Conveying System

Abstract

To provide a transport system allowed to suppress a damage to or deterioration of a load during transportation.SOLUTION: A transport system comprises: map-information storage means that stores map information 10 including travel-road additional information PC related to a travel road of an autonomously traveling carrier 2 to carry a load and a slant of the travel road; collection-information acquiring means that acquires collection information C gathered through autonomously traveling the travel road of the carrier 2; map-information update means that updates the travel-road additional information PC of the map information 10 corresponding to a travel road the carrier 2 autonomously traveled based on the collection information C; and a travel planning section 58 that specifies a travel plan the carrier is to autonomously travel to carry the load based on the map information 10 including the travel-road additional information PC and a travel durability PB indicative of a durability of the load against the travel.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a transport system. [Background technology]

[0002] There is known an automated guided vehicle that moves along a travel path and reduces its travel speed when it determines that the road surface condition ahead in the direction of travel is poor and that the amplitude of vibration will become large, thereby preventing the workpieces carried on the vehicle from collapsing or deviating from the travel path (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-181485 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the allowable vibration level varies depending on the cargo, and with conventional technology, there are many cases where cargo is damaged during travel.

[0005] An object of the present invention is to provide a transport system that can suppress damage and deterioration of luggage during transportation. [Means for solving the problem]

[0006] One aspect of the present invention is a transportation system having an autonomous transport machine for transporting luggage, the system including: a map information storage means for storing map information including a travel path of the transport machine and travel path additional information relating to an inclination of the travel path; a collected information acquisition means for acquiring collected information collected through the autonomous travel of the travel path of the transport machine; a map information update means for updating the travel path additional information of the map information corresponding to the travel path along which the transport machine has autonomously traveled, based on the collected information; and a map information update means for updating the travel path additional information of the map information corresponding to the travel path along which the transport machine has autonomously traveled, based on the map information including the travel path additional information and a travel resistance indicating the resistance of the luggage to travel. Includes driving route A travel plan unit that specifies a travel plan, and a travel performance storage unit that stores the travel performance of the transport machine, The traveling performance is determined based on the weight of the transport machine when the load is loaded. , heavy Heart position and the size of the tires mounted on the wheels of the transport machine. The travel planning unit acquires vibration and tilt of the transport vehicle during travel that occurs when the transport vehicle travels on the travel path with the load loaded, based on the travel performance and the travel path additional information, and specifies the travel plan based on the acquired vibration and tilt of the transport vehicle during travel, the map information, and the travel resistance. When specifying a driving route included in the driving plan, a driving road including an unevenness of a size in which the tire will get stuck when passing through is specified based on the tire size included in the stored driving performance, and the specified driving road is excluded from the driving route. It is characterized by the above.

[0008] Another aspect of the present invention is the transportation system, is The present invention is characterized in that it includes the traveling state of the transport machine during steady traveling.

[0009] Another aspect of the present invention is characterized in that, in the transportation system, the additional route information includes road surface information including structural or physical information of the road surface that is a cause of inclination.

[0010] In another aspect of the present invention, in the above-mentioned transportation system, the travel route additional information includes travel index information including information indicating a correspondence between a travel state and vibration.

[0011] In another aspect of the present invention, in the above-mentioned transport system, the travel indicator information includes a correspondence between inertia information and vibration of the transport machine.

[0012] Another aspect of the present invention is characterized in that, in the above-mentioned transport system, the running resistance of the luggage includes information indicating the resistance of the contents of the luggage to damage, etc., due to tilting.

[0013] Another aspect of the present invention is characterized in that, in the above-mentioned transport system, the running resistance of the luggage includes information indicating the resistance of the contents of the luggage to damage due to vibration.

[0014] Another aspect of the present invention is characterized in that, in the above-mentioned transportation system, the driving planner determines the driving plan based on the lowest driving resistance among the loads when the transport machine carries multiple loads. Effect of the Invention

[0015] According to the present invention, damage and deterioration of luggage during transportation can be suppressed. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram showing a configuration of a transport system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a diagram illustrating a functional configuration of a map server. [Diagram 3] FIG. 2 is a diagram showing the functional configuration of an autonomous transport machine. [Figure 4] FIG. 1 illustrates the operation of the transport system. [Diagram 5] FIG. 13 is a diagram conceptually illustrating a method for identifying a driving route and a driving state. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a conveyance system 1 according to the present embodiment. As shown in Figure 1, the transportation system 1 is a system that includes multiple autonomous transport machines 2 and a map server 4 that communicates with the transport machines 2 via a telecommunications line 6, in which the map server 4 distributes map information 10 to each transport machine 2, and the transport machines 2 determine a driving route for autonomous driving based on the map information 10. The transporter 2 is an autonomous working machine that includes a body 8 having a loading platform for carrying cargo, and transports the cargo by autonomously traveling along indoor and outdoor routes to a delivery destination of the cargo. The transport system 1 of this embodiment is configured to determine a driving plan for appropriately transporting a load based on its own running performance PA, the running resistance PB of the load, and map information 10 including additional travel route information PC. In this embodiment, the driving plan includes a plan of an appropriate driving route and an appropriate driving state of the transport machine 2 on the driving route, and the transport machine 2 autonomously travels according to the driving plan, thereby reducing the risk of damage or deterioration (hereinafter referred to as "damage, etc.") of the contents of the load during transportation. The running performance PA of the transport machine 2, the running resistance PB of the load, and the additional travel route information PC will be described in detail later.

[0018] FIG. 2 is a diagram showing the functional configuration of the map server 4. As shown in FIG. The map server 4 is a computer equipped with a processor such as a CPU or MPU, a memory device such as a ROM or RAM, a storage device such as a HDD or SSD, an interface circuit for connecting sensors and peripheral devices, and a communication device (a receiving device and a transmitting device) for communicating via the electric communication line 6. The processor executes a computer program stored in the memory device or the storage device to realize the functional configuration shown in Fig. 2.

[0019] That is, as shown in FIG. 2, the map server 4 has, as its functional configuration, a map information storage unit 20, a collected information acquisition unit 22, a road surface condition analysis unit 24, a driving index analysis unit 26, a map information update unit 28, and a map information distribution control unit 30.

[0020] The map information storage unit 20 includes the storage device for storing the map information 10. The map information 10 is information that indicates a travel route network that covers a large number of travel routes on which the transporter 2 can travel. The map information 10 of this embodiment further includes additional travel route information PC. The travel path additional information PC includes information on vibration and tilt during travel for each travel path, and in this embodiment, includes information that enables estimation of the magnitude of vibration and tilt during travel, and a travel state that does not cause vibration exceeding the travel resistance PB of the load, for each travel performance PA of the transporter 2. Specifically, the travel path additional information PC includes road surface information PC1 and travel index information PC2.

[0021] The road surface information PC1 includes structural or physical information of the road surface that causes vibration and tilt during driving, specifically including step information, unevenness information, slope information, and pavement information. Step information is information that indicates the presence or absence of steps in the road surface and the size of the steps. Unevenness information is information that indicates the presence or absence of steps in the road surface and the degree of unevenness. Slope information is information that indicates the size of the slope of the road surface. Pavement information is information that indicates the pavement condition of the road surface (including the pavement material).

[0022] The traveling index information PC2 includes information indicating the correspondence between the traveling state of the transporter 2 and vibration, specifically, the information indicating the correspondence between inertia information during traveling and vibration. The inertia information is information that enables the motion of the transporter 2 to be specified, specifically, the information includes information related to the translational acceleration of the transporter 2 and the angular velocity around the center of gravity.

[0023] The collected information acquisition unit 22 receives the collected information C using a communication device, and thereby acquires the collected information C from the transporter 2. The collected information C is information used to generate the above-mentioned travel path additional information PC, and the details thereof will be described later. The road surface condition analysis unit 24 generates road surface information PC1 based on the collected information C, and the driving indicator analysis unit 26 generates driving indicator information PC2 based on the collected information C. The map information update unit 28 updates the corresponding information of the map information 10 based on the road surface information PC1 generated by the road surface condition analysis unit 24 and the driving index information PC2 generated by the driving index analysis unit 26. The map information distribution control unit 30 executes control for distributing the map information 10 from the communication device to the transporter 2 via the electric communication line 6 .

[0024] FIG. 3 is a diagram showing a functional configuration of the transporter 2. As shown in FIG. The transport machine 2 includes a driving unit 40, a communication unit 42, a sensor unit 44, an autonomous driving control unit 46, an information collection unit 48, a collected information transmission control unit 50, a driving performance memory unit 52, a cargo information acquisition control unit 54, a map information acquisition control unit 56, and a driving planning unit 58.

[0025] The traveling unit 40 has mechanical elements and electrical elements required to move the body 8 of the transporter 2 by traveling, specifically, wheels, a steering mechanism for steering the steering angle of the wheels, and a drive mechanism having a power source for driving the wheels. When the power source is an electric motor, the drive mechanism is provided with, for example, an inverter for driving the electric motor, a battery as an energy source, a DC-DC converter for converting the power of the battery, and the like. The power source provided in the drive mechanism may be an internal combustion engine, or a hybrid of an electric motor and an internal combustion engine. The communication unit 42 includes a communication device (a device including a receiving circuit and a transmitting circuit) that communicates with the map server 4 via the electric communication line 6.

[0026] The sensor unit 44 includes one or more sensors that detect various information required for autonomous driving control, a sensor that detects road surface conditions, and a sensor that detects vibrations occurring in the drive mechanism. The sensors that detect various information required for autonomous driving control include at least various sensors that detect the vehicle's own position and the above-mentioned inertial information, and such sensors include, for example, LiDAR (Light detection and ranging), acceleration sensors, gyro sensors, GNSS sensors, sonar sensors, imaging elements (e.g., CCD sensors), TOF (Time-of-Flight) cameras, etc. The sensors that detect road surface conditions include, for example, imaging elements, and the sensors that detect vibration include stroke sensors provided on the wheel suspensions.

[0027] The autonomous driving control unit 46 includes a computer that executes autonomous driving control to control the driving unit 40 so that the driving unit 40 autonomously drives along a driving route. For such autonomous driving control, a publicly known or well-known appropriate control method is used.

[0028] The information collecting unit 48 includes a computer that generates the collected information C based on the detection signals detected by the sensor unit 44 during autonomous driving. The collected information C is information collected through the autonomous driving of the transport machine 2 on the driving path, and includes road surface condition detection information C1 indicating the detection results of the road surface conditions of the driving path, and driving condition detection information C2 indicating the detection results of the driving condition of the transport machine 2 itself. The road surface condition detection information C1 is, for example, an image of the road surface, structural data obtained by detecting the road surface with a sonar sensor, or the like. The running condition detection information C2 includes at least the above-mentioned inertial information and vibration detection results, and also includes information that enables identification of the movement (translational movement and rotational movement around the center of gravity) of the transport machine 2 based on the inertial information (e.g., the weight and size (body width, body length, body height), center of gravity position, etc.) of the transport machine 2).

[0029] The traveling performance storage unit 52 includes a storage device for storing the traveling performance PA of the transporter 2. The running performance PA is the performance related to the running of the transporter 2 itself, and is information indicating the performance related to vibration and tilt during running. The running performance PA in this embodiment is also information that enables the vibration and tilt occurring when traveling on a road to be estimated based on the road additional information PC of the map information 10, and includes information such as the braking performance and climbing performance of the transporter 2 itself, information on the tires attached to the wheels (size, etc.), information on the suspension (vibration suppression power, etc.), the weight and size (body width, body length, body height), shape, and center of gravity position of the transporter 2. The weight and center of gravity position of the transporter 2 include at least the values ​​when a load is loaded, and even if the size and weight of the load change each time it is transported, the vibration and tilt can be accurately estimated using the weight and center of gravity position at that time.

[0030] The baggage information acquisition control unit 54 controls the communication unit 42 to acquire baggage information E from an appropriate electric communication device 70 (FIG. 1) possessed by the transporter D (FIG. 1). The baggage information E is information related to the baggage transported by the transporter 2, and includes at least the running resistance PB. The running resistance PB is information indicating the resistance of the luggage (more precisely, the contents) to the running of the transporter 2. In this embodiment, the running resistance PB includes information indicating the resistance of the contents of the luggage to damage, etc., caused by vibration and tilt, and specifically includes vibration resistance information PB1 which is an evaluation value of the resistance to damage, etc., caused by vibration, and tilt resistance information PB2 which is an evaluation value of the resistance to damage, etc., caused by tilt. In this embodiment, the evaluation of the running durability PB is performed by the carrier D. In this evaluation, if the running durability PB has already been evaluated by the shipper of the package, the carrier D uses the evaluation of the shipper.

[0031] In this embodiment, a default evaluation value of the running resistance PB is set in advance for each item of the contents of the luggage (e.g., food, clothing, fragile items, precision machinery, etc.). When evaluating the running resistance PB, the transporter D checks the item of the luggage and inputs the default setting value corresponding to the item into the electric communication device, and the electric communication device transmits the evaluation value as the running resistance PB to the transporter 2 via the electric communication line 6.

[0032] The electric communication device may transmit the baggage information E (the traveling resistance PB of the baggage) to the transporter 2 by direct communication with the transporter 2 without going through the electric communication line 6, or the transporter D may directly input the baggage information E from an appropriate user interface device provided on the transporter 2. In other words, the means for inputting the baggage information E to the transporter 2 (the traveling plan unit 58) may be appropriate. In addition, the transport company D may evaluate the running resistance PB of each piece of luggage according to its contents, etc., without using a preset set value for each item.

[0033] The map information acquisition control unit 56 includes a computer that controls the communication unit 42 to acquire, from the map server 4, the map information 10 of the area including the starting point to the delivery destination. The driving plan unit 58 includes a computer that specifies a driving route and an autonomous driving state on the driving route based on the driving performance PA, the luggage driving resistance PB, and the map information 10 including the driving route additional information PC.

[0034] In the transporter 2, all or some of the computers included in the autonomous driving control unit 46, the information collecting unit 48, the collected information transmission control unit 50, the baggage information acquisition control unit 54, the map information acquisition control unit 56, and the driving planning unit 58 may be realized by one computer. The computer is a device including at least a processor such as a CPU or MPU, a memory device such as a ROM or RAM, and an interface circuit for connecting sensors, peripheral devices, and the like.

[0035] FIG. 4 is a diagram showing the operation of the conveyance system 1. In the transportation system 1, when the transport machine 2 travels autonomously (step Sa1), the information collection unit 48 generates collected information C based on the detection signal of the sensor unit 44 during the autonomous travel (step Sa2), and the collected information transmission control unit 50 controls the communication unit 42 to transmit the collected information C to the map server 4 (step Sa3). By this operation, each time the transporter 2 travels autonomously, the collected information C is transmitted to the map server 4 and accumulated in the map server 4.

[0036] On the other hand, in the map server 4, when the collected information acquisition unit 22 acquires the collected information C (step Sa4), the road surface condition analysis unit 24 generates the road surface information PC1 based on the collected information C, and the driving index analysis unit 26 generates the driving index information PC2 based on the collected information C (step Sa5). This identifies the driving path additional information PC about the driving path on which the transporter 2 has autonomously traveled.

[0037] Specifically, the road surface condition analysis unit 24 extracts structural or physical elements of the road surface that cause vibration and tilt when the transporter 2 travels by analyzing the road surface condition detection information C1 included in the collected information C using a publicly known or well-known appropriate method, and generates road surface information PC1 based on the extraction result. For example, when the road surface condition detection information C1 is a photographed image of the road surface, the road surface condition analysis unit 24 extracts the above-mentioned elements by performing image analysis on the photographed image. In addition, the driving index analysis unit 26 identifies the driving state (such as inertia information) of the transport machine 2 and the magnitude of vibration at that time based on the driving state detection information C2 contained in the collected information C, and generates driving index information PC2 based on the identification results.

[0038] Then, the map information update unit 28 updates the driving road additional information PC of the map information 10 based on the road surface information PC1 and the driving index information PC2 generated in step Sa5 (step Sa6). As a result, the collected information C (road surface condition detection information C1 and driving condition detection information C2) collected from the transporter 2 is reflected in the map information 10.

[0039] The timing for executing the processes of steps Sa5 and Sa6 is arbitrary. For example, the processes may be performed at regular time intervals, or may be performed each time a predetermined number of pieces of collected information C are newly acquired.

[0040] Thereafter, when transporting luggage, the transport machine 2 acquires map information 10 of the area from the departure point to the destination from the map server 4 under the control of the map information acquisition control unit 56, and also acquires luggage information E from the telecommunications equipment 70 under the control of the luggage information acquisition control unit 54 (step Sa7). Then, based on map information 10 including the driving performance PA, the driving resistance PB of the luggage, and the driving route additional information PC, the driving planning unit 58 determines a driving route taking into account all of the driving performance PA, the driving resistance PB of the luggage, and the driving route additional information PC, as well as the autonomous driving state on the driving route (step Sa8), as shown in FIG. 5.

[0041] Specifically, the driving plan unit 58 identifies candidates for a driving route from a departure point to a delivery destination based on the map information 10. Next, the driving plan unit 58 identifies candidates among the candidates that can be driven within the range of the driving resistance PB of the luggage based on the driving performance PA and the driving route additional information PC, and sets the identified candidates as the driving route. That is, the driving plan unit 58 estimates the magnitude of vibration and tilt during driving for each candidate of the driving route based on the driving performance PA and the driving route additional information PC, and compares the estimated result with the driving resistance PB of the luggage to identify a driving route that can be driven within the range of the driving resistance PB of the luggage. In this case, the driving performance PA includes the weight of the transport machine 2 when it is loaded with the cargo to be transported, and the position of the center of gravity, so that vibration and tilt are accurately estimated and an appropriate driving route is set that matches the current cargo loading situation. When the transporter 2 transports a plurality of loads, the travel route and travel state are identified based on the lowest travel resistance PB among the loads.

[0042] Furthermore, when identifying the driving route, the driving planning unit 58 identifies driving routes that include unevenness large enough for the tires to get stuck when passing through, steps that may cause a large impact, or slopes that may cause the vehicle to lose balance and fall, based on the road surface information PC1 of the driving route additional information PC and the driving performance PA of the transporter 2 (tire size, suspension performance, etc.), and excludes such driving routes from the driving route. This makes it possible to reliably avoid roads where the vehicle may become stuck, or become unable to travel due to a strong impact or a fall.

[0043] Next, the driving plan unit 58 specifies inertial information on the specified driving route, based on the driving route additional information PC, the driving performance PA, and the driving resistance PB, in which the vibration and inclination do not exceed the luggage's driving resistance PB, and specifies the driving speed that corresponds to the acceleration and angular velocity indicated in the inertial information as the driving state. As with the above-mentioned specification of the driving route, appropriate information that matches the current luggage loading situation is specified for this inertial information. According to this autonomous driving state (driving speed), the autonomous driving control unit 46 executes autonomous driving control, so that the transporter 2 autonomously drives along the driving route to the delivery destination at a driving speed that does not cause vibrations that exceed the driving resistance PB of the cargo.

[0044] According to this embodiment, the following effects are obtained.

[0045] The transport system 1 of this embodiment is a system including an autonomous transport machine 2 that transports luggage. The transportation system 1 includes a map information storage unit 20 that stores map information 10 including the travel path of the transporter 2 and travel path additional information PC related to the vibration and inclination of the travel path during travel, a collected information acquisition unit 22 that acquires collected information C collected through the autonomous travel of the travel path of the transporter 2, a map information update unit 28 that updates the travel path additional information PC of the map information 10 corresponding to the travel path along which the transporter 2 has traveled autonomously based on the collected information C, and a travel planning unit 58 that specifies a travel plan for the transporter 2 to travel autonomously to transport luggage based on the map information 10 including the travel path additional information PC and a travel resistance PB indicating the resistance of the luggage to travel.

[0046] According to the transport system 1, the travel route additional information PC of the map information 10 can be successively updated by the collected information C collected through the autonomous travel of the transporter 2, and can be kept up to date. In addition, since the driving plan is determined based on the map information 10 including such additional driving route information PC and the driving resistance PB of the luggage, it is possible to plan autonomous driving in which vibration and tilt are kept within the range of the driving resistance PB of the luggage, thereby reducing the risk of damage or deterioration to the contents of the luggage during transportation.

[0047] In this embodiment, the driving plan unit 58 specifies a driving plan based on the map information 10, the driving resistance PB of the luggage, and the driving performance PA of the transporter 2. This allows a travel plan to be created for each transporter 2 with different travel performance PA such that the vibration and tilt do not exceed the travel resistance PB of the load.

[0048] In this embodiment, the travel plan includes a travel route along which the transporter 2 travels autonomously, and a travel state of the transporter 2 during autonomous travel. This makes it possible to identify a travel route that does not include a road on which vibrations and tilts exceeding the luggage's travel resistance PB occur, and a travel state that does not cause such vibrations and tilts.

[0049] In this embodiment, the road additional information PC includes road surface information PC1 including structural or physical information on the road surface that causes vibration and tilt during traveling. As a result, the travel planning unit 58 can identify travel routes that include unevenness large enough to cause the tires to get stuck when passing through, steps that may cause a large impact, or slopes that may cause the vehicle to lose balance and fall, based on the road surface information PC1 and the travel performance PA of the transporter 2 (such as tire size and suspension performance), and can exclude such travel routes from the travel route. Therefore, it is possible to reliably avoid travel routes that may become impossible to travel due to being stuck, a large impact, falling, etc.

[0050] In this embodiment, the road additional information PC includes driving index information PC2 including information indicating the correspondence between the driving state and the vibration. This allows the driving plan unit 58 to specify a driving state in which the vibration does not exceed the driving resistance PB based on the driving index information PC2.

[0051] In this embodiment, the travel index information PC2 includes the correspondence between the inertia information of the transporter 2 and vibration. As a result, the travel plan unit 58 can specify the travel speed, which is one of the travel conditions, based on the travel index information PC2 and the travel performance PA of the transporter 2.

[0052] In this embodiment, the luggage running resistance PB includes information indicating the resistance of the luggage contents to damage or deterioration due to vibration and tilt. This allows the driving plan unit 58 to specify with higher accuracy a driving route and driving conditions that reduce the risk of damage or deterioration to the contents of the luggage during transportation, using the driving resistance PB of the luggage.

[0053] In this embodiment, when the transporter 2 transports a plurality of loads, the travel plan unit 58 specifies the travel route and the travel state based on the lowest travel resistance PB of the loads. This prevents damage and deterioration of the contents of all of the luggage during transportation, even when the transporter 2 transports multiple luggage at once.

[0054] The above-described embodiment is merely an example of one aspect of the present invention, and any modifications and applications are possible without departing from the spirit and scope of the present invention.

[0055] In the above-described embodiment, when the transporter 2 transports cargo for which damage due to vibration is not an issue, various information such as the cargo's driving resistance PB and the driving route additional information PC of the map information 10 do not necessarily need to include information related to vibration, and the driving planning unit 58 only needs to identify a driving plan in which the inclination does not exceed the driving resistance PB.

[0056] In the above-described embodiment, the driving plan unit 58 may specify only one of the driving route and the driving state, rather than both of them.

[0057] In the transportation system 1 of the embodiment described above, the transportation machine 2 includes the travel planner 58. However, the map server 4 or another computer communicatively connected to the electric communication line 6 may include the travel planner 58. By providing the map server 4 with the travel plan unit 58, a travel plan server and a travel plan system that plans the travel route and travel state of the transporter 2 can be configured.

[0058] In the transportation system 1 of the embodiment described above, the map server 4 includes components related to the configuration of the map information 10 (the collected information acquisition unit 22, the road surface condition analysis unit 24, the driving index analysis unit 26, and the map information update unit 28). However, such components may be included in, for example, the transportation machine 2 or another computer communicatively connected to the electric communication line 6.

[0059] In the transport system 1 of the embodiment described above, the road surface condition analysis unit 24 generates the road surface information PC1 based on the collected information C collected by the transporter 2. However, the road surface condition analysis unit 24 may generate the road surface information PC1 based on the state of the road surface detected by, for example, a running body or a moving body (such as a drone) other than the transporter 2. [Explanation of symbols]

[0060] 1. Transportation System 2. Transport Machine 4. Map Server 10 Map information 20 Map information storage unit (map information storage means) 22 collected information acquisition unit (collected information acquisition means) 28 Map information update unit (map information update means) 46 Autonomous Driving Control Unit 58 Driving Planning Department C. Collected Information PA driving performance PB Running durability PB1 Vibration Resistance Information PB2 Tilt resistance information PC additional route information PC1 Road surface information PC2 Driving indicator information

Claims

1. A transportation system including an autonomous transport vehicle for transporting luggage, a map information storage means for storing map information including additional information on a travel path of the transport machine and an inclination of the travel path; a collected information acquiring means for acquiring collected information collected through the autonomous traveling of the transport machine on the traveling path; a map information update means for updating the travel path additional information of the map information corresponding to the travel path on which the transport machine has autonomously traveled based on the collected information; a travel planning unit that specifies a travel plan including a travel route along which the transporter autonomously travels to transport the luggage, based on the map information including the travel route additional information and a travel resistance indicating a resistance of the luggage to travel; A traveling performance storage unit that stores the traveling performance of the transport machine, The traveling performance includes a weight of the transporter when the load is loaded, a position of a center of gravity, and a size of tires attached to wheels of the transporter, The travel planning unit is Based on the travel performance and the travel route additional information, vibration and inclination of the transport vehicle that occurs when the transport vehicle travels on the travel route with the load loaded thereon are acquired, and based on the acquired vibration and inclination of the transport vehicle when traveling, the map information, and the travel resistance, the travel plan is specified; When identifying a driving route included in the driving plan, a driving route including an unevenness that the tire will get caught in when passing through is identified based on the tire size included in the stored driving performance, and the identified driving route is excluded from the driving route. A conveying system characterized by:

2. The travel plan includes: The traveling state of the transport machine during autonomous traveling is included.

2. The conveying system of claim 1.

3. The additional road information includes Road surface information including structural or physical information of the road surface that causes the slope A conveying system according to claim 1 or 2.

4. The additional road information includes Driving index information including information indicating a correspondence between a driving state and vibration; 3. A conveying system according to claim 1 or 2, comprising:

5. The driving indicator information is Correspondence between the inertial information of the transport machine and vibration is included.

5. A conveying system according to claim 4.

6. The running resistance of the luggage is Contains information on the vulnerability of the contents of the package to damage caused by tilting A conveying system according to any one of claims 1 to 5.

7. The running resistance of the luggage is Contains information on the susceptibility of the contents of the package to damage caused by vibration 7. A conveying system according to claim 6.

8. The travel planning unit is If the transporter carries a plurality of loads, the travel plan is determined based on the lowest travel resistance of each load. A conveying system according to any one of claims 1 to 7.

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