Transport vehicle control system, transport vehicle control method, and program

Abstract

To accurately adjust the arrival timing of a cargo to a conveyance destination.SOLUTION: A first berth determination device that generates first berth state information indicating a state of a first berth VB that is a place for performing cargo handling of the first conveyance unit V, a second berth determination device that generates second berth state information indicating a state of a second berth TB that is a place for performing cargo handling of a second conveyance unit T that conveys a cargo, and a departure instruction device 200 that transmits departure instruction information indicating an instruction to cause the first conveyance unit V to depart for the first berth VB, the departure instruction device 200 calculates the time until the first berth VB becomes empty on the basis of the first berth state information and the second berth state information, and adjusts the timing for making the first carrying means V depart to the first berth VB on the basis of the calculated time.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] There is known technology for controlling self-propelled guided vehicles to transport parts from a warehouse to a factory. Factories that employ such technology often have guided vehicle berths, which are places where guided vehicle transporting parts can be parked for loading and unloading. However, due to space constraints, the number of guided vehicle berths within a factory is limited. Therefore, depending on the timing of the arrival of the guided vehicle at the destination factory, congestion of guided vehicles on the transport route may occur.

[0003] Therefore, technologies have been proposed to optimize the timing of arrival of transport vehicles. For example, Patent Document 1 discloses a system in which, when the production performance on a production line reaches a preset value, a self-propelled vehicle automatically drives to transport the transport vehicle to its destination on the production line. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-94947

[0005] The technology of Patent Document 1 does not take into consideration the case where a worker performs work outside the transport vehicle berth, i.e., the case where work at the transport vehicle berth cannot be carried out in parallel with other work. Specifically, in addition to unloading or loading work at the transport vehicle berth, workers often also attend unloading or loading work at the truck berth where trucks are parked. While attending unloading or loading work at the truck berth, the worker cannot perform unloading or loading work at the transport vehicle berth.

[0006] Therefore, for example, when a worker starts unloading or loading work at a transport cart berth after completing unloading or loading work at a truck berth, it is desirable to accurately adjust the timing at which the cargo arrives at its destination by taking into account the progress of work at the transport cart berth and the truck berth, but this is difficult with the technology of Patent Document 1. Summary of the Invention [Problem to be solved by the invention]

[0007] The present disclosure has been made in consideration of the above-described circumstances, and aims to provide a transport vehicle control system that can accurately adjust the arrival timing of packages at their destinations. [Means for solving the problem]

[0008] A transport vehicle control system according to the present disclosure controls a first transport vehicle that transports luggage. The transport vehicle control system includes a first berth determination device that generates first berth status information indicating the status of a first berth, which is a location where the first transport vehicle handles luggage; a second berth determination device that generates second berth status information indicating the status of a second berth, which is a location where a second transport vehicle that transports luggage handles luggage; and a departure instruction device that transmits departure instruction information indicating an instruction to depart the first transport vehicle for the first berth. The departure instruction device calculates the time until the first berth becomes vacant based on the first berth status information and the second berth status information, and adjusts the timing of the departure of the first transport vehicle for the first berth based on the calculated time. [Effects of the Invention]

[0009] According to the present disclosure, the time until the first berth becomes empty is calculated based on the first berth status information and the second berth status information, and the timing for departing the first conveyance means for the first berth is adjusted based on the calculated time, thereby enabling accurate adjustment of the arrival timing of the cargo at the destination. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing a configuration of a transport vehicle control system according to an embodiment. [Figure 2] A state transition diagram of a berth state determined by a factory berth determination device according to an embodiment. [Figure 3] FIG. 1 is a block diagram showing a functional configuration of a factory berth determination device according to an embodiment of the present invention. [Figure 4] FIG. 1 is a block diagram showing a functional configuration of a departure instruction device according to an embodiment. [Figure 5] FIG. 1 is a block diagram showing the physical configuration of a transport vehicle berth discrimination device, a truck berth discrimination device, and a departure instruction device according to an embodiment. [Figure 6] FIG. 10 is a diagram showing the contents of berth state time information stored by the departure instruction device according to the embodiment. [Figure 7] FIG. 10 is a diagram showing the contents of transport time information stored in the departure instruction device according to the embodiment. [Figure 8] 1 is a flowchart showing the contents of a transport vehicle berth discrimination process executed by a transport vehicle berth discrimination device according to an embodiment. [Figure 9] 1 is a flowchart showing the contents of a track verse discrimination process executed by a track verse discrimination device according to an embodiment. [Figure 10] 1 is a flowchart showing the contents of a departure instruction process executed by a departure instruction device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following describes a transport vehicle control system according to an embodiment, with reference to the drawings. The transport vehicle control system according to the embodiment controls a self-propelled transport vehicle that transports luggage, thereby adjusting the timing at which the transport vehicle arrives at its destination.

[0012] As shown in FIG. 1, an area where a transport vehicle control system 1 according to an embodiment is installed includes L factories Fi (i = 1, 2, ..., L) for manufacturing products and a warehouse W where product parts are stored. Different types of products may be manufactured between the factories Fi, or the same type of products may be manufactured. Furthermore, M transport vehicles Vj (j = 1, 2, ..., M) transport parts from the warehouse W to the factory Fi. One or more workers are assigned to each of the factories Fi and the warehouse W to unload or load goods onto the transport vehicles Vj. The transport vehicle Vj is equipped with a drive mechanism for driving its wheels, and travels unmanned along a transport route R by operating the drive mechanism in accordance with a travel program or commands received from outside.

[0013] The warehouse W is provided with N warehouse berths WBk (k = 1, 2, ..., N) which are locations within the warehouse W where transporting vehicles Vj are unloaded or loaded. When not in use, the transporting vehicles Vj wait at the warehouse berths WBk with parts loaded. At each warehouse berth WBk, different types of parts may be loaded onto the transporting vehicles Vj, or the same type of parts may be loaded onto the transporting vehicles Vj. Note that L, M, and N are natural numbers greater than or equal to 2. In this embodiment, L = M = 3.

[0014] Factory Fi has a conveyor cart berth VBi, which is a place for unloading goods from or loading goods onto a conveyor cart Vj within Factory Fi, and a truck berth TBi, which is a place for unloading goods from or loading goods onto a truck T (not shown). In Factory Fi, products are manufactured using the parts conveyed by conveyor cart Vj, and new parts, semi-finished products, etc. are conveyed by conveyor cart Vj and delivered to warehouse W. The products manufactured in Factory Fi are loaded onto truck T and carried out. Also, new parts, semi-finished products, etc. are loaded onto truck T and carried in, and once carried into Factory Fi. In this embodiment, it is assumed that logistics occurs only between the conveyor cart berth VBi and Factory Fi, and between the truck berth TBi and Factory Fi, and no direct logistics occurs between the conveyor cart berth VBi and the truck berth TBi. In the example of Fig. 1, conveyor cart V1 is parked at warehouse berth WB1, conveyor cart V2 is parked at conveyor cart berth VB2, and conveyor cart V3 is traveling on conveyance route R. Hereinafter, when not distinguishing the same configuration, symbols such as i, j, k, etc. are not attached. Also, in Factory Fi, when not distinguishing the conveyor cart berth VBi and the truck berth TBi, it is simply called factory berth FBi. Also, unloading or loading work, that is, handling work, is simply called work.

[0015] The conveyance route R is laid between the warehouse berth WBk of warehouse W and the conveyor cart berth VBi of each factory Fi and serves as the track for the conveyor cart V. Each conveyor cart V travels along the conveyance route R in the direction of arrow A, and when it arrives at the target factory Fi, it parks at that conveyor cart berth VBi. When the number M of conveyor carts V to be operated is greater than the number N of warehouse berths WB, that is, when N < M, a waiting place (not shown) may be provided on the conveyance route R to wait for the conveyor cart V.

[0016] The TGV control system 1 adjusts the timing of arrival of the TGV Vj at the factory Fi based on the parking status of the TGV V and the truck T at the factory berth FBi in the target factory Fi and the progress of the work. Hereinafter, the progress of work at each factory berth FB and the parking status of the TGV V and the truck T are referred to as the berth state. As shown in FIG. 2, the berth state transitions in the order of "waiting for work ST1," "working ST2," "waiting for departure ST3," and "vacant berth ST4." "Waiting for work ST1" refers to a state in which the TGV V or the truck T has arrived at the factory berth FB but has not yet begun work by a worker. "Working ST2" refers to a state in which a worker is working. "Waiting for departure ST3" refers to a state in which the worker has completed work but the TGV V or the truck T is still at the factory berth FB. "Vacant berth ST4" refers to a state in which the TGV V or the truck T is not at the factory berth FB. If the berth status is "waiting for work ST1", "working ST2", or "waiting for departure ST3", the factory berth FB is full, and if the berth status is "berth empty ST4", the factory berth FB is empty.

[0017] As shown in FIG. 1, the transport vehicle control system 1 includes, in each factory Fi, a factory berth identification device 100i that identifies the berth status of a factory berth FBi and a departure instruction device 200 that instructs a transport vehicle Vj waiting in a warehouse W to depart. As shown in FIG. 3, the factory berth identification device 100i installed in the factory Fi is communicably connected to a transport vehicle berth monitoring device 310i that monitors a transport vehicle berth VBi, a truck berth monitoring device 320i that monitors a truck berth TBi, and a worker terminal 400i that is a device for workers to input work progress. The transport vehicle berth monitoring device 310i monitors the transport vehicle berth VBi and outputs information indicating whether a transport vehicle V is parked to the factory berth identification device 100i. The truck berth monitoring device 320i monitors the truck berth TBi and outputs information indicating whether a truck T is parked to the factory berth identification device 100i. In response to an operation by the worker, the worker terminal 400i outputs information indicating the progress of work at the transport vehicle berth VBi and the truck berth TBi to the factory berth determination device 100i.

[0018] The factory berth discrimination device 100i includes a transport vehicle berth discrimination device 110i that discriminates the berth status of the transport vehicle berth VBi, and a truck berth discrimination device 120i that discriminates the berth status of the truck berth TBi. The transport vehicle berth discrimination device 110i discriminates the status of the transport vehicle berth VBi based on the information supplied. The truck berth discrimination device 120i discriminates the status of the truck berth TBi based on the information supplied. The factory berth discrimination device 100i generates berth status information BSi that indicates the berth status of the factory berth FBi based on the discrimination of the transport vehicle berth discrimination device 110i and the discrimination of the truck berth discrimination device 120i, and transmits this to the departure instruction device 200. More specifically, the transport vehicle berth discrimination device 110i generates transport vehicle berth status information VBSi indicating the berth status of the transport vehicle berth VBi and transmits it to the departure instruction device 200, and the truck berth discrimination device 120i generates truck berth status information TBSi indicating the berth status of the truck berth TBi and transmits it to the departure instruction device 200.

[0019] The transport vehicle berth monitoring device 310i is equipped with, for example, a camera, continuously photographs the transport vehicle berth VBi, and transmits transport vehicle berth imaging information VPi indicating the photographed images or videos to the transport vehicle berth discrimination device 110i of the factory berth discrimination device 100i. Similarly, the truck berth monitoring device 320i is equipped with, for example, a camera, continuously photographs the truck berth TBi, and transmits truck berth imaging information TPi indicating the photographed images or videos to the truck berth discrimination device 120i of the factory berth discrimination device 100i.

[0020] The worker terminal 400i is a portable terminal, such as a smartphone or tablet, that receives a signal indicating the start or end of work when the worker starts or ends the work. The worker terminal 400i displays a button for selecting the factory berth FBi where the work is to be performed, and a button for selecting whether the work should be started or ended. When starting or ending work, the worker selects a button displayed on the worker terminal 400i to input whether the work location is the transport vehicle berth VBi or the truck berth TBi, and whether the work should be started or ended. When the transport vehicle berth VBi is selected as the work location, the worker terminal 400i generates transport vehicle berth work information VBWi indicating a signal indicating the start or end of work at the transport vehicle berth VBi. When the truck berth TBi is selected as the work location, the worker terminal 400i generates truck berth work information TBWi indicating a signal indicating the start or end of work at the truck berth TBi. The worker terminal 400i transmits the generated transport vehicle berth work information VBWi to the transport vehicle berth discrimination device 110i of the factory berth discrimination device 100i, and transmits the generated truck berth work information TBWi to the truck berth discrimination device 120i of the factory berth discrimination device 100i.

[0021] When a transport vehicle V is not parked at the transport vehicle berth VBi, the transport vehicle berth determination device 110i determines the berth state of the transport vehicle berth VBi as "berth empty ST4." When a transport vehicle Vj is parked at the transport vehicle berth VBi and transport vehicle berth work information VBWi has not been received from the worker terminal 400i, the transport vehicle berth determination device 110i determines the berth state of the transport vehicle berth VBi as "waiting for work ST1" because the transport vehicle V has arrived at the transport vehicle berth VBi but work by the worker has not yet begun. When a transport vehicle V is parked at the transport vehicle berth VBi and transport vehicle berth work information VBWi indicating the start of work has been received from the worker terminal 400i, the transport vehicle berth determination device 110i determines the berth state of the transport vehicle berth VBi as "working ST2." When the transport vehicle V is parked at the transport vehicle berth VBi and transport vehicle berth work information VBWi indicating the end of work is received from the worker terminal 400i, the transport vehicle berth discrimination device 110i discriminates the berth state of the transport vehicle berth VBi as "waiting for departure ST3." The truck berth discrimination device 120i similarly discriminates the berth state.

[0022] As shown in FIG. 1, the departure instruction device 200 estimates the time until the transport vehicle berth VBi becomes vacant, i.e., the time until the berth status of the transport vehicle berth VBi changes to "berth vacant ST4," based on the transport vehicle berth status information VBSi and the truck berth status information TBSi. Furthermore, the departure instruction device 200 adjusts the timing for departing the transport vehicle Vj from the transport vehicle berth VBi based on the estimated time, and then transmits departure instruction information DIj to the transport vehicle Vj, instructing the transport vehicle Vj to depart from the transport vehicle berth VBi. As shown in FIG. 4, the departure instruction device 200 includes a receiving unit 201 that receives the transport vehicle berth status information VBSi and the truck berth status information TBSi, a storage unit 204 that stores various information described below, a control unit 203 that executes various processes described below, and a transmitting unit 202 that transmits the departure instruction information DIj to the transport vehicle Vj.

[0023] The storage unit 204 stores berth state time information BSTi indicating the duration of the berth state of a factory berth FBi, transfer time information TTI indicating the transfer time TT to the transport vehicle berth VBi, and transport vehicle state information VSj indicating the state of the transport vehicle Vj. As shown in FIG. 6, the berth state time information BSTi is information indicating the correspondence between the type of factory berth FBi, the berth state, and the duration of that berth state for each factory Fi. The duration refers to the average duration of each berth state, that is, the average time from a transition to that berth state to a transition to the next berth state. The duration is set based on, for example, the average value, weighted average, moving average value, weighted moving average, median, or the like of past performance values.

[0024] 7, the transport time information TTI is information indicating the correspondence relationship between the time required for transport from the warehouse berth WBk, which is the source of the transport, to the transport vehicle berth VBi, which is the destination of the transport. The transport time TT is set based on, for example, an actual measurement value, a calculated value, etc.

[0025] The transport vehicle status information VSj is information indicating whether the transport vehicle Vj is parked or traveling, and if parked, where the transport vehicle Vj is parked, and is defined for each transport vehicle Vj. For example, when the transport vehicles Vj are parked or traveling at the positions shown in FIG. 1, the transport vehicle status information VS1 is "parked at warehouse berth WB1" because the transport vehicle V1 is parked at warehouse berth WB1, the transport vehicle status information VS2 is "parked at VB2" because the transport vehicle V2 is parked at transport vehicle berth VB2, and the transport vehicle status information VS3 is "traveling" because the transport vehicle V3 is traveling. The departure instruction device 200 appropriately acquires the status of each transport vehicle Vj from the transport vehicle Vj and appropriately updates the transport vehicle status information VSj.

[0026] Returning to FIG. 4, the control unit 203 calculates the time until the transport vehicle berth VBi becomes vacant based on the transport vehicle berth status information VBSi and the truck berth status information TBSi received via the receiving unit 201, and adjusts the timing of transmitting departure instruction information DIj to the transport vehicle Vj. When the berth status indicated by the transport vehicle berth status information VBSi for the transport vehicle berth VBi is "berth vacant ST4," the transport vehicle berth VBi is available for reception. In other words, the time until the transport vehicle berth VBi becomes vacant is 0 seconds. Therefore, in this case, the control unit 203 determines that the transport vehicle Vj can be departed, and transmits departure instruction information DIj to the transport vehicle Vj. Specifically, the control unit 203 determines that the transport vehicle V to be controlled is Vj, and the transport vehicle berth VB to be the destination is VBi, and causes the transport vehicle Vj to depart for the target transport vehicle berth VBi.

[0027] When the berth state indicated by the vehicle berth state information VBSi for the vehicle berth VBi is "working ST2," a worker is working at the vehicle berth VBi. Therefore, it is necessary to dispatch the vehicle Vj taking into consideration the progress of work at the vehicle berth VBi. In this case, the control unit 203 first calculates the remaining work time at the vehicle berth VBi (hereinafter referred to as the vehicle berth remaining work time VRTi). More specifically, the control unit 203 refers to the berth state time information BSTi stored in the memory unit 204 of the departure instruction device 200. Furthermore, the control unit 203 adds together the duration of "working ST2" for the vehicle berth VBi and the duration of "waiting for departure ST3" for the vehicle berth VB. Specifically, when the berth status time information BSTi is defined as shown in Figure 6, the remaining work time VRTi at the transport vehicle berth is 420 seconds, the duration of "Working ST2" at the transport vehicle berth VB, plus 240 seconds, the duration of "Waiting for departure ST3" at the transport vehicle berth VB, = 660 seconds.

[0028] Furthermore, the control unit 203 compares the remaining transport vehicle berth operation time VRTi with the transport time TT of the transport vehicle Vj to determine whether the departure timing of the transport vehicle Vj needs to be delayed. If the remaining transport vehicle berth operation time VRT is longer than the transport time TT, the transport vehicle Vj cannot be parked at the transport vehicle berth VB even if it is allowed to depart immediately. Therefore, in this case, the control unit 203 calculates the waiting time until the departure instruction information DIj is sent to the transport vehicle Vj. More specifically, the control unit 203 calculates the waiting time by referring to the transport time information TTI stored in the memory unit 204 and subtracting the transport time TT indicated by the transport time information TTI from the remaining transport vehicle berth operation time VRTi. Specifically, when the transport time information TTI is defined as shown in FIG. 7 and the destination is the transport vehicle berth VB1 and the source is the warehouse berth WB2, the transport time TT is 600 seconds. Furthermore, since the remaining transport vehicle berth work time VRTi is calculated to be 660 seconds, the waiting time is 660 seconds - 600 seconds = 60 seconds. After the waiting time has elapsed, the control unit 203 transmits departure instruction information DIj to the transport vehicle Vj via the transmission unit 202. If the remaining transport vehicle berth work time VRT is shorter than the transport time TT, the control unit 203 transmits departure instruction information DIj to the transport vehicle Vj without waiting.

[0029] If the berth state indicated by the received vehicle berth state information VBSi is neither "berth empty ST4" nor "working ST2," the berth state of the vehicle berth VBi is "waiting for work ST1" or "waiting for departure ST3." In this case, a worker may not be working at the vehicle berth VBi, but may be working at the truck berth TBi. Therefore, it is necessary to consider the work progress at the truck berth TBi in addition to the work progress at the vehicle berth VBi. Therefore, in this case, the control unit 203 first calculates the remaining work time at the truck berth TBi (hereinafter referred to as the truck berth remaining work time TRTi) based on the received truck berth state information TBSi. More specifically, the control unit 203 refers to the berth state time information BSTi stored in the memory unit 204. Furthermore, the control unit 203 adds the duration until the berth state indicated by the truck berth state information TBSi transitions to "berth empty ST4." Specifically, if the berth status time information BSTi is defined as shown in Figure 6 and the berth status indicated by the received truck berth status information TBSi is "waiting for work ST1," the remaining truck berth work time TRTi is the duration of "waiting for work ST1" at truck berth TB (120 seconds) + the duration of "working ST2" at truck berth TB (600 seconds) + the duration of "waiting for departure ST3" at truck berth TB (120 seconds) = 840 seconds.

[0030] Returning to FIG. 4, the control unit 203 calculates the remaining transport vehicle berth work time VRTi at the transport vehicle berth VBi. Furthermore, the control unit 203 adds the remaining truck berth work time TRTi and the remaining transport vehicle berth work time VRTi to calculate a total work time TWTi, which is the sum of these times. If the remaining truck berth work time TRTi is 840 seconds and the remaining transport vehicle berth work time VRTi is 240 seconds, the total work time TWTi is 840 seconds + 240 seconds = 1080 seconds. Furthermore, the control unit 203 compares the total work time TWTi with the transport time TT of the transport vehicle Vj to determine whether the departure timing of the transport vehicle Vj needs to be delayed. If the total work time TWTi is longer than the transport time TT, the control unit 203 calculates a waiting time until departure instruction information DIj is sent to the transport vehicle Vj. More specifically, the control unit 203 refers to the transport time information TTI stored in the memory unit 204 and calculates the waiting time by subtracting the transport time TT indicated by the transport time information TTI from the total operation time TWTi. As described above, when the destination is the transport vehicle berth VB1 and the origin is the warehouse berth WB2, the transport time TT is 600 seconds. Furthermore, since the total operation time TWTi is calculated as 1080 seconds, the waiting time is 1080 seconds - 600 seconds = 480 seconds. After the waiting time has elapsed, the control unit 203 transmits departure instruction information DIj to the transport vehicle Vj via the transmission unit 202. If the total operation time TWTi is shorter than the transport time TT, the control unit 203 transmits the departure instruction information DIj to the transport vehicle Vj without waiting.

[0031] Next, the physical configurations of the factory berth identification device 100, the transport vehicle berth identification device 110, the truck berth identification device 120, and the departure instruction device 200 will be described. The factory berth identification device 100, the transport vehicle berth identification device 110, the truck berth identification device 120, and the departure instruction device 200 each include, for example, a computer. More specifically, as shown in FIG. 5 , the factory berth identification device 100, the transport vehicle berth identification device 110, and the truck berth identification device 120 each include a processor 10 that executes an operating program, a main memory unit 20 that temporarily stores various data, an auxiliary memory unit 30 that stores various data, and a communication unit 40 that communicates with external devices, all of which are connected via a bus BL. The processor 10 includes, for example, a CPU (Central Processing Unit). The main memory unit 20 includes, for example, RAM (Random Access Memory), a non-volatile memory that stores the operating program executed by the processor 10 and various data. The auxiliary storage unit 30 includes, for example, a hard disk drive (HDD) or a solid state drive (SSD), and stores operation programs executed by the processor 10. The communication unit 40 includes, for example, a wireless local area network (LAN) communication module.

[0032] Similarly, the departure instruction device 200 also includes a processor 10, a main memory unit 20, an auxiliary memory unit 30, and a communication unit 40. The processor 10 functions as a control unit 203 of the departure instruction device 200 by executing an operation program. The main memory unit 20 temporarily stores the operation program executed by the processor 10 and various data. The auxiliary memory unit 30 stores the operation program and various data, and functions as a memory unit 204 of the departure instruction device 200. The communication unit 40 functions as a receiving unit 201 and a transmitting unit 202 of the departure instruction device 200.

[0033] Next, we will explain the operation of the transport vehicle control system 1. In the factory Fi, the transport vehicle berth monitoring device 310i continuously transmits transport vehicle berth image information VPi relating to the transport vehicle berth VBi to the transport vehicle berth discrimination device 110i, and the truck berth monitoring device 320i continuously transmits truck berth image information TPi relating to the truck berth TBi to the truck berth discrimination device 120i. Furthermore, workers performing work in the factory Fi input transport vehicle berth work information VBWi and truck berth work information TBWi into the worker terminal 400i each time work at the transport vehicle berth VBi and truck berth TBi starts and ends.

[0034] First, the vehicle berth determination process executed by the vehicle berth determination device 110i will be described with reference to Fig. 8. The vehicle berth determination device 110i receives vehicle berth image information VPi transmitted from the vehicle berth monitoring device 310i (step S101). Next, the vehicle berth determination device 110i determines whether the vehicle V is parked at the vehicle berth VBi based on the received vehicle berth image information VPi (step S102). If the vehicle berth determination device 110i determines that the vehicle V is not parked (step S102; NO), it sets "berth vacant ST4" to the berth state indicated by the vehicle berth state information VBSi (step S103).

[0035] When the transport vehicle berth determination device 110i determines that the transport vehicle V is parked (step S102; YES), it determines whether or not the transport vehicle berth work information VBWi has been received from the worker terminal 400 (step S104). When the transport vehicle berth work information VBWi has not been received (step S104; NO), the transport vehicle berth determination device 110i sets the berth state indicated by the transport vehicle berth state information VBSi to "waiting for work ST1" (step S105).

[0036] When the transport vehicle berth work information VBWi is received (step S104; YES), the transport vehicle berth discrimination device 110i discriminates whether the received transport vehicle berth work information VBWi indicates the start or end of work (step S106). When the transport vehicle berth work information VBWi indicates the start of work (step S106; work start), the transport vehicle berth discrimination device 110i sets the berth state indicated by the transport vehicle berth status information VBSi to "work in progress ST2" (step S107). When the transport vehicle berth work information VBWi indicates the end of work (step S106; work end), the transport vehicle berth discrimination device 110i sets the berth state indicated by the transport vehicle berth status information VBSi to "departure waiting ST3" (step S108).

[0037] The transporting vehicle berth discrimination device 110i transmits the transporting vehicle berth status information VBSi set in step S103, S105, S107, or S108 to the departure instruction device 200 (step S109). Thereafter, the transporting vehicle berth discrimination device 110i determines whether or not to end the processing (step S110). If not, the processing returns to step S101 (step S110; NO).

[0038] Next, the truck berth discrimination process executed by the truck berth discrimination device 120i will be described with reference to Fig. 9. The truck berth discrimination device 120i receives the truck berth imaging information TPi transmitted from the truck berth monitoring device 320i (step S201). Next, the truck berth discrimination device 120i discriminates whether or not the truck T is parked at the truck berth TBi based on the received truck berth imaging information TPi (step S202). If the truck berth discrimination device 120i determines that the truck T is not parked (step S202; NO), it sets "berth empty ST4" to the berth status indicated by the track berth status information TBSi (step S203).

[0039] When the truck berth discrimination device 120i determines that the truck T is parked (step S202; YES), it determines whether or not the truck berth work information TBWi has been received from the worker terminal 400i (step S204). When the truck berth work information TBWi has not been received (step S204; NO), the truck berth discrimination device 120i sets the berth state indicated by the truck berth state information TBSi to "waiting for work ST1" (step S205).

[0040] When the truck berth work information TBWi is received (step S204; YES), the truck berth discrimination device 120i discriminates whether the received truck berth work information TBWi indicates the start or end of work (step S206). When the truck berth work information TBWi indicates the start of work (step S206; work start), the truck berth discrimination device 120i sets the berth state indicated by the truck berth status information TBSi to "work in progress ST2" (step S207). When the truck berth work information TBWi indicates the end of work (step S206; work end), the truck berth discrimination device 120i sets the berth state indicated by the truck berth status information TBSi to "waiting for departure ST3" (step S208).

[0041] The truck berth discrimination device 120i transmits the truck berth status information TBSi set in step S203, S205, S207, or S208 to the departure instruction device 200 (step S209). Thereafter, the truck berth discrimination device 120i determines whether or not to end the process (step S210). If not, the process returns to step S201 (step S210; NO).

[0042] Next, the departure instruction process executed by the departure instruction device 200 will be described with reference to FIG. 10. When a worker at the warehouse W loads parts destined for the factory FBi onto VBj, the worker notifies the departure instruction device 200 that the transportation vehicle VBj is ready to depart and that the transportation destination is the transportation vehicle berth VBi. In response to this notification, the control unit 203 of the departure instruction device 200 starts the departure instruction process and determines the transportation vehicle V to be controlled as Vj and the transportation vehicle berth VB to be the destination as VBi (step S301). More specifically, the control unit 203 refers to the transportation vehicle status information VSj stored in the storage unit 204 of the departure instruction device 200 and determines the transportation vehicle berth VB to be the destination and the transportation vehicle V to be controlled. In addition, the receiving unit 201 of the departure instruction device 200 receives the berth status information BSi transmitted from the factory berth determination device 100i (step S302). More specifically, the control unit 203 of the departure instruction device 200 receives the transporting vehicle berth status information VBSi transmitted by the transporting vehicle berth discrimination device 110i and the truck berth status information TBSi transmitted by the truck berth discrimination device 120i. If the berth status indicated by the transporting vehicle berth status information VBSi is "berth empty ST4" (step S303; YES), the control unit 203 of the departure instruction device 200 transmits departure instruction information DIj to the transporting vehicle Vj via the transmission unit 202 (step S304).

[0043] If the berth state indicated by the received vehicle berth state information VBSi is other than "berth empty ST4" (step S303; NO), the process proceeds to step S305. If the berth state indicated by the vehicle berth state information VBSi is "working ST2" (step S305; YES), the control unit 203 calculates the vehicle berth remaining work time VRTi for the vehicle berth VBi (step S306). More specifically, the control unit 203 refers to the berth state time information BSTi stored in the memory unit 204 of the departure instruction device 200, and adds together the duration of "working ST2" for the vehicle berth VBi indicated by the berth state time information BSTi and the duration of "waiting for departure ST3" for the vehicle berth VBi.

[0044] The control unit 203 compares the transport time TT from the warehouse berth WBk to the transport vehicle berth VBi with the transport vehicle berth remaining work time VRTi (step S307). If the transport vehicle berth remaining work time VRTi is less than or equal to the transport time TT (step S307; YES), the control unit 203 transmits departure instruction information DIj to the transport vehicle Vj via the transmission unit 202 (step S304). If the transport vehicle berth remaining work time VRTi is longer than the transport time TT (step S307; NO), the control unit 203 calculates the waiting time until the departure instruction information DIj is transmitted to the transport vehicle Vj. More specifically, the control unit 203 refers to the transport time information TTI stored in the memory unit 204 and calculates the waiting time by subtracting the transport time TT indicated by the transport time information TTI from the transport vehicle berth remaining work time VRTi. The control unit 203 determines whether the waiting time has elapsed (step S308), and if not, waits until the waiting time has elapsed (step S308; NO). If the waiting time has elapsed (step S308; YES), the control unit 203 transmits departure instruction information DIj to the transporting vehicle Vj via the transmission unit 202 (step S304).

[0045] If the berth state indicated by the vehicle berth state information VBSi received in step S302 is other than "working ST2" (step S305; NO), the control unit 203 calculates the truck berth remaining work time TRTi for the truck berth TBi based on the truck berth state information TBSi received in step S302 (step S309). More specifically, the control unit 203 references the berth state time information BSTi stored in the memory unit 204 of the departure instruction device 200, and adds the duration until the berth state indicated by the received truck berth state information TBSi changes to "berth empty ST4". Next, the control unit 203 calculates the vehicle berth remaining work time VRTi for the vehicle berth VBi (step S310). Step S310 is the same as step S306. Next, the control unit 203 adds the truck berth remaining work time TRTi calculated in step S309 and the vehicle berth remaining work time VRTi calculated in step S310 to obtain the total work time TWTi.

[0046] Next, to determine whether the departure timing of the transporting vehicle Vj needs to be delayed, the control unit 203 compares the transport time TT from the warehouse berth WBk to the transporting vehicle berth VBi with the total operation time TWTi (step S311). If the total operation time TWTi is less than or equal to the transport time TT (step S311; YES), the control unit 203 transmits departure instruction information DIj to the transporting vehicle Vj via the transmission unit 202 (step S304). If the total operation time TWTi is longer than the transport time TT (step S311; NO), the control unit 203 calculates the waiting time before transmitting the departure instruction information DIj to the transporting vehicle Vj. More specifically, the control unit 203 refers to the transport time information TTI stored in the memory unit 204 and calculates the waiting time by subtracting the transport time TT indicated by the transport time information TTI from the total operation time TWTi. The control unit 203 determines whether the waiting time has elapsed (step S312), and if not, waits until the waiting time has elapsed (step S312; NO). If the waiting time has elapsed (step S312; YES), the control unit 203 transmits departure instruction information DIj to the transporting vehicle Vj via the transmission unit 202 (step S304). After step S304, the control unit 203 ends the process.

[0047] According to the above configuration, even if a worker cannot work at the transport vehicle berth VBi and the truck berth TBi simultaneously, the arrival timing of the transport vehicle Vj can be adjusted according to the progress of work at the transport vehicle berth VBi and the truck berth TBi. This makes it possible to avoid congestion of the transport vehicles V on the transport route R. Furthermore, by taking into account the progress of work at the factory berth FB, the transport vehicles V can be operated efficiently.

[0048] The transport vehicle V is an example of a first transport means, the truck T is an example of a second transport means, the transport vehicle berth identification device 110 is an example of a first berth identification device, the truck berth identification device 120 is an example of a second berth identification device, the transport vehicle berth status information VBS is an example of first berth status information, the truck berth status information TBS is an example of second berth status information, the transport vehicle berth remaining work time VRT is an example of the first berth remaining work time, and the truck berth remaining work time TRT is an example of the second berth remaining work time. In this specification, terms such as "timing" and "after elapse" do not refer to strict times but rather refer to a time with a predetermined margin before and after. The margin may be a negative value.

[0049] (Variation) In the above embodiment, the transport route R has one lane and the transport vehicle V travels in a fixed direction, but this is not limiting. The transport route R may have multiple lanes, and the transport vehicle V may travel in different directions on each lane.

[0050] In the above embodiment, the transporting vehicle V is a vehicle, but this is not limited to this. For example, a drone, which is an unmanned aircraft capable of flying, may be used instead of the transporting vehicle V. The drone is an example of the first transport means.

[0051] In the above embodiment, the factory berths FBi other than the transport vehicle berths VB provided in the factory F are truck berths TB to which trucks T can be attached, but this is not limited to this. For example, instead of truck berths TB, factory berths FBi for mooring ships or for parking airplanes may be provided. Ships and airplanes are examples of second transport means.

[0052] In the above embodiment, the transport vehicle berth monitoring device 310 and the truck berth monitoring device 320 are equipped with cameras, but this is not limiting. For example, the transport vehicle berth monitoring device 310 and the truck berth monitoring device 320 may be equipped with sensors such as optical sensors and ultrasonic sensors. In this case, the transport vehicle berth monitoring device 310 and the truck berth monitoring device 320 transmit information obtained by sensing to the factory berth discrimination device 100.

[0053] In the above embodiment, the departure instruction device 200 adjusts the timing of transmitting the departure instruction information DI by temporarily suspending the departure instruction process in order to adjust the departure timing of the transporting vehicle V, but this is not limiting. For example, a temporary suspension process may not be provided in the departure instruction process, and an instruction to wait for a waiting time may be transmitted to the transporting vehicle V. More specifically, the departure instruction device 200 may transmit, together with the departure instruction information DI, waiting instruction information indicating an instruction to wait for a waiting time to the transporting vehicle V. In this case, the transporting vehicle V is provided with a timer, and after receiving the departure instruction information DI and the waiting instruction information, the transporting vehicle V sets the time indicated by the waiting instruction information in the timer, and departs for the destination after the set waiting time has elapsed.

[0054] In the above embodiment, the duration of the berth state indicated by the berth state time information BST is determined using the average value, moving average value, median value, etc. of past actual values, but this is not limiting. For example, it is also possible to increase the number of parameters and use the average value of the work time for each carrier, each item to be transported, each time period, or each season. Furthermore, the duration may be predicted by AI using a trained model that has been trained by AI on the relationship between the images of the transport vehicle V parked at the transport vehicle berth VB and the truck berth TB, the vehicle, and the duration of the work.

[0055] In the above embodiment, a fixed value is used as the transport time TT of the transporting vehicle V indicated by the transport time information TTI, but this is not limiting. For example, the transport time TT may be defined for each travel condition such as the weather on the transport route R, the load weight of the transporting vehicle V, the travel mode of the transporting vehicle V, and the remaining power, and the situation may be determined based on signals obtained from various sensors, and the transport time TT appropriate for the situation may be adopted. Furthermore, the transport time TT may be predicted by AI using a trained model in which AI has learned the relationship between these conditions and the time actually required for transport.

[0056] The present disclosure is not limited to the above-described embodiments, and the implementation form can be changed within the scope of the gist of the present disclosure.

[0057] The appendix of this disclosure is set out below. (Appendix 1) A transport vehicle control system that controls a first transport means that transports luggage, a first berth discrimination device that generates first berth status information that indicates the status of a first berth that is a location where the first transport means performs loading and unloading; a second berth discrimination device that generates second berth status information that indicates the status of a second berth that is a location for loading and unloading by a second transport means that transports luggage; a departure instruction device that transmits departure instruction information indicating an instruction to cause the first conveying means to depart from the first berth, the departure instruction device calculates the time until the first berth becomes vacant based on the first berth status information and the second berth status information, and adjusts the timing of departing the first conveying means to the first berth based on the calculated time. Transport vehicle control system. (Appendix 2) the departure instruction device calculates a first berth remaining work time, which is the remaining work time at the first berth, and a second berth remaining work time, which is the remaining work time at the second berth, based on the first berth status information and the second berth status information, and adjusts the timing of departing the first conveying means to the first berth based on the first berth remaining work time and the second berth remaining work time. 2. The transport vehicle control system according to claim 1. (Appendix 3) the departure instruction device calculates a total work time which is the sum of the remaining work time at the first berth and the remaining work time at the second berth, If the total operation time is greater than the transport time of the first transport means from the source berth to the first destination berth, a waiting time is calculated by subtracting the transport time from the total operation time, and after the waiting time has elapsed, the departure instruction information is transmitted to the first transport means. 3. The transport vehicle control system according to claim 2. (Appendix 4) the departure instruction device calculates a total work time which is the sum of the remaining work time at the first berth and the remaining work time at the second berth, If the total operation time is greater than the transport time of the first transport means from the source berth to the destination first berth, a waiting time is calculated by subtracting the transport time from the total operation time, transmits, together with the departure instruction information, standby instruction information indicating an instruction to wait for a standby time to the first conveying means; 3. The transport vehicle control system according to claim 2. (Appendix 5) The computer executes Determine the condition of the first berth, which is the location for loading and unloading the first transport means that transports cargo, The state of the second berth, which is the location for loading and unloading the second transport means for transporting cargo, is determined; adjusting a timing for causing the first conveying means to depart from the first berth based on the state of the first berth and the state of the second berth; A method for controlling a transport vehicle. (Appendix 6) On the computer, Determine the state of the first berth, which is a location for loading and unloading the first transport means for transporting cargo, The state of the second berth, which is a location for loading and unloading the second transport means for transporting cargo, is determined; adjusting a timing for causing the first conveying means to depart from the first berth based on the state of the first berth and the state of the second berth; program. [Explanation of symbols]

[0058] V (Vj) AGV, F (Fi) factory, W warehouse, B berth, FB (FBi) factory berth, VB (VBi) AGV berth, TB (TBi) truck berth, WB (WBk) warehouse berth, R transport route, VP AGV berth image information, TP truck berth image information, BS berth status information, VBS AGV berth status information, TBS truck berth status information, VBW AGV berth work information, TBW truck berth work information, VS AGV status information, BST berth status time information, TT transport time, TTI transport time information, DI departure instruction information, VRT AGV berth remaining work time, TRT truck berth remaining work time, TWT total work time, 1 AGV control system, 10 processor, 20 main memory unit, 30 auxiliary memory unit, 40 communication unit, BL bus, 100 (100i) Factory berth discrimination device, 110 (110i) transport vehicle berth discrimination device, 120 (120i) truck berth discrimination device, 200 departure instruction device, 201 receiving unit, 202 transmitting unit, 203 control unit, 204 memory unit, 310 (310i) transport vehicle berth monitoring device, 320 (320i) truck berth monitoring device, 400 (400i) worker terminal.

Claims

1. A transport vehicle control system that controls a first transport means that transports luggage, a first berth determination device that generates first berth status information that indicates the status of a first berth, which is a location where the first transport means performs loading and unloading; a second berth determination device that generates second berth status information that indicates the status of a second berth that is a location for loading and unloading by a second transport means that transports luggage; a departure instruction device that transmits departure instruction information indicating an instruction to cause the first conveying means to depart from the first berth, the departure instruction device calculates the time until the first berth becomes vacant based on the first berth status information and the second berth status information, and adjusts the timing for causing the first conveying means to depart from the first berth based on the calculated time. Transport vehicle control system.

2. the departure instruction device calculates a first berth remaining work time, which is the remaining work time at the first berth, and a second berth remaining work time, which is the remaining work time at the second berth, based on the first berth status information and the second berth status information, and adjusts the timing for departing the first conveying means to the first berth based on the first berth remaining work time and the second berth remaining work time. The transport vehicle control system according to claim 1 .

3. the departure instruction device calculates a total work time which is the sum of the remaining work time at the first berth and the remaining work time at the second berth, If the total operation time is longer than the transport time of the first transport means from the source berth to the destination first berth, a waiting time is calculated by subtracting the transport time from the total operation time, and after the waiting time has elapsed, the departure instruction information is transmitted to the first transport means. The transporting vehicle control system according to claim 2 .

4. the departure instruction device calculates a total work time which is the sum of the remaining work time at the first berth and the remaining work time at the second berth, If the total operation time is greater than the transport time of the first transport means from the source berth to the destination first berth, a waiting time is calculated by subtracting the transport time from the total operation time, transmitting, together with the departure instruction information, standby instruction information indicating an instruction to wait for a standby time to the first conveying means; The transporting vehicle control system according to claim 2 .

5. The computer executes Determine the state of the first berth, which is a location for loading and unloading the first transport means for transporting the cargo; Determine the state of the second berth, which is a location for loading and unloading the second transport means that transports the cargo; adjusting a timing for causing the first conveying means to depart from the first berth based on the state of the first berth and the state of the second berth; A method for controlling a transport vehicle.

6. On the computer, determining the state of a first berth, which is a location for loading and unloading by a first transport means for transporting cargo; determining the state of a second berth, which is a location for loading and unloading by a second transport means for transporting cargo; adjusting a timing for causing the first conveying means to depart from the first berth based on the state of the first berth and the state of the second berth; program.

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