle transporting the transported item is below a predetermined value, or when a charging command or a maintenance command (including an instruction indicating that the transport vehicle needs maintenance or when a malfunction is detected) is received, the transported item can be transported to a temporary storage area, detached, and moved to a position where it will be charged or maintained. In this case, the movement target position can be determined depending on the type of transported item being transported. For example, loaded items can be placed in the loaded item area B11, and unloaded items can be transported to the unloaded item area B12. However, this is not limited to this, and the nearest section (loaded item area B11 or unloaded item area B12) may be selected preferentially.

[0066] The operation scenario management unit 4020 of the overall control device 4000 can function as a target position determination unit. That is, the overall control device 4000 can determine the movement target position of each guided vehicle and transmit it as a command to each guided vehicle.

[0067] The operation scenario management unit 4020 acquires information on the current positions of all or some of the transport vehicles, operation status information, remaining charge amount, etc. The operation status is information such as whether or not the transport vehicle is currently transporting an object, and what to do next (transporting an object, going to charge, etc.).

[0068] Then, the operation scenario management unit 4020 acquires information on whether or not there are any goods waiting to be transported (including their identification information) and their locations.

[0069] The operation scenario management unit 4020 then determines the transport vehicle that is closest to the waiting object and can transport it immediately (i.e., a transport vehicle that is not currently transporting the object but is waiting and is not insufficiently charged), and generates operation scenario information for the transport vehicle, including information on which object to transport from where to where. Then, it transmits a signal of the operation scenario information to the transport vehicle (and to other transport vehicles as appropriate). This allows the transport vehicle that receives the signal to perform a transport operation based on the operation scenario information.

[0070] When an unloaded object is transported from the second area to the temporary storage area by a transport vehicle, the target position determination unit may determine the movement target position by prioritizing a loaded object area adjacent to the unloaded object area where the loaded object is located over a loaded object area adjacent to the unloaded object area where the loaded object is not located. This allows the unloaded object to be transported from the second area to the temporary storage area, and then the loaded object in the temporary storage area to be efficiently transported to the second area. For example, this is particularly effective when the loaded object is located in the temporary storage area at a rate greater than a predetermined rate and is about to overflow from a waiting area or is waiting after overflowing, or when there are relatively few (or insufficient) loaded objects waiting in the second area. Therefore, depending on the situation in each area, after (immediately after) transporting the unloaded object from the second area to the temporary storage area, the transport vehicle may move to the first area as its target position, or the unloaded object in the temporary storage area may be transported to the first area. For example, if the number of loaded vehicles waiting for transport in the first area exceeds a predetermined number, the transport vehicle can be moved to the first area by itself in order to quickly transport the loaded vehicles waiting for transport. Also, if the number of empty vehicles waiting for loading in the first area is less than a predetermined number (i.e., there is a shortage of empty vehicles), the movement target position can be determined so that an empty vehicle in the temporary storage area (or an empty vehicle in the second area) is transported to the first area.

[0071] The target position determination unit can determine the target position of the transport vehicle both before and during its travel, and can change (update) the target position by repeatedly performing the process. For example, if an obstacle or a person is detected in a specific loaded object area B11 while the transport vehicle is transporting the object from the first area to the temporary storage area, the target position determination unit can re-determine the target position based on the detection information, and transport the object to another selected loaded object area B11. In this way, flexible responses can be made based on the detection information of the transport vehicle. Alternatively, if information indicating that an object has disappeared from the non-loaded object area B12 adjacent to the loaded object area B11 of the target position of the transport vehicle is detected or received from a management device, etc. during transport, the target position determination unit can re-determine the target position based on the detection information, and select the loaded object area B11 adjacent to the location where the object is located in the non-loaded object area B12, and transport the object to that selected loaded object area B11.

[0072] The target position determination unit may determine a movement target position so that, immediately after the loaded object is transported from the first area to the loaded object area by the transport vehicle, the unloaded object, which has been placed in advance in an unloaded object area adjacent to the loaded object area, is transported to the first area. This allows the object to be transported by moving efficiently from the first area to the loaded object area and from the unloaded object area to the first area.

[0073] The target position determination unit may determine a movement target position so that, immediately after an unloaded object is transported from the second area to the unloaded object area by the transport vehicle, a loaded object that has been placed in advance in a loaded object area adjacent to the unloaded object area is transported to the second area. This allows the object to be transported by moving efficiently from the second area to the unloaded object area and from the loaded object area to the second area.

[0074] The transport vehicle may include a detection unit that detects transported objects, and the target position determination unit may determine the target position based on transported object detection information from the detection unit. This allows the transport vehicle to detect the presence and position of transported objects in each area and autonomously determine the target position based on the information about the transported objects. For example, when transporting loaded objects from a first area to a temporary storage area using a transport vehicle, the transport vehicle may detect an unloaded object area where unloaded objects are located and select an adjacent loaded object area as the target position. The map information may include position information about the loaded object area, unloaded object area, etc. in the temporary storage area.

[0075] The temporary storage area may include a fixed detection unit that is fixedly installed around the temporary storage area and detects transported items in the temporary storage area, and the target position determination unit may determine a target position for movement of the transport vehicle based on transported item detection information from the fixed detection unit. In this way, image information acquired by a camera fixedly installed in the facility can be used to obtain information such as the presence, number, and loading status of carts (loaded carts and empty carts) in the temporary storage area, and an appropriate location can be set as the destination depending on the information.

[0076] The target position determination unit may further determine a target position for the transport vehicle based on information on the shortage number of transported articles in the first area. According to this, when there is a shortage of transport vehicles in the first area (for example, the shortage number is equal to or greater than a first specific value, or the waiting number is equal to or less than a second specific value), an empty vehicle can be transported to the first area, and when there is no shortage (for example, the shortage number is less than the first specific value, or the waiting number is greater than the second specific value), an empty vehicle can be transported to the temporary storage area.

[0077] The target position determination unit may further determine a target position for the transport vehicle based on information on the shortage number of transported articles in the second area. According to this, if there is a shortage of transport vehicles in the second area (for example, the shortage number is equal to or greater than a first specific value, or the waiting number is equal to or less than a second specific value), the loading vehicle can be transported to the second area, and if there is no shortage (for example, the shortage number is less than the first specific value, or the waiting number is greater than the second specific value), the loading vehicle can be transported to the temporary storage area.

[0078] As shown in FIG. 18 , each unit area B1 constituting the temporary storage area B in this embodiment may be a combination of multiple loaded object areas B11 and multiple unloaded object areas B12. This allows multiple loaded objects and unloaded objects to be temporarily stored in each unit area B1. In this case, a unit area B1 in which multiple loaded objects are located can be prioritized over a unit area B1 in which only one loaded object is located, and determined as a target position for the unloaded object. Alternatively, a unit area with a smaller number of vehicles to be located in the unit area B1 can be prioritized for the target position. In the illustrated example, for example, among the multiple loaded object areas B11 constituting each unit area B1, the back side (the side farther from the aisle T) may be prioritized for placing (temporarily storing) loaded objects. Conversely, the objects may be placed from the front side (the side closer to the aisle T). Similarly, the non-loaded goods areas B12 constituting each unit area B1 may be prioritized for temporary storage of goods from the back as viewed from the aisle, or from the front. Such a priority order of temporary storage may be stored in advance in a storage unit and updated as appropriate in response to user input. In the example of FIG. 18, two adjacent loaded goods areas B11 and two non-loaded goods areas B12 are combined, but three or more loaded goods areas B11 and non-loaded goods areas B12 may be combined.

[0079] In this embodiment, each temporary storage area B is sandwiched between two one-way passages that run in opposite directions. This prevents the travel route from becoming complicated by using separate passages for traveling from the first area to the second area (via a temporary storage area as needed) and traveling from the second area to the first area (via a temporary storage area as needed). This also prevents transport vehicles from passing each other, allowing transport work to be carried out safely and efficiently even in narrow passages.

[0080] The control unit 260 may execute a travel control process based on speed information acquired by a speed sensor of the transport vehicle. The type of speed sensor is not particularly limited; for example, any sensor, such as a sensor detecting the number of rotations or rotation speed of the drive wheels, or a camera can be used as the speed sensor. The control unit 260 detects the speed of the transport vehicle at predetermined intervals, determines whether the detected speed matches the target speed, and performs travel control while repeatedly adjusting the speed. That is, the control unit 260 determines whether the difference between the actual speed and the target speed is equal to or less than a predetermined value (e.g., a predetermined threshold value). If the difference is equal to or less than the predetermined value, the control unit 260 maintains control. If the difference is greater than the predetermined value, the control unit 260 can perform deceleration or acceleration control to approach the target speed. By repeating this speed adjustment process, deviation from the target speed can be suppressed (reduced). The control unit 260 can perform so-called feedback control for various controls, such as adjusting the speed of the transport vehicle along the track line, its attitude (orientation), and its position perpendicular to the track line, and adjust the operation so that the target values ​​are achieved (approach the target values).

[0081] The control unit 260 may acquire information such as the current position, the distance to the destination position, and / or the target speed at that point, which are associated with the two-dimensional code, by scanning the two-dimensional code with a sensor (camera). For example, if information on the target speed is associated with the two-dimensional code, the guided vehicle can acquire the information on the target speed from the two-dimensional code and perform the above-mentioned speed control.

[0082] The control unit 260 may execute a process of calculating the distance from the current position of the transport vehicle to the destination position based on the difference between the current position acquired from the position estimation unit 265 and the destination position acquired from the storage unit. Alternatively, the distance information may be associated with a two-dimensional code laid on the floor, and the distance may be acquired by reading the code with the transport vehicle.

[0083] The control unit 260 may control the traveling speed of the transport vehicle based on speed information acquired by a speed sensor of the transport vehicle. For example, the control unit 260 compares a target speed determined based on the distance with the current speed of the transport vehicle, and controls the transport vehicle to accelerate if the current speed is slower than the target speed, and controls the transport vehicle to decelerate if the current speed is faster than the target speed.

[0084] The control unit 260 may perform processes such as estimating the current location, determining (updating) a movement target location, and correcting the location at predetermined intervals. The predetermined interval may be, for example, 0.01 seconds, 0.02 seconds, 0.05 seconds, 0.1 seconds, or 1 second, and may be stored in the storage unit in advance. The control unit 260 may determine (update) a movement target location when the vehicle moves to a predetermined location, not limited to a predetermined interval. The control unit 260 may also determine (update) a movement target location when a predetermined event is detected. Examples of predetermined events include a collision with a person, another transport vehicle, or an obstacle, approach within a specific distance, detection of an earthquake based on sensor information or received information, activation of an emergency stop device, or completion of a predetermined operation scenario. In this case, upon detection of a predetermined event, the control unit performs the process of determining the movement target location and stores (updates) it in the storage unit. This action when a predetermined event occurs may be performed in the middle of an action scenario being executed, and in that case, the movement target position may be changed (updated) in the middle of the action scenario.

[0085] The control unit 260 may acquire the current position and correct the position in the map data by scanning a two-dimensional code placed at a specific location such as on the road surface, wall surface, or ceiling surface. This allows the current position information to be acquired quickly and easily, and the self-position to be corrected.

[0086] Furthermore, when the transport vehicle moves along the above-described real or virtual travel path (or guide line), the transport vehicle may detect its attitude (angle) relative to the extension direction of the travel path (or guide line) (e.g., relative to the extension direction of the guide line), and if the transport vehicle deviates from the travel path direction by a predetermined value (e.g., 1°, 5°, etc.) or more, it may perform attitude control (turn) to bring its attitude closer to the travel path direction. Furthermore, when the transport vehicle moves along the above-described real or virtual travel path (or guide line), the amount of lateral positional deviation of the transport vehicle relative to the travel path (or guide line) (e.g., relative to the extension direction of the guide line) may be detected, and if the transport vehicle deviates from the travel path by a predetermined value (e.g., 1 mm, 5 mm, 10 mm, etc.) or more, the lateral positional deviation may be corrected and the transport vehicle may be controlled to travel in a direction to reduce the deviation. Furthermore, such detection of the attitude or lateral deviation relative to the travel path may be repeatedly performed at predetermined intervals (either a predetermined fixed period or an irregular fixed period). The control unit can detect the traveling direction (front direction of the transport vehicle) using, for example, an attitude sensor of the transport vehicle, etc. The control unit may detect the extension direction of the guideline using the detection unit, or data on the position and extension direction of the guideline may be stored in advance in a map in the storage unit.

[0087] Although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person skilled in the art of the present disclosure can conceive of various modified or altered examples within the scope of the technical idea described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0088] The devices described herein may be implemented as stand-alone devices, or may be implemented as multiple devices (e.g., cloud servers) partially or entirely connected via a network. For example, the control unit 260 and recording unit 220 of the transport vehicle may be implemented as different servers connected to each other via a network. In addition, in the transport system described herein, the controller 3000, the overall control device 4000, and the input / output device 5000 are configured as separate pieces of hardware connected via a network. However, some or all of the functions of the controller 3000, the overall control device 4000, and the input / output device 5000 may be implemented in the transport vehicle 10.

[0089] The series of processes performed by the device described herein may be implemented using software, hardware, or a combination of software and hardware. A computer program for implementing each function of the control unit 260 according to this embodiment may be created and installed on a PC or the like. A computer-readable recording medium storing such a computer program may also be provided. Examples of the recording medium include a magnetic disk, an optical disk, a magneto-optical disk, and a flash memory. The computer program may also be distributed, for example, via a network, without using a recording medium.

[0090] Furthermore, the processes described herein using flowchart diagrams do not necessarily have to be performed in the order shown. Some process steps may be performed in parallel. Additional process steps may be employed, and some process steps may be omitted.

[0091] Furthermore, the effects described herein are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that will be apparent to those skilled in the art from the description of this specification, in addition to or in place of the above-described effects.

[0092] The following configurations also fall within the technical scope of the present disclosure. (Item 1) A control system for a transport vehicle that transports a transported object by releasably coupling the transported object in a travel area including a first area for sending out a transported object loaded with a predetermined object, a second area for receiving the transported object loaded with the predetermined object, and a temporary storage area located between the first area and the second area, a storage unit that stores map information of the travel area; a transport vehicle information acquisition unit that acquires current position information of the transport vehicle; a transported goods information acquisition unit that acquires information on transported goods to be placed in each area; a target position determination unit that determines a target position for the transport vehicle based on the arrangement of the transported objects in each area; a travel control unit that controls travel of the transport vehicle based on the map information, the current position of the transport vehicle, and information on the movement target position, the temporary storage area is set by arranging a plurality of unit areas each of which is a combination of a loaded transported article area for temporarily storing a loaded transported article that has loaded the predetermined article and an unloaded transported article area for temporarily storing an unloaded transported article that does not have the predetermined article loaded thereon; The target position determination unit determines the movement target position by prioritizing a loaded transport object area adjacent to the non-loaded transport object area where the unloaded transport object is placed over a loaded transport object area adjacent to the non-loaded transport object area where the unloaded transport object is not placed, when the loaded transport object is transported from the first area to the temporary storage area by the transport vehicle. (Item 2) The control system described in item 1, wherein when the unloaded transported object is transported from the second area to the temporary storage area by the transport vehicle, the target position determination unit determines the movement target position by giving priority to a loaded transported object area adjacent to the unloaded transported object area in which the loaded transported object is placed, over a loaded transported object area adjacent to the unloaded transported object area in which the loaded transported object is not placed. (Item 3) The control system according to item 1 or 2, wherein the target position determination unit determines the movement target position so that the unloaded transported object, which has been placed in advance in the unloaded transported object area adjacent to the loaded transported object area, is transported to the first area immediately after the loaded transported object is transported from the first area to the loaded transported object area by the transport vehicle. (Item 4) The control system according to item 1 or 2, wherein the target position determination unit determines the movement target position so that the loaded transported object, which has been placed in advance in the loaded transported object area adjacent to the unloaded transported object area, is transported to the second area immediately after the unloaded transported object is transported from the second area to the unloaded transported object area by the transport vehicle. (Item 5) The transport vehicle includes a detection unit that detects surrounding objects or people, 3. The control system according to item 1 or 2, wherein the target position determination unit updates the movement target position based on detection information from the detection unit of the traveling transport vehicle. (Item 6) a fixed detection unit that is fixedly installed around the temporary storage area and detects the transported object in the temporary storage area; 3. The control system according to item 1 or 2, wherein the target position determination unit determines a target position for the transport vehicle based on transported object detection information from the fixed detection unit. (Item 7) 3. The control system according to item 1 or 2, wherein the target position determination unit further determines a target position to which the transport vehicle should move based on information on the shortage number of transported objects in the first area. (Item 8) 3. The control system according to item 1 or 2, wherein the target position determination unit further determines a target position for the transport vehicle based on information on the shortage number of transported objects in the second area. (Item 9) 3. The control system according to item 1 or 2, wherein the temporary storage area is sandwiched between two one-way passages that run in opposite directions. (Item 10) A method for controlling a transport vehicle that transports a transported object by releasably coupling the transported object in a travel area including a first area for sending out a transported object loaded with a predetermined object, a second area for receiving the transported object loaded with the predetermined object, and a temporary storage area located between the first area and the second area, The control unit a storage process for storing map information of the travel area; a transportation vehicle information acquisition process for acquiring current position information of the transportation vehicle; a transported goods information acquisition process for acquiring information on transported goods to be placed in each area; a target position determination process for determining a target position for the transport vehicle based on the arrangement of the transported object in each area; a travel control process for controlling travel of the transport vehicle based on the map information, the current position of the transport vehicle, and information on the movement target position; the temporary storage area is set by arranging a plurality of unit areas each of which is a combination of a loaded transported article area for temporarily storing a loaded transported article that has loaded the predetermined article and an unloaded transported article area for temporarily storing an unloaded transported article that does not have the predetermined article loaded thereon; The target position determination process determines the movement target position by giving priority to a loaded transported object area adjacent to the non-loaded transported object area in which the unloaded transported object is placed over a loaded transported object area adjacent to the non-loaded transported object area in which the unloaded transported object is not placed, when the loaded transported object is transported from the first area to the temporary storage area by the transport vehicle. [Explanation of symbols]

[0093] 10 transport vehicle, 11 coupling unit, 12 object position detection unit, 13 drive wheel, 14 non-drive wheel, 16 guide line detection unit, 17 magnetic sensor, 130 operating area, 131 guide line, 132 driving mode switching position, 210 communication unit, 220 recording unit, 230 detection unit, 240 input unit, 250 display unit, 260 control unit, 280 wheel drive unit, 2000 cart, 2010 coupling receiving unit, 3000 control device, 4000 overall control device, 5000 input / output device, 6000 communication network, 7000 external system

Claims

1. A control system for a transport vehicle that transports an object by releasably coupling the object in a travel area including a first area for sending out an object loaded with a predetermined object, a second area for receiving the object loaded with the predetermined object, and a temporary storage area located between the first area and the second area, a storage unit that stores map information of the travel area; a transport vehicle information acquisition unit that acquires current position information of the transport vehicle; a transported goods information acquisition unit that acquires information on transported goods to be placed in each area; a target position determination unit that determines a target position for the transport vehicle based on the arrangement of the transported objects in each area; a travel control unit that controls travel of the transport vehicle based on the map information, the current position of the transport vehicle, and information on the movement target position, the temporary storage area is set by arranging a plurality of unit areas each of which is a combination of a loaded transport area for temporarily storing a loaded transport item having the predetermined object loaded thereon and an unloaded transport area for temporarily storing an unloaded transport item not having the predetermined object loaded thereon; The target position determination unit determines the movement target position by prioritizing a loaded transported object area adjacent to the non-loaded transported object area where the unloaded transported object is placed over a loaded transported object area adjacent to the non-loaded transported object area where the unloaded transported object is not placed, when the loaded transported object is transported from the first area to the temporary storage area by the transport vehicle.

2. 2. The control system of claim 1, wherein when the unloaded transported item is transported from the second area to the temporary storage area by the transport vehicle, the target position determination unit determines the movement target position by prioritizing a loaded transported item area adjacent to the unloaded transported item area where the loaded transported item is placed over a loaded transported item area adjacent to the unloaded transported item area where the loaded transported item is not placed.

3. The control system according to claim 1 or 2, wherein the target position determination unit determines the movement target position so that the unloaded transported item, which has been pre-placed in the unloaded transported item area adjacent to the loaded transported item area, is transported to the first area immediately after the loaded transported item is transported from the first area to the loaded transported item area by the transport vehicle.

4. The control system according to claim 1 or 2, wherein the target position determination unit determines the movement target position so that the loaded transported object, which has been pre-placed in the loaded transported object area adjacent to the unloaded transported object area, is transported to the second area immediately after the unloaded transported object is transported from the second area to the unloaded transported object area by the transport vehicle.

5. The transport vehicle includes a detection unit that detects surrounding objects or people, 3. The control system according to claim 1, wherein the target position determining unit updates the movement target position based on detection information from the detection unit of the traveling transport vehicle.

6. a fixed detection unit that is fixedly installed around the temporary placement area and detects the transported object in the temporary placement area; 3. The control system according to claim 1, wherein the target position determining unit determines a target position to which the transport vehicle should move based on transported object detection information from the fixed detector.

7. 3. The control system according to claim 1, wherein the target position determining unit further determines a target position to which the transport vehicle should move based on information on a shortage number of transported articles in the first area.

8. 3. The control system according to claim 1, wherein the target position determining unit further determines a target position to which the transport vehicle should move based on information on a shortage number of transported articles in the second area.

9. The control system according to claim 1 or 2, wherein the temporary storage area is sandwiched between two one-way passages that run in opposite directions.

10. A method for controlling a transport vehicle that transports an object by releasably coupling the object in a travel area including a first area for sending out an object loaded with a predetermined object, a second area for receiving the object loaded with the predetermined object, and a temporary storage area located between the first area and the second area, The control unit a storage process for storing map information of the travel area; a transportation vehicle information acquisition process for acquiring current position information of the transportation vehicle; a transported goods information acquisition process for acquiring information on transported goods to be placed in each area; a target position determination process for determining a target position for the transport vehicle based on the arrangement of the transported object in each area; a travel control process for controlling travel of the transport vehicle based on the map information, the current position of the transport vehicle, and information on the movement target position; the temporary storage area is set by arranging a plurality of unit areas each of which is a combination of a loaded transport area for temporarily storing a loaded transport item having the predetermined object loaded thereon and an unloaded transport area for temporarily storing an unloaded transport item not having the predetermined object loaded thereon; The target position determination process is a control method for a transport vehicle, in which, when the loaded transported item is transported from the first area to the temporary storage area by the transport vehicle, the target position for movement is determined by giving priority to a loaded transported item area adjacent to the non-loaded transported item area in which the unloaded transported item is placed, over a loaded transported item area adjacent to the non-loaded transported item area in which the unloaded transported item is not placed.

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