Control method, control device and program

Abstract

A control method for a plurality of mobile units that transport a plurality of cargoes, wherein a computer acquires the remaining battery capacity of the plurality of mobile units, determines the target remaining battery capacity of the plurality of mobile units in the next unit time, allocates a unit of transportation to each of the mobile units on the basis of the remaining battery capacity and the target remaining battery capacity of each of the mobile units and the weight of each of the cargoes, and sends, to each of the mobile units, control information that instructs the transportation work in the unit of transportation allocated to each of the mobile units.

Description

[Technical field]

[0001] The present disclosure relates to a technology for transporting multiple cargo items to multiple chargeable mobile objects. [Background technology]

[0002] In recent years, technology for transporting multiple cargoes by multiple mobile bodies that can be charged has become widespread. For example, Patent Document 1 describes an automated warehouse system in which multiple chargeable robots transport cargoes in a warehouse. In this automated warehouse system, a part of the warehouse is provided as a parking space for the robots, and the batteries of the robots are charged in the parking space.

[0003] However, in the above-mentioned automated warehouse system, if the battery charging timings of multiple robots overlap, the multiple robots may not be able to be accommodated in the parking space at the same time, which may result in a shortage of space around the parking space. Therefore, it is possible to provide a parking space in the warehouse that can accommodate multiple robots at the same time, but in this case, there is a possibility that the space for storing luggage will be reduced. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Special Publication No. 2018-513817 Summary of the Invention

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to reduce the opportunities for simultaneously charging multiple chargeable mobile objects carrying multiple cargo loads in excess of the number that can be simultaneously charged by a charging device.

[0006] In order to solve the above problems, a control method according to one aspect of the present disclosure is a control method for multiple moving bodies transporting multiple cargoes, in which a computer acquires remaining battery charges of the multiple moving bodies, determines target remaining battery charges of the multiple moving bodies in the next unit time, assigns a transport unit to each of the moving bodies based on the remaining battery charges of each moving body, the target remaining battery charges and the weight of each cargo, and transmits control information to each of the moving bodies that instructs the transporting work of the transport unit assigned to each of the moving bodies. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an overall configuration diagram of an automated logistics system. [Diagram 2] 10 is a flowchart illustrating an example of an operation for controlling a plurality of moving objects and a charging device. [Diagram 3] FIG. 1 is a diagram showing an example of dividing a plurality of moving objects into a plurality of groups. [Figure 4] FIG. 4 is a diagram showing an example of a function used to determine a target remaining battery capacity. [Diagram 5] FIG. 13 is a diagram showing an example of the difference between the remaining battery charge of an i-th moving body and a target remaining battery charge when the i-th moving body performs a transport task of a j-th task category. [Figure 6] 13 is a diagram showing an example of the difference between the remaining battery charge of the i-th moving body and the target remaining battery charge when the i-th moving body performs the transportation work of the j-th cargo, and an example of the required time for the transportation work of the j-th cargo. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] (Findings on which this disclosure is based) As described above, in recent years, a technology for transporting multiple cargoes to multiple mobile bodies that can be charged, as described in, for example, Patent Document 1, has become widespread. However, if the charging timings of multiple mobile bodies overlap, it becomes necessary to charge the multiple mobile bodies at the same time at a specific charging location, and there is a risk that the space around the charging location will be compressed. Therefore, it is possible to provide a charging location that can sufficiently accommodate multiple mobile bodies, but in this case, a problem of reducing the space for arranging the cargo may occur. If these problems occur, there is a risk that the movement of other mobile bodies that do not need to be charged will be hindered when carrying out cargo transportation work.

[0009] Therefore, the inventors conducted extensive research into reducing the opportunities for simultaneously charging multiple chargeable mobile objects carrying multiple cargo loads, more than the number of objects that can be charged simultaneously by a charging device, and as a result, came up with the following aspects of the present disclosure.

[0010] A control method according to one aspect of the present disclosure is a control method for multiple moving bodies transporting multiple cargo loads, in which a computer acquires remaining battery levels of the multiple moving bodies, determines target remaining battery levels of the multiple moving bodies in the next unit time, assigns a transport unit to each of the moving bodies based on the remaining battery levels and target remaining battery levels of each moving body and the weight of each cargo load, and transmits control information to each of the moving bodies that instructs the transporting work of the transport unit assigned to each of the moving bodies.

[0011] According to this aspect, a transport unit is assigned to each of the moving bodies based on the remaining battery power of the moving bodies, a target remaining battery power in the next unit time, and the weight of each cargo. Then, each moving body is instructed to transport the transport unit.

[0012] For this reason, in this aspect, a transport unit including a heavy cargo is assigned to each moving body in consideration of the weight of each cargo, for example, a moving body with a larger difference between the remaining battery charge and the target remaining battery charge is assigned a transport unit including a heavy cargo, so that the remaining battery charge of the multiple moving bodies becomes the target remaining battery charge per unit time. In this way, this aspect can reduce the number of moving bodies whose remaining battery charge is significantly lower than the target remaining battery charge becomes equal to or exceeds the number of moving bodies that can be charged simultaneously by the charging device. As a result, this aspect can reduce the number of moving bodies that can be charged and transport multiple cargoes are simultaneously charged by the charging device to a number equal to or higher than the number of moving bodies that can be charged simultaneously by the charging device.

[0013] In the above aspect, the target battery remaining capacity may be determined such that the number of moving objects to be charged in the next unit time is equal to or less than an upper limit number that is the number of moving objects that can be charged simultaneously by the charging device.

[0014] According to this aspect, the target battery remaining amount is determined so that the number of moving objects to be charged in the next unit time is equal to or less than the upper limit number. Therefore, this aspect can prevent the number of moving objects to be charged in each unit time from exceeding the upper limit number by assigning a transport unit to each moving object so that the battery remaining amount of the moving objects becomes the target battery remaining amount for each unit time. As a result, this aspect can prevent the occurrence of an opportunity to simultaneously charge more than the upper limit number of moving objects.

[0015] In the above aspect, when allocating transport units to each moving body, the remaining battery charge of each moving body when the moving body performs the transport work of each transport unit is calculated based on the remaining battery charge of each moving body and the weight of each cargo, and the transport unit to be allocated to each moving body may be determined based on the difference between the calculated remaining battery charge of each moving body and the target remaining battery charge of each moving body.

[0016] According to this aspect, the transport unit to be assigned to each moving body is determined based on the difference between the remaining battery charge of each moving body when each moving body performs the transport work of each transport unit and the target battery remaining charge, which is calculated based on the remaining battery charge of each moving body and the weight of each cargo.

[0017] For this reason, in this aspect, for example, a transport unit is assigned to each moving body so that the sum of the differences among the multiple moving bodies is minimized, and thus a transport unit can be assigned to each moving body so that the remaining battery charge of each moving body in the next unit time is close to the target remaining battery charge. This makes it possible to reduce the number of moving bodies whose remaining battery charge is significantly lower than the target remaining battery charge, exceeding the number of moving bodies that can be charged simultaneously by the charging device. As a result, this aspect makes it possible to reduce the number of moving bodies that are simultaneously charged by the charging device, exceeding the number that can be charged simultaneously.

[0018] In the above aspect, in determining the target battery remaining capacity, a plurality of moving objects may be divided into a plurality of groups having a number of moving objects not exceeding the upper limit, the charging timing of the moving objects of any kth group among the plurality of groups may be set after k unit times, and the target battery remaining capacity of the moving objects of the kth group in the next unit time may be determined so that the battery remaining capacity of the moving objects of the kth group after the kth unit times becomes a predetermined starting charging battery remaining capacity.

[0019] According to this aspect, a plurality of moving objects are divided into a plurality of groups each having an upper limit number of moving objects or less, and a moving object of any k-th group is charged after k unit time. Therefore, this aspect can change the moving objects to be charged to different moving objects each unit time that are less than the upper limit number of moving objects.

[0020] Furthermore, according to this aspect, the target remaining battery capacity of a moving body in an arbitrary kth group is determined so that the remaining battery capacity after k unit time of the moving body in the kth group becomes the charging start remaining battery capacity.

[0021] Therefore, in this aspect, the battery remaining capacity of each moving body in the next unit time can be limited to a remaining capacity close to the target battery remaining capacity, taking into consideration the weight of each cargo, so that the battery remaining capacity will be the charging start battery remaining capacity when each moving body is charged. This makes it possible to prevent the need for charging each moving body, which would occur if the battery remaining capacity falls below the charging start battery remaining capacity until each moving body is charged at a timing corresponding to its own group. Furthermore, it is possible to prevent the battery remaining capacity from significantly exceeding the charging start battery remaining capacity at that timing, thereby making it possible to charge efficiently. As a result, this aspect makes it possible to prevent the occurrence of an opportunity to charge more than the upper limit number of multiple moving bodies at the same time.

[0022] In the above aspect, in allocating the transportation units to the respective moving bodies, the transportation units may be allocated to the respective moving bodies so that the sum of the differences among the plurality of moving bodies is minimized.

[0023] According to this aspect, a transportation unit is assigned to each moving body so that the sum of the differences among the multiple moving bodies is minimized.

[0024] Therefore, in this aspect, a transport unit can be assigned to each moving body so that the remaining battery charge of each moving body in the next unit time is close to the target remaining battery charge. This reduces the chance that the number of moving bodies whose remaining battery charge is significantly lower than the target remaining battery charge becomes equal to or exceeds the number of moving bodies that can be simultaneously charged by the charging device. As a result, this aspect reduces the chance that more moving bodies than can be simultaneously charged by the charging device are simultaneously charged.

[0025] In addition, in the above-mentioned aspect, when allocating transport units to each moving body, each cargo is treated as one transport unit, and further, based on the transport route of each cargo, the required time for each moving body to perform the transport work of each transport unit is calculated, and a transport unit is allocated to each moving body so that the sum of the differences among the multiple moving bodies is minimized and the sum of the required times for each moving body is less than or equal to the unit time.

[0026] According to this aspect, the time required for each moving body to perform the transportation work of each transportation unit is calculated based on the transportation route of each cargo. Then, the transportation units are assigned to each moving body so that the sum of the differences among the multiple moving bodies is minimized and the sum of the required times for each moving body is equal to or less than the unit time.

[0027] Therefore, this aspect can further take into consideration the transportation route of each cargo, and can set the remaining battery charge of each moving body in the next unit time to a remaining charge close to the target battery charge, and can avoid having each moving body perform cargo transportation work that requires more than the unit time. Therefore, this aspect is suitable for a case where cargo is transported by multiple moving bodies in an environment where the time load of the cargo transportation work is uneven.

[0028] In addition, in the above aspect, when determining the target battery remaining capacity, the target battery remaining capacity of the moving body in the pth group may be determined to be an amount less than the target battery remaining capacity of the moving body in the qth group, which will be charged after q unit times that is longer than p unit times.

[0029] According to this aspect, the target remaining battery capacity of the moving body in the pth group is determined to be less than the target remaining battery capacity of the moving body in the qth group, which is to be charged after q unit times that is longer than p unit times.

[0030] Therefore, in this aspect, by limiting the remaining battery capacity of each moving body in the next unit time to a remaining capacity close to the target remaining battery capacity determined as described above, it is possible to assign a transportation unit to each moving body so that the moving body in the group that has a shorter time until charging consumes more battery power. In other words, it is possible to conserve the battery of the moving body in the group that has a longer time until charging, thereby reducing the possibility that the moving body will run out of battery capacity before the next charging opportunity.

[0031] In the above aspect, a difference between a target remaining battery capacity of the moving body of the pth group and a target remaining battery capacity of the moving body of the qth group may be proportional to a difference between the pth unit time and the qth unit time.

[0032] According to this embodiment, the target battery remaining capacity of the mobile body in the pth group is determined to be less than the target battery remaining capacity of the mobile body in the qth group, which will be charged after q unit times, which is longer than p unit times, so that the difference between the target battery remaining capacity of the mobile body in the pth group and the target battery remaining capacity of the mobile body in the qth group is proportional to the difference between p unit times and q unit times.

[0033] Therefore, in this aspect, by limiting the remaining battery charge of each moving body in the next unit time to a charge close to the target battery charge determined as described above, a transport unit can be assigned to each moving body so that the battery power consumption increases linearly for moving bodies in a group that have a shorter time until charging.

[0034] In the above aspect, when the plurality of moving objects are divided into a plurality of groups, the plurality of moving objects may be equally divided into the plurality of groups.

[0035] According to this aspect, it is possible to provide the plurality of moving bodies with equal opportunities to charge, and therefore this aspect is suitable for the case where the plurality of moving bodies are made to transport cargo in an environment in which the time load of the cargo transportation work for each of the moving bodies is uniform.

[0036] In addition, in the above-mentioned aspect, when the plurality of moving bodies are divided into a plurality of groups, the plurality of moving bodies may be divided into the plurality of groups such that a group of objects to be charged when the workload of transporting cargo is a first workload has more moving bodies than a group of objects to be charged when the workload is a second workload that is greater than the first workload.

[0037] According to this aspect, the number of moving objects to be charged during periods of high workload can be reduced, and the number of moving objects to be charged during periods of low workload can be increased. This allows each moving object to be efficiently charged, and each moving object to efficiently transport cargo.

[0038] In the above aspect, the allocation of transport units to each of the moving bodies may involve equally dividing the multiple cargoes into transport units equal in number to the number of moving bodies.

[0039] According to this aspect, the cargo can be transported evenly among the moving bodies. Therefore, this aspect is suitable for cases where cargo is transported by a plurality of moving bodies in an environment in which the time load of the cargo transport work for each cargo is uniform.

[0040] In the above aspect, the plurality of cargoes may be a plurality of products stored in a warehouse.

[0041] According to this aspect, it is possible to reduce the number of occasions when a plurality of chargeable mobile objects transporting a plurality of products stored in a warehouse are simultaneously charged at a rate greater than the number that can be simultaneously charged by a charging device.

[0042] In the above aspect, the plurality of cargoes may be a plurality of parts stored in a factory.

[0043] According to this aspect, it is possible to reduce the number of occasions when a plurality of chargeable mobile objects transporting a plurality of parts stored in a factory are simultaneously charged at a rate greater than the number that can be simultaneously charged by a charging device.

[0044] In the above aspect, the plurality of cargoes may be a plurality of container cargoes stored within a port.

[0045] According to this aspect, it is possible to reduce the number of opportunities for multiple chargeable mobile objects transporting multiple container cargoes stored within the port to be simultaneously charged, the number of which exceeds the number that can be simultaneously charged by the charging device.

[0046] The present disclosure can also be realized as a program that causes a computer to execute each of the characteristic configurations included in the control method according to the above-mentioned aspect, or as a control device operated by this program. Furthermore, it goes without saying that such a computer program can be distributed on a computer-readable non-transitory recording medium such as a CD-ROM or via a communication network such as the Internet.

[0047] (Embodiment) Hereinafter, an automated logistics system according to an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is an overall configuration diagram of an automated logistics system 1. The automated logistics system 1 is a system that controls a plurality of chargeable mobile objects 4 to transport a plurality of cargoes and controls charging of the plurality of mobile objects 4.

[0048] For example, the automated logistics system 1 can be applied to a system that controls a plurality of chargeable robots to transport a plurality of products stored in a warehouse or a plurality of parts stored in a factory, and controls the charging of the plurality of robots. Also, for example, the automated logistics system 1 can be applied to a system that controls a plurality of chargeable electric vehicles to transport a plurality of container cargoes stored in a port, and controls the charging of the plurality of electric vehicles.

[0049] Specifically, as shown in FIG. 1, the automated logistics system 1 includes a plurality of moving objects 4, a charging device 5, and a server 2.

[0050] The moving object 4 transports the instructed cargo using the power stored in the battery 41 in accordance with the control information received from the server 2. Specifically, the moving object 4 includes the battery 41, a storage unit 42, a communication unit 43, a sensor 44, a drive unit 45, and a control unit 40.

[0051] The battery 41 is composed of a rechargeable secondary battery. The battery 41 is connected to a charging connector provided on the outer surface of the main body of the moving object 4. When the charging connector is connected to a connector of a charging cable 51 connected to the charging device 5, the battery 41 is charged with power supplied from the charging device 5 via the charging cable 51. The battery 41 also supplies the charged power to each part of the moving object 4.

[0052] The storage unit 42 is composed of a non-volatile memory in which a predetermined control program is stored, and a memory such as a RAM for temporarily storing information. The storage unit 42 stores various information related to the control of the moving object 4 under the control of the control unit 40. The various information related to the control of the moving object 4 may be stored in the storage unit 42 in advance.

[0053] For example, various information related to the control of the moving body 4 includes map information of the environment to which the moving body 4 transports cargo, weight information indicating the weight of each cargo, work information related to the transport work of each cargo, and control information instructing the cargo transport work. The map information includes information indicating the storage location and unloading location of cargo present in the environment, information indicating the transport route from the cargo storage location to the unloading location, information indicating the installation location of the charging device 5, and the like. The work information includes information indicating the storage position of each cargo in the storage location and the unloading position of each cargo in the unloading location, and information related to the transport schedule of each cargo. The information related to the transport schedule of each cargo includes, for example, information indicating the time period during which the transport work of each cargo is performed, and the like. The control information instructing the cargo transport work includes, for example, identification information of the cargo to be transported by the moving body 4, and the like.

[0054] The communication unit 43 is configured with a communication interface circuit for communicating with an external device such as the server 2. The communication unit 43 outputs information received from the external device to the control unit 40, and transmits information input from the control unit 40 to the external device.

[0055] The sensor 44 is configured by, for example, a LiDAR (Light Detection And Ranging) sensor, an image sensor, and / or a GPS sensor, and detects the current position, moving direction, and moving distance of the moving object 4. The sensor 44 also includes a battery remaining amount sensor, and detects the amount of power charged in the battery 41 (hereinafter, the battery remaining amount).

[0056] The driving unit 45 is composed of a driving motor (not shown) that controls the direction and rotation of a plurality of wheels provided on the bottom surface of the main body of the moving body 4. Under the control of the control unit 40, the driving unit 45 moves the moving body 4 in a specified direction or stops it.

[0057] The control unit 40 is configured with a processor such as a CPU (Central Processing Unit). The control unit 40 controls each part of the moving object 4 by executing a control program stored in the storage unit .

[0058] For example, when the communication unit 43 receives the map information, weight information, and work information transmitted from the server 2, the control unit 40 stores the received map information, weight information, and work information in the memory unit 42.

[0059] When the control unit 40 receives control information indicating a charging instruction by the communication unit 43, the control unit 40 controls the drive unit 45 to move the mobile object 4 to the installation location of the charging device 5 based on the map information stored in the memory unit 42 and the moving direction and moving distance of the mobile object 4 detected by the sensor 44, and then moves the mobile object 4 further until the charging connector connected to the battery 41 is connected to the connector of the charging cable 51 connected to the charging device 5. This connects the charging device 5 and the mobile object 4. In this state, power is supplied from the charging device 5 to the battery 41 via the charging cable 51, and the battery 41 is charged.

[0060] When the control unit 40 receives control information indicating an instruction to transmit the remaining battery level transmitted from the server 2 via the communication unit 43, the control unit 40 causes the communication unit 43 to return a signal indicating the remaining battery level detected using the sensor 44 to the server 2. However, without being limited to this, the control unit 40 may periodically transmit a signal indicating the remaining battery level to the server 2 via the communication unit 43.

[0061] When the control unit 40 receives control information instructing a cargo transport operation via the communication unit 43, the control unit 40 temporarily stores the control information in the storage unit 42. The control unit 40 controls the drive unit 45 to perform the cargo transport operation instructed by the control information, based on the control information stored in the storage unit 42, the map information, and the moving direction and moving distance of the mobile object 4 detected by the sensor 44.

[0062] Specifically, in a cargo transport operation, the control unit 40 moves the mobile body 4 to a cargo storage location instructed by the control information. The control unit 40 controls a picking mechanism (not shown) to acquire the cargo from a predetermined storage position in the storage location, and places the acquired cargo on a cargo platform provided on the upper part of the main body of the mobile body 4, or the like. The control unit 40 controls the drive unit 45 to move the mobile body 4 to an unloading location for the cargo placed on the cargo platform. The control unit 40 controls a picking mechanism (not shown) to move the cargo placed on the cargo platform to a predetermined unloading position in the unloading location.

[0063] The charging device 5 includes an AC / DC converter and / or a DC / DC converter. One end of a predetermined number of charging cables 51 is connected to the charging device 5. When a connector provided at the other end of the charging cable 51 is connected to a charging connector provided on the outer surface of the main body of the mobile object 4, the charging device 5 converts the power supplied from a commercial power source into a predetermined AC power or DC power and supplies the power to the battery 41 of the mobile object 4 via the charging cable 51. In this way, the charging device 5 charges the battery 41 of the mobile object 4. In this way, the charging device 5 is configured to be able to simultaneously charge a predetermined number or less of the mobile objects 4 connected to the predetermined number of charging cables 51. Hereinafter, the number of mobile objects 4 that the charging device 5 can simultaneously charge is referred to as the upper limit number of charging objects.

[0064] The charging device 5 is configured to be able to communicate with the server 2. The charging device 5 controls starting and stopping the supply of power to the moving object 4 according to control information received from the server 2. The charging device 5 may also adjust the amount of power to be supplied to the moving object 4 according to the control information received from the server 2.

[0065] The server 2 communicates with multiple mobile bodies 4 and charging devices 5 via a network 9, thereby performing transportation control to have the multiple mobile bodies 4 transport multiple cargoes, and charging control to have the charging devices 5 charge the multiple mobile bodies 4.

[0066] Specifically, the server 2 includes a storage unit 22, a communication unit 23, and a control unit 20.

[0067] The storage unit 22 is composed of a non-volatile memory in which a predetermined control program is stored and a memory such as a RAM for temporarily storing information, and stores various information related to the transportation control and the charging control.

[0068] For example, the memory unit 22 stores in advance map information of an environment where the mobile object 4 is to transport cargo. The map information includes information indicating a storage location and an unloading location of the cargo that exist in the environment, information indicating a transport route from the storage location of the cargo to the unloading location, information indicating an installation location of the charging device 5, and the like.

[0069] Furthermore, weight information indicating the weight of each cargo item is pre-stored in the memory unit 22. Furthermore, work information relating to the transportation work of each cargo item is pre-stored in the memory unit 22. The work information pre-stores information indicating the storage position of each cargo item in the storage area and the unloading position of each cargo item in the unloading area, as well as information regarding the transportation schedule of each cargo item. The information regarding the transportation schedule of each cargo item includes, for example, information indicating the time period during which the transportation work of each cargo item will be performed.

[0070] The storage unit 22 also stores in advance electric power information related to the amount of power consumed by the moving object 4. The electric power information includes, for each of a plurality of predetermined weight ranges, information indicating the amount of electric power required to lift and lower cargo having a weight within each weight range a unit distance, and information indicating the amount of electric power required to move the moving object 4 a unit distance.

[0071] The storage unit 22 also stores in advance speed information related to the speed of the moving body 4. The speed information includes, for each of a plurality of predetermined weight ranges, information indicating the time required to lift and lower cargo having a weight within each weight range over a unit distance, and information indicating the time required to move the moving body 4 over a unit distance.

[0072] The communication unit 23 is configured with a communication interface circuit for communicating with an external device such as a mobile object 4. The communication unit 23 outputs information received from the external device to the control unit 20, and transmits information input from the control unit 20 to the external device.

[0073] The control unit 20 is configured with a microcomputer (computer) equipped with a CPU etc. The control unit 20 executes a control program stored in the storage unit 22 to control the operation of each part of the server 2.

[0074] For example, the control unit 20 controls the communication unit 23 to transmit the map information, weight information, and work information stored in the memory unit 22 to a plurality of moving objects 4. When the control unit 40 of the moving object 4 acquires the map information, weight information, and work information via the communication unit 43, the control unit 40 stores the acquired map information, weight information, and work information in the memory unit 42.

[0075] Moreover, the control unit 20 executes a control program stored in the storage unit 22, thereby functioning in particular as a sorting unit 201, an acquisition unit 202, a charging control unit 203, a determination unit 204, a sorting unit 205, a calculation unit 206, an allocation unit 207, and an instruction unit 208. The details of the acquisition unit 202, the sorting unit 201, the charging control unit 203, the determination unit 204, the sorting unit 205, the calculation unit 206, the allocation unit 207, and the instruction unit 208 will be described later.

[0076] Next, an operation of the control unit 20 to control the moving objects 4 and the charging devices 5 will be described. In this description, details of the acquisition unit 202, the distribution unit 201, the charging control unit 203, the determination unit 204, the sorting unit 205, the calculation unit 206, the allocation unit 207, and the instruction unit 208 will be described. Fig. 2 is a flowchart showing an example of the operation of controlling a plurality of moving objects 4 and the charging devices 5.

[0077] 2, in the server 2, when the control unit 20 starts the operation of controlling the moving objects 4 and the charging devices 5, the allocating unit 201 divides the moving objects 4 into multiple groups having the moving objects 4 equal to or less than the upper limit number that the charging devices 5 can charge simultaneously (step S1). Thereafter, the number of groups divided in step S1 is set to K (K is an integer equal to or greater than 2).

[0078] For example, as described later, moving objects 4 in an arbitrary k-th group (k is an integer between 1 and K) among the K groups divided in step S1 are charged by charging devices 5 after k unit times. Hereinafter, the k-th group will be referred to as the group with group number k.

[0079] Therefore, in step S1, the allocating unit 201, for example, refers to information related to the schedule of transportation of each cargo stored in the memory unit 22, and divides the multiple moving bodies 4 into K groups such that a group of targets to be charged when the workload of cargo transportation is a first workload has more moving bodies 4 than a group of targets to be charged when the workload is a second workload that is greater than the first workload. This makes it possible to have many moving bodies 4 perform cargo transportation work during times when the workload is high, and to charge many moving bodies 4 during times when the workload is low.

[0080] FIG. 3 is a diagram showing an example of dividing a plurality of moving objects 4 into a plurality of groups. In FIG. 3, the horizontal axis indicates time, and the time period corresponding to k=1, which is divided by a dashed line in FIG. 3, indicates the unit time T from one unit time T after to two unit time T after. Similarly, the time period corresponding to k=2 indicates the unit time T from two unit time T after to three unit time T after. The time period corresponding to k=K in FIG. 3 indicates the unit time T from K unit time T after to (K+1) unit time T after. The unit time T indicates the processing unit of the control unit 20, and indicates the interval at which the processing of steps S2 to S10 shown in the flowchart of FIG. 2 is repeated. Therefore, in steps S7 and S9 described later, control information described later is transmitted every unit time T.

[0081] For example, the amount of work transporting cargo is the greatest from 5 unit time T to 6 unit time T, and the next greatest from 4 unit time T to 5 unit time T. At other times, the amount of work transporting cargo is less than the work from 4 unit time T to 5 unit time T.

[0082] In this case, as shown in Fig. 3, for example, the allocating unit 201 allocates one moving object 4 to the fifth group which will be charged after five unit times T and which has the greatest amount of work. The allocating unit 201 allocates two moving objects 4 to the fourth group which will be charged after four unit times T, which is more than the fifth group which will be charged after five unit times T and which has the greatest amount of work. The allocating unit 201 allocates three moving objects 4 to the other groups, which is more than the fourth group which will be charged after four unit times T.

[0083] However, the present invention is not limited to this. In step S1, the allocating unit 201 may equally divide the multiple moving objects 4 into K groups so that each group has the same number of moving objects 4 that is equal to or less than the upper charging limit number.

[0084] Next, the acquisition unit 202 acquires the remaining battery power of the multiple moving objects 4 (step S2). Specifically, in step S2, the acquisition unit 202 controls the communication unit 23 to transmit control information indicating an instruction to transmit the remaining battery power to the multiple moving objects 4. In response to this, as described above, when the information indicating the remaining battery power is returned from the multiple moving objects 4, the acquisition unit 202 acquires the returned information indicating the remaining battery power of the multiple moving objects 4 via the communication unit 23.

[0085] Next, the determination unit 204 determines a target value of the remaining battery capacity of the moving body 4 in the kth group in the next unit time T (hereinafter, target battery capacity) so that the remaining battery capacity of any moving body 4 in the kth group after k unit time will be the battery capacity at a specified start of charging (hereinafter, start-of-charging battery capacity) (step S3).

[0086] Fig. 4 is a diagram showing an example of functions G11, G12 used to determine the target battery remaining capacity. For example, as shown in Fig. 4, information indicating the functions G11, G12 used to determine the target battery remaining capacity of the moving object 4 of each group is stored in the storage unit 22 of the server 2. In Fig. 4, the horizontal axis indicates the group number k, and the vertical axis indicates the target battery remaining capacity G(k) of the moving object 4 in the group with group number k (the kth group).

[0087] In addition, in FIG. e g indicates the remaining battery charge at the start of charging. The remaining battery charge at the start of charging is defined as, for example, the minimum amount of power required to move the mobile object 4 to the charging device 5 and connect to the charging device 5. f indicates the remaining battery capacity at a predetermined time when charging is completed (hereinafter, referred to as "fully charged battery capacity"). The fully charged battery capacity is defined as the remaining battery capacity when the battery 41 is fully charged, for example.

[0088] The determination unit 204 determines the remaining battery charge of the first group of moving objects 4 after one unit time T, that is, the remaining battery charge of the first group of moving objects 4 in the next unit time T, as the charging start battery remaining charge g e In order to achieve this, the target battery remaining capacity G(1) of the moving object 4 in the first group is set to the charging start battery remaining capacity g e is decided.

[0089] The determination unit 204 also calculates the remaining battery charge amount after K unit time T of the moving object 4 in the Kth group that has the longest time until the next charge by calculating the remaining battery charge amount g e In other words, until K unit time T has elapsed, the battery remaining amount will be g e In order to allow the moving object 4 in the Kth group to carry out the cargo transport work while preventing the target battery remaining capacity G(K) of the moving object 4 in the Kth group from falling below the fully charged battery remaining capacity g f is decided.

[0090] Furthermore, the smaller the group number k of a group is, the smaller the target remaining battery capacity G(k) of the moving object 4 of that group is determined by the determination unit 204. For example, using the function G11 shown in Fig. 4, the determination unit 204 determines the target remaining battery capacity G(p) of the moving object 4 of the pth group to be smaller than the target remaining battery capacity G(q) of the moving object 4 of the qth group that will be charged after q unit time T that is longer than p unit time T.

[0091] 4, the determination unit 204 determines the target remaining battery capacity of each group such that the difference between the target remaining battery capacity G(p) of the moving object 4 in the pth group and the target remaining battery capacity G(q) of the moving object 4 in the qth group is proportional to the difference between p unit time T and q unit time T. As a result, the smaller the group number of the group, the more linearly the target remaining battery capacity of the moving object 4 in that group is reduced.

[0092] 4, the determination unit 204 may determine a smaller target battery remaining capacity G(k) for the moving objects 4 in a group having a smaller group number k. When the function G12 is used, the target battery remaining capacity G(k) for the moving objects 4 in a group having a group number k close to 1 may be determined to be an excessively small amount.

[0093] Next, the sorting unit 205 divides the multiple cargoes into multiple transportation units (step S4).

[0094] For example, assume that the multiple cargoes are multiple products stored in a warehouse. In this case, it is considered that the time required for the transportation work will be the same on average regardless of which cargo is transported by the moving body 4. For this reason, it is considered that it is not necessary to consider a situation in which the multiple moving bodies 4 are made to transport some cargo and there is no time left to transport other cargo. In such a case, the sorting unit 205 divides the multiple cargoes evenly into transportation units equal in number to the number of moving bodies 4, in order from the cargo that requires the most power for transportation. Hereinafter, these transportation units will be referred to as work categories.

[0095] Specifically, the sorting unit 205 calculates the amount of electricity required for transporting each cargo item based on map information, weight information, work information, and electricity amount information that are pre-stored in the memory unit 22.

[0096] For example, the sorting unit 205 uses the power amount information to calculate a first amount of power required to move the mobile unit 4 to the storage location indicated by the map information, and a second amount of power required to have the mobile unit 4 retrieve cargo of a weight indicated by the weight information from the storage location indicated by the work information. In addition, the sorting unit 205 uses the power amount information to calculate a third amount of power required to move the mobile unit 4 from the storage location indicated by the map information to the unloading location, and a fourth amount of power required to have the mobile unit 4 move the cargo of a weight indicated by the weight information to the unloading location indicated by the work information.

[0097] The sorting unit 205 calculates the sum of the calculated first amount of electric power, second amount of electric power, third amount of electric power, and fourth amount of electric power as the amount of electric power required for the transportation work of each cargo. However, the sorting unit 205 is not limited to this, and may calculate the sum of the amounts of electric power including at least the second amount of electric power and the fourth amount of electric power based on the weight of the cargo, among the first amount of electric power, second amount of electric power, third amount of electric power, and fourth amount of electric power, as the amount of electric power required for the transportation work of each cargo.

[0098] Here, if the number of mobile objects 4 is N and the number of cargoes is M, the sorting unit 205 sorts the M cargoes evenly into N work categories, M / N pieces each, in order from the cargoes requiring the greatest amount of electricity for the transportation work. Hereinafter, the work categories into which cargoes requiring the greatest amount of electricity for the transportation work are sorted will be referred to as the first work category, the second work category, ..., the Nth work category, in order from the work category into which cargoes requiring the greatest amount of electricity for the transportation work are sorted.

[0099] Next, the calculation unit 206 calculates a difference c between the battery remaining capacity of the i-th moving body and the target battery remaining capacity of the i-th moving body when an arbitrary i-th moving body among the multiple moving bodies 4 performs a transport task of an arbitrary j-th transport unit among the multiple transport units, based on the battery remaining capacity of the multiple moving bodies 4 acquired in step S2, the target battery remaining capacity of the multiple moving bodies 4 calculated in step S3, and the amount of power required for the transport task of each cargo. ij is calculated (step S5).

[0100] FIG. 5 shows the difference c between the battery remaining capacity of the i-th moving body and the target battery remaining capacity when the i-th moving body performs a transportation task of the j-th task category. ij5 is a diagram showing an example of the battery remaining capacity of the i-th moving body when the i-th moving body (e.g., the first moving body) performs a transport task of M / N pieces of cargo included in the j-th work category (e.g., the first work category) using the following formula (1), as shown in FIG. 5. ij (For example, 11 ) is calculated. c ij = |(B i -P j )-G(g i )| ···(1)

[0101] In formula (1), B i indicates the remaining battery charge of the i-th moving object acquired in step S2. j indicates the sum of the amount of electricity required for the cargo transportation work included in the jth work category. The amount of electricity required for the cargo transportation work may be calculated by the sorting unit 205 in step S4, or may be calculated by the calculation unit 206 in the same manner as in step S4. Note that the amount of electricity required for the cargo transportation work needs to include at least the second amount of electricity and the fourth amount of electricity based on the cargo weight. In addition, in formula (1), g i indicates the group number of the group that includes the i-th moving object. G(g i ) is the gth moving object including the i-th moving object determined in step S3. i This shows the target remaining battery power of moving object 4 in the group.

[0102] Next, the allocation unit 207 calculates the difference c ij A transportation unit is assigned to each moving object 4 so that the sum of the transportation units is minimized (step S6).

[0103] Specifically, as described above, in step S5, M cargoes are sorted into N work categories, and in step S6, the difference c between the remaining battery charge of the i-th moving body when the i-th moving body performs a transportation work of the j-th work category and the target remaining battery charge is calculated using the above formula (1). ij In this case, the allocation unit 207 calculates the difference c ij The combinatorial optimization problem of the i-th mobile object and the j-th task category, which assigns a task category to each mobile object so that the sum of

[0104]

number

[0105] Then, the allocation unit 207 executes a publicly known general-purpose solver program stored in the storage unit 22 to calculate an optimal combination of the ith moving body and the jth work category that satisfies the formula (2). As a result, the allocation unit 207 assigns the optimal jth work category to the ith moving body according to the calculated combination. However, the allocation unit 207 is not limited to this, and may calculate the difference c ij It is also possible to calculate a combination of the i-th moving object and the j-th work category that minimizes the sum of

[0106] Next, the instruction unit 208 controls the communication unit 23 to transmit, to each moving body 4, control information instructing the moving body 4 to carry out the transport work of the transport unit assigned to each moving body 4 in step S6 (step S7). As a result, in each moving body 4, when the communication unit 43 receives the control information, the control unit 40 causes the moving body 4 to carry out the transport work of the transport unit indicated by the control information.

[0107] For example, assume that the first moving object is assigned a transportation task of the first work category in step S6. In this case, in step S7, the instruction unit 208 transmits control information instructing the first moving object to perform the transportation task of the first work category. As a result, when the communication unit 43 in the first moving object receives the control information, the control unit 40 causes the moving object 4 to perform the transportation task of all cargo included in the first work category indicated by the control information.

[0108] After step S7, when the unit time T has elapsed (YES in step S8), the charging control unit 203 transmits control information indicating an instruction to charge to the moving objects 4 in the first group (step S9).

[0109] As a result, when the communication unit 43 of the moving object 4 in the first group receives control information indicating a charging instruction, the moving object 4 moves to the installation location of the charging device 5 under the control of the control unit 40 as described above, and further moves until the connector provided at the other end of the charging cable 51 is connected to the charging connector provided on the outer surface of the main body of the moving object 4. Thereafter, power is supplied from the charging device 5 to the moving object 4 via the charging cable 51, thereby charging the battery 41 of the moving object 4.

[0110] Next, the allocating unit 201 changes the group numbers of the second group to the Kth group that are not currently being charged to the K-1th group by decrementing the group numbers by 1. The allocating unit 201 also changes the original first group that is currently being charged to the Kth group (step S10). This allows the moving objects 4 divided into each group and not exceeding the charging upper limit number to be given a charging opportunity in sequence every time a unit time T elapses. After step S10, the processing from step S2 onwards is repeated.

[0111] The above-mentioned aspects are merely examples of the embodiments of the present disclosure, and are not intended to limit the present disclosure to the above-mentioned aspects. For example, the following modified embodiments may be used.

[0112] In the above embodiment, in step S4 (FIG. 2), an example was described in which the multiple cargoes are multiple products stored in a warehouse and the multiple cargoes are divided into work categories in the same number as the number of moving objects 4.

[0113] However, the configuration of the above embodiment is also applicable to the case where the multiple cargoes are multiple packages or mail items delivered from a distribution center to individual homes by multiple chargeable electric vehicles. In this case, in step S4, the sorting unit 205 may divide the multiple cargoes into the same number of transport units as the mobile objects 4, for example, according to the distance from the distribution center to the destination. Alternatively, the sorting unit 205 may divide the multiple cargoes into the same number of transport units as the mobile objects 4, so that cargoes with the same destination address are in the same transport unit. In this case, it is possible to avoid overlapping charging timings of multiple electric vehicles belonging to the distribution center.

[0114] Also, for example, assume that a plurality of electric vehicles capable of charging at a port or the like are made to carry out the work of transporting a plurality of container cargoes, or a plurality of robots capable of charging at a factory or the like are made to carry out the work of transporting a plurality of parts. In such a case, a situation may occur in which the plurality of moving bodies are made to carry out the work of transporting a certain cargo by transporting the cargo over a long distance or by transporting a heavy cargo, and thus there is no time to make the moving bodies carry out the work of transporting other cargoes. In addition, when a plurality of electric vehicles capable of charging at a port or the like are made to carry out the work of transporting a plurality of container cargoes, a situation may occur in which there is no power required to make the moving bodies carry out the work of transporting other cargoes, due to the fact that the moving bodies are made to carry out the work of transporting very heavy cargoes. In consideration of these, in step S4, the sorting unit 205 may divide each of the plurality of cargoes into one transport unit. In this way, in an environment in which the time load of the transport work of each cargo and the weight of each cargo are biased, the plurality of moving bodies 4 may be made to transport the cargoes efficiently.

[0115] In this case, in step S5 (FIG. 2), the calculation unit 206 calculates a difference c between the battery remaining capacity of the i-th moving body and the target battery remaining capacity of the i-th moving body when an arbitrary i-th moving body among the multiple moving bodies 4 performs a transportation task of an arbitrary j-th cargo among the multiple cargoes, based on the battery remaining capacity of the multiple moving bodies 4 acquired in step S2, the target battery remaining capacity of the multiple moving bodies 4 calculated in step S3, and the amount of power required for the transportation task of each cargo, as follows: ij Calculate.

[0116] FIG. 6 shows the difference c between the battery remaining capacity of the i-th moving body and the target battery remaining capacity when the i-th moving body performs the transport task of the j-th cargo. ij and the time required for the transportation of the jth cargo, t j 6 is a diagram showing an example of the battery remaining amount of the i-th moving body (e.g., the first moving body) when the i-th moving body performs a transportation task of the j-th cargo (e.g., the first cargo), the calculation unit 206 calculates a difference c ij (For example, 11 ) is calculated. c ij = |(B i -P' j )-G(g i )| ···(3)

[0117] In formula (3), B i P' indicates the remaining battery charge of the i-th mobile object acquired in step S2. j indicates the amount of power required for the transport work of the jth cargo. The calculation unit 206 calculates the amount of power required for the transport work of the jth cargo in the same manner as in the above embodiment. Note that the amount of power required for the cargo transport work may include at least the second amount of power and the fourth amount of power based on the weight of the cargo. i indicates the group number of the group that includes the i-th moving object. G(g i ) is the gth moving object including the i-th moving object determined in step S3. i This shows the target remaining battery power of moving object 4 in the group.

[0118] In this modified embodiment, as shown in FIG. 6, in step S5, the calculation unit 206 further calculates the required time t required for the i-th moving object to carry the j-th cargo based on the map information, the task information, and the speed information pre-stored in the storage unit 22. j Calculate.

[0119] Specifically, the calculation unit 206 uses the speed information to calculate a first time required for the moving body 4 to move to the storage location indicated by the map information, and a second time required for the moving body 4 to retrieve the jth cargo from the storage location indicated by the work information. The calculation unit 206 also uses the speed information to calculate a third time required for the moving body 4 to move from the storage location to the unloading location according to the transportation route of each cargo included in the map information, and a fourth time required for the moving body 4 to move the jth cargo to the unloading location indicated by the work information. The calculation unit 206 calculates the sum of the calculated first time, second time, third time, and fourth time as the required time t j The calculation unit 206 may calculate the sum of the first, second, third, and fourth times, including at least the third time based on the transportation route of each cargo, as the required time t j It may be calculated as:

[0120] In step S6 (FIG. 2), the allocation unit 207 calculates the difference c ij The sum of the required time t j Cargo is allocated to each moving object 4 so that the time required for the

[0121] Specifically, the allocation unit 207 calculates the difference c ij The sum of the required time t j The combinatorial optimization problem of allocating cargo to each moving object 4 such that the total time required for the j-th moving object and the j-th cargo is equal to or less than the unit time T is formulated as shown in, for example, the following equation (4).

[0122]

number

[0123] Then, the allocation unit 207 executes a publicly known general-purpose solver program stored in the storage unit 22 to calculate an optimal combination of the ith moving body and the jth cargo that satisfies the formula (4). As a result, the allocation unit 207 allocates the optimal jth cargo to the ith moving body according to the calculated combination. However, the allocation unit 207 is not limited to this, and may calculate the difference c ij The sum of the above is minimized, and the required time t j It is also possible to calculate a combination of the i-th moving object and the j-th cargo such that the time required for the j-th moving object to arrive at the j-th cargo is equal to or shorter than the unit time T.

[0124] In step S7, the instruction unit 208 controls the communication unit 23 to transmit to each moving body 4 control information instructing the moving body 4 to transport the cargo assigned to the moving body 4 in step S6. As a result, in each moving body 4, when the communication unit 43 receives the control information, the control unit 40 causes the moving body 4 to perform the cargo transport work indicated by the control information. For example, assume that the first cargo transport work is assigned to the first moving body in step S6. In this case, in step S7, the instruction unit 208 transmits control information instructing the first moving body to transport the first cargo. As a result, in the first moving body, when the communication unit 43 receives the control information, the control unit 40 causes the moving body 4 to perform the cargo transport work indicated by the control information.

[0125] In the above embodiment and modified embodiment, a form has been described in which the control unit 20 of the server 2 performs processing to generate and transmit control information that instructs the cargo transportation work, but instead, processing similar to that performed by the server 2 may be performed by a computer provided in the charging device 5.

[0126] In this case, the various information regarding the transportation control and the charging control stored in the memory unit 22 of the server 2 may be pre-stored in a storage device (not shown) provided in the charging device 5, or the computer of the charging device 5 may request the server 2 to transmit the various information, and the various information returned from the server 2 in response may be stored in the storage device (not shown). [Industrial Applicability]

[0127] The present disclosure is useful in avoiding the occurrence of opportunities to simultaneously charge multiple chargeable mobile objects carrying multiple cargoes in warehouses, factories, ports, etc., in excess of the number that can be simultaneously charged by the charging device.

Claims

1. A method for controlling a plurality of moving objects carrying a plurality of cargoes, comprising the steps of: The computer acquiring remaining battery power of the plurality of moving bodies; determining a target remaining battery charge of the plurality of moving bodies in a next unit time; Allocating a transportation unit to each of the moving bodies based on the remaining battery charge of each moving body, the target remaining battery charge, and the weight of each cargo; Transmitting control information to each of the moving bodies instructing the moving body to carry out a transport operation of the transport unit assigned to each of the moving bodies; Control methods.

2. In determining the target battery remaining capacity, determining the target battery remaining capacity so that the number of moving objects to be charged in the next unit time is equal to or less than an upper limit number that is the number of moving objects that can be charged simultaneously by the charging device; The control method according to claim 1 .

3. In the allocation of transportation units to each moving body, calculating a remaining battery charge of each moving body when each moving body performs a transport task for each transport unit based on the remaining battery charge of each moving body and the weight of each cargo, and determining a transport unit to be assigned to each moving body based on a difference between the calculated remaining battery charge of each moving body and a target remaining battery charge of each moving body; The control method according to claim 1 .

4. In determining the target battery remaining capacity, Dividing the plurality of moving objects into a plurality of groups each having a number of moving objects equal to or less than the upper limit; The charging timing of the moving object of an arbitrary k-th group among the plurality of groups is set to k unit time, determining a target remaining battery capacity of the moving body of the kth group in the next unit time such that the remaining battery capacity of the moving body of the kth group after the kth unit time becomes a predetermined remaining battery capacity at the start of charging; The control method according to claim 2 .

5. In the allocation of transportation units to each moving body, Allocating transportation units to each of the moving bodies so as to minimize the sum of the differences among the moving bodies. The control method according to claim 3.

6. In the allocation of transportation units to each moving body, Each cargo is treated as a single transport unit. Furthermore, a required time required for each of the moving bodies to perform the transportation work of each of the transportation units is calculated based on the transportation route of each of the cargoes; allocating transportation units to each of the moving bodies such that a sum of the differences among the plurality of moving bodies is minimized and a sum of the required times for each of the moving bodies is equal to or less than the unit time; The control method according to claim 3.

7. In determining the target battery remaining capacity, A target remaining battery capacity of the moving body of the pth group is determined to be an amount smaller than a target remaining battery capacity of the moving body of the qth group which is to be charged after q unit time which is longer than p unit time. The control method according to claim 4.

8. a difference between a target battery remaining capacity of the moving object of the pth group and a target battery remaining capacity of the moving object of the qth group is proportional to a difference between the pth unit time and the qth unit time; The control method according to claim 7.

9. When the plurality of moving objects are divided into a plurality of groups, dividing the plurality of moving objects equally into the plurality of groups; A control method according to any one of claims 4, 7 and 8.

10. When the plurality of moving objects are divided into a plurality of groups, dividing the plurality of moving bodies into the plurality of groups such that a group of objects to be charged when a workload of transporting cargo is a first workload has more moving bodies than a group of objects to be charged when the workload is a second workload that is greater than the first workload; A control method according to any one of claims 4, 7 and 8.

11. In the allocation of transportation units to each moving body, Dividing the plurality of cargoes equally into transportation units having the same number as the number of moving bodies; A control method according to any one of claims 1 to 10.

12. The cargoes are a plurality of goods stored in a warehouse. A control method according to any one of claims 1 to 11.

13. The plurality of cargoes are a plurality of parts stored in a factory. A control method according to any one of claims 1 to 11.

14. The plurality of cargoes are a plurality of container cargoes stored in a port. A control method according to any one of claims 1 to 11.

15. A control device for controlling a plurality of moving bodies that transport a plurality of cargoes, An acquisition unit that acquires remaining battery power of the plurality of moving objects; a determination unit that determines a target remaining battery charge of the plurality of moving bodies in a next unit time; an allocation unit that allocates transportation units to each moving object based on the remaining battery charge of each moving object, a target remaining battery charge, and a weight of each cargo; An instruction unit that transmits control information to each of the moving bodies to instruct the moving bodies to carry out a transport operation of the transport unit assigned to each of the moving bodies; A control device comprising:

16. A computer of a control device that controls a plurality of mobile objects that transport a plurality of cargoes, An acquisition unit that acquires remaining battery power of the plurality of moving objects; a determination unit that determines a target remaining battery charge of the plurality of moving bodies in a next unit time; an allocation unit that allocates transportation units to each moving object based on the remaining battery charge of each moving object, a target remaining battery charge, and a weight of each cargo; An instruction unit that transmits control information to each of the moving bodies instructing the moving body to carry out a transport operation of the transport unit assigned to each of the moving bodies, A program that makes it work.

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