Transport control system, transport control method, and program

Abstract

To provide a conveyance control device capable of efficiently arranging and storing conveyance objects so that a space is fully occupied in an arrangement area.SOLUTION: Arrangement area information including at least a reference position indicating a position for preferentially arranging a conveyance object in an arrangement area for the conveyance object and information of a range of the arrangement area, and image information including the arrangement area, are acquired. Based on a vacant area range in the arrangement area specified from the image information and the size of the conveyance object, an arrangement range capable of arranging the conveyance object near the reference position in the vacant area range is determined.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] In warehouses and distribution centers, items such as goods are arranged in a predetermined arrangement area based on the attributes of the items. A transport robot is used to improve the efficiency of the work of arranging such items in the predetermined locations. Patent Document 1 discloses a technology for sequentially updating information on free space on a load shelf in an automated warehouse to effectively utilize storage space, and sequentially packing and loading items on the load shelf. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-138954 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described above, there is a demand for a technology that enables a transport robot that transports an item to efficiently arrange and store the item so that there is no empty space in a specified floor arrangement area.

[0005] SUMMARY OF THE PRESENT DISCLOSURE An object of the present invention is to provide a transport control system, a transport control method, and a program that solve the above-mentioned problems. [Means for solving the problem]

[0006] According to a first aspect of the present invention, a transport control system includes an acquisition means for acquiring placement area information including at least a reference position indicating a position where the transported item is to be preferentially placed in the placement area of ​​the transported item and information on the range of the placement area, and image information including the placement area, and a placement range determination means for determining a placement range within the vacant area range in which the transported item can be placed closest to the reference position based on an vacant area range within the placement area identified from the image information and the size of the transported item.

[0007] According to a second aspect of the present invention, a transport control method acquires placement area information including at least a reference position indicating a position where the transported item is to be preferentially placed in a placement area of ​​the transported item and information on the range of the placement area, and image information including the placement area, and determines a placement range in which the transported item can be placed closest to the reference position within the free area range based on an empty area range within the placement area identified from the image information and the size of the transported item.

[0008] According to a third aspect of the present invention, the program causes a computer of a transport control system to function as an acquisition means for acquiring placement area information including at least a reference position indicating a position where the transported item is to be preferentially placed in the placement area of ​​the transported item and information on the range of the placement area, and image information including the placement area, and a placement range determination means for determining a placement range in which the transported item can be placed closest to the reference position within the vacant area range based on an vacant area range within the placement area identified from the image information and the size of the transported item. Effect of the Invention

[0009] According to the present invention, a transport robot that transports an article can efficiently arrange and store the article so that no empty space is left in a placement area on a specified floor surface. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a first diagram illustrating an overview of a transport control system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a second diagram showing an overview of the transport control system according to the present embodiment. [Diagram 3] FIG. 1 is a system configuration diagram of a transport control system according to an embodiment of the present invention. [Figure 4] FIG. 2 is a diagram showing an example of a luggage placement area according to the present embodiment. [Diagram 5] FIG. 2 is a hardware configuration diagram of the transport control device according to the present embodiment. [Figure 6] FIG. 2 is a functional block diagram of the transport control device according to the present embodiment. [Figure 7] FIG. 4 is a first diagram showing a process flow of the transport control device according to the present embodiment. [Figure 8] FIG. 11 is a second diagram showing the process flow of the transport control device according to the present embodiment. [Figure 9] FIG. 2 is a diagram showing a minimum configuration of a transport control system according to the present embodiment. [Figure 10] FIG. 11 is a diagram showing a process flow of a transport control system having a minimum configuration according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, a transfer control system including a transfer control device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a first diagram showing an overview of a transport control system using a transport control device according to the embodiment. As shown in Fig. 1, a transport control device 1 is provided on a transport robot 2. The transport robot 2 is equipped with a transport control device 1 and a camera 3, and the wheels and steering device of the transport robot 2 are driven under the control of the transport control device 1. The transport robot 2 moves from the transport source to the vicinity of the placement area of ​​the destination to transport luggage O, which is an object to be transported, and places the luggage O within the placement range within the placement area. The camera 3 is, for example, a stereo camera.

[0012] When transporting luggage O, the transport control device 1 controls the transport robot 2 to move to a reading position for reading control instruction information related to the luggage O. The transport control device 1 controls the camera 3 to acquire an image generated by photography, and controls the device itself to a state in which the luggage O can be transported based on the control instruction information shown in the image. For example, the luggage O is loaded onto a dolly 5. The transport control device 1 controls the transport robot 2 to move to the reading position. The transport control device 1 controls the camera 3 to photograph a control tag B hung on the luggage. The control tag B may be hung on the dolly 5 or attached thereto.

[0013] The transport control device 1 acquires an image generated by photographing the control tag B from the camera 3. Control instruction information is printed on the control tag B. The control instruction information may be printed in a coded form as a barcode or a two-dimensional code. The transport control device 1 analyzes the image acquired from the camera 3 to detect the control instruction information. Alternatively, the transport control device 1 may control an RFID reader to receive a signal including the control instruction information transmitted from an RFID tag corresponding to the control tag B. The RFID may be attached to the baggage O. Based on the control instruction information, the transport control device 1 performs operation control to connect the connection mechanism 4 of the transport robot 2 to the connection part of the cart 5 carrying the baggage O to which the control tag B is attached. When the connection is completed, the transport control device 1 performs transport control to pull the connected cart and move it from the position of the transport origin indicated by the control instruction information to a predetermined position near the placement area which is the transport destination.

[0014] FIG. 2 is a second diagram showing the outline of the transport control system using the transport control device according to the embodiment. The transport control device 1 recognizes a route to the placement area based on map information (map) indicated by the control instruction information, and controls the transport robot 2 to move along the route (2a). The transport control device 1 acquires an image captured by the camera 3 during movement, and controls the transport robot 2 to move to a predetermined position near the placement area. When the transport control device 1 moves the transport robot 2 to a predetermined position near the placement area, it determines a placement range in which the luggage O is placed within the placement area (2b). The transport control device 1 may control the transport robot 2 to place the luggage O in the placement range, or may place a cart 5 carrying the luggage O. After performing transport control to place the luggage O or the cart 5 in the placement range of the placement area, the transport control device 1 separates the coupling mechanism 4 (2c). The transport control device 1 then moves to a predetermined position (such as the original location) for transporting the next luggage O (2d).

[0015] FIG. 3 is a system configuration diagram of the transport control system according to this embodiment. 3, the transport control device 1 is connected to a management server 10 for communication. As a result of carrying out transport control of the luggage O, the transport control device 1 transmits identification information of the luggage O to be transported and status information indicating the status of the luggage O to the management server 10, which is the output destination. The status information may include the current position of the luggage O, the movement completion time, etc. The transport control device 1 may obtain control instruction information indicated by a control tag B attached to the luggage O from the management server 10.

[0016] FIG. 4 is a diagram showing an example of a luggage placement area according to this embodiment. As shown in FIG. 4, the luggage placement area has a space in which one or more luggage O can be placed. A reference position is provided in the placement space. Information on the position range of the placement space on a map of an area in which the transport robot 2 can move and position information (such as coordinates) of a reference position 42 provided in the placement space are stored in advance in the transport control device 1 and the management server 10. The transport control device 1 acquires placement area information including at least a reference position indicating a position where luggage O is preferentially placed in a placement area 41 of luggage O, which is a transported object, and a range of luggage O already placed in the placement area 41, and acquires image information including an empty area range 43 excluding the range of luggage O already placed in the placement area 41. The transport control device 1 determines a placement range in which luggage O close to the reference position 42 can be placed in the empty area range 43 based on the empty area range 43 specified from the image information and the size of the luggage O currently being transported.

[0017] FIG. 5 is a hardware configuration diagram of the transport control device according to the present embodiment. 5, the transport control device 1 is a computer equipped with various hardware such as a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a database 104, and a communication module 105. The management server 10 is also a computer equipped with a similar hardware configuration.

[0018] FIG. 6 is a functional block diagram of the transport control device according to the present embodiment. The transport control device 1 starts a transport control program stored in advance. As a result, the transport control device 1 exerts the functions of a control unit 11, an acquisition unit 12, a movement control unit 14 (movement path calculation means), an obstacle determination unit 15, and a placement range determination unit 16.

[0019] The control unit 11 controls other functional units of the transport control device 1 and the transport robot 2. The acquiring unit 12 acquires information from outside the transport control device 1. For example, the acquiring unit 12 acquires placement area information including at least a reference position for preferentially placing the transported object in the placement area of ​​the transported object and an area of ​​the transported object already placed in the placement area. The acquiring unit 12 also acquires image information including an empty area range excluding the area of ​​the transported object already placed in the placement area, image information during movement, etc. The acquiring unit 12 also acquires control instruction information.

[0020] The movement control unit 14 calculates a movement route from the current position of the transport robot transporting the transported item to a predetermined position in the vicinity of the placement area, and a movement route from the predetermined position to the placement range of the transported item. The obstacle determining unit 15 determines whether or not there is an obstacle on the travel route. The placement range determination unit 16 determines a placement range in which the transported object can be placed close to a reference position of the empty area range in the empty area range, based on the empty area range specified from the image information and the size of the transported object.

[0021] FIG. 7 is a first diagram showing a process flow of the transfer control device according to the present embodiment. Next, the process flow of the transport control device 1 will be explained step by step. The acquisition unit 12 of the transfer control device 1 acquires control instruction information for instructing the transfer robot 2 to move to a predetermined transfer origin position from the management server 10 (step S101). The acquisition unit 12 outputs the control instruction information to the control unit 11. The control unit 11 outputs the control instruction information to the movement control unit 14. The movement control unit 14 performs movement control to move the transfer robot 2 to the transfer origin position based on the transfer origin position information and the movement instruction indicated by the control instruction information (step S102). As a result, the transfer robot 2 moves to the transfer origin position.

[0022] As an example, the transport control device 1 detects a magnetic tape attached to the floor of the moving path and controls the movement of the transport robot 2 by a moving method that moves without moving off the magnetic tape. Alternatively, the transport control device 1 stores or acquires map information, and controls the movement of the transport robot 2 by autonomous running control based on the detected position and the position indicated by the map information corresponding to the detected position. The transport robot 2 may be one that travels on a track.

[0023] The movement control unit 14 detects that the robot 2 has moved to the origin position (step S103). For example, the movement control unit 14 analyzes the information of a signal received by a communication device provided in the transport robot 2, and detects that the robot 2 has moved to the origin position when the signal is information of a signal transmitted from a transmitter provided in the origin position. Alternatively, the movement control unit 14 controls the camera 3 to analyze an image acquired, and detects that the robot 2 has moved to the origin position when the image includes an object corresponding to the origin position. Alternatively, the movement control unit 14 may detect that the robot 2 has moved to the origin position when a position detected by a position sensor provided in the transport robot 2 indicates the origin position.

[0024] When the movement control unit 14 detects that the control tag has moved to the origin position, it controls the camera 3 to analyze the captured image and judges whether the image contains control tag B (step S104). The control unit 11 analyzes the pixels of the image to analyze the color, tag shape, size, etc., and judges that the image contains control tag B if the information corresponding to control tag B is detected. When the two-dimensional code included in the image is a two-dimensional code indicating control tag B, the control unit 11 may judge that the image contains control tag B based on the two-dimensional code.

[0025] When the image includes a control tag B, the movement control unit 14 controls the transport robot 2 to move to a reading position corresponding to the position of the control tag B. The reading position corresponding to the position of the control tag B is a position where the control instruction information printed on the control tag B can be recognized and the control tag B is in front. For example, the movement control unit 14 analyzes the image to detect the distance and relative position between the transport robot 2 and the control tag B. A known technique may be used to detect these distances and relative positions. The transport robot 2 may be equipped with a radar, and the movement control unit 14 may detect the shape of the transport robot 2 and the object of the control tag B, the dolly 5, the baggage O to which the control tag is attached, the distance to the object, the relative position, etc., based on the distance to the object calculated based on the reflected wave of the radar. The movement control unit 14 calculates the movement distance, movement direction, and turning angle to the reading position based on the distance to the control tag B, the relative distance to the control tag B, and the direction of the transport robot 2. The movement control unit 14 controls the movement of the transport robot 2 based on the movement distance, movement direction, and turning angle to move to the reading position (step S105). As a result, the transport robot 2 moves to the reading position and stops at the reading position at a predetermined distance in front of the control tag B associated with the package O.

[0026] The acquisition unit 12 acquires an image from the camera 3, and detects that the control tag B has moved to the reading position based on the size and position of the control tag B shown in the image (step S106). When the acquisition unit 12 detects that the control tag B has moved to the reading position, the acquisition unit 12 controls the camera 3 to acquire the image generated by shooting. The acquisition unit 12 detects the control instruction information printed on the B shown in the image (step S107). When the control instruction information is, for example, a two-dimensional code, it can be read from the code information. The control instruction information includes at least the range information of the placement area that is the destination of the transport, and the predetermined stop position information indicating the position where the transport robot 2 stops near the placement area. The control instruction information may include information on the movement route, identification information of the baggage O, and the like. When the control tag B is hung on the cart 5, the control instruction information may include the size information of the cart 5. The acquisition unit 12 outputs the control instruction information to the movement control unit 14.

[0027] The movement control unit 14 recognizes the instruction indicated by the control instruction information (step S108). When the movement control unit 14 recognizes the transfer origin and the transfer destination placement area from the control instruction information, it performs movement control to couple the coupling mechanism 4 of the transfer robot 2 to the coupling part of the cart 5 on which the baggage O with the control tag B is placed (step S109). This process is one aspect of the process in which the movement control unit 14 controls the transfer robot 2 (transfer device) to a state in which the baggage O can be transported after reading the control instruction information. The movement control unit 14 then performs transport control to move the transfer robot 2 to the transfer destination placement area and transport the baggage (step S110). As a result, the transfer robot 2 moves to the transfer destination placement area by pulling the coupled cart.

[0028] When performing transport control, the movement control unit 14 recognizes route information from the transport origin position to the stop position in the placement area of ​​the transport destination. For example, the transport control device 1 stores route information according to a combination of the transport origin and the stop position in the placement area of ​​the transport destination in advance. The movement control unit 14 reads route information stored in association with the identification information of the transport origin and the identification information of the placement area. The movement control unit 14 performs transport control of the transport robot 2 based on the read route information. Note that the route information includes, for example, information on branching points at which the course is changed on the route and the direction of movement at the branching points. When the movement control unit 14 detects that a branching point has been reached in the transport control, it controls movement in the direction of movement at the branching point.

[0029] Then, the movement control unit 14 recognizes that the transport robot 2 has arrived at the stop position in the placement area of ​​the destination (step S111). The movement control unit 14 may recognize that the transport robot 2 has arrived at the stop position by reading a position code attached to the floor with a reading device such as the camera 3. Alternatively, the movement control unit 14 may identify the position of the transport robot 2 based on position information detected by a position detection sensor in the floor, and determine whether the position matches the stop position to recognize that the transport robot 2 has arrived at the stop position. The movement control unit 14 stops the transport robot 2 at the stop position so that the shooting direction of the camera 3 faces the direction of the placement area. The movement control unit 14 outputs a signal indicating that the transport robot 2 has arrived at the stop position to the control unit 11. The control unit 11 instructs the placement range determination unit 16 to perform processing.

[0030] The placement range determination unit 16 controls the camera 3 to instruct it to capture an image of the placement area. The placement range determination unit 16 acquires an image generated by capturing the image. The placement range determination unit 16 performs a placement range determination process using the captured image including the acquired placement area (step S112).

[0031] FIG. 8 is a second diagram showing the process flow of the transfer control device according to the present embodiment. The process of determining the layout range by the transport control device 1 will be described with reference to FIG. The placement range determination unit 16 recognizes the placement area in the captured image. For example, when the camera 3 is a stereo camera, the placement range determination unit 16 generates a three-dimensional space image of the range based on the distance from the image to each position indicated by the image (step S201). The origin of the three-dimensional space image including the placement area may be the reference position of the placement area.

[0032] The placement range determination unit 16 converts the coordinates of the placement area, which are predetermined in the three-dimensional space image including the placement area, into coordinates in the three-dimensional space image, and specifies the range of the placement area in the three-dimensional space image (step S202). The placement range determination unit 16 acquires the range of the placement area in the three-dimensional space image, the coordinates of a reference position indicating the position where the luggage O is preferentially placed in the placement area range, and luggage information such as the bottom surface area of ​​the luggage O currently being transported.

[0033] Using the acquired information, the placement range determination unit 16 determines whether there is a free area in the placement area that is close to the reference position, where no object is placed, and where there is free space in the bottom shape and bottom area of ​​the currently transported baggage O (step S203). The placement range determination unit 16 can determine that an object is placed when there is an object with height information in the three-dimensional space image of the placement area. Then, within the placement area where no object is placed, if the area is closest to the reference position and the area of ​​the bottom shape of the currently transported baggage O can be secured, the placement range is determined to be that area (step S204).

[0034] Here, an example of the processing of the placement range determination unit 16 will be described in more detail. It is assumed that the placement area is rectangular, and the reference position is the vertex of the placement area that is the furthest from the stop position of the transport robot 2 in the vicinity of the placement area. If the placement range in which the luggage O is placed in the placement area 41 has not been determined, the placement range determination unit 16 aligns one vertex of the rectangular bottom shape of the luggage O with the reference position to determine a temporary placement range, and determines whether the height information of the range indicating the temporary placement range in the three-dimensional space image is higher than the height information indicating the floor. If the height information of the temporary placement range is higher than the height information indicating the floor, the placement range determination unit 16 determines that an object such as another luggage O is placed in the temporary placement range, and excludes the temporary placement range from the range to be determined for the placement range in the placement area.

[0035] The placement range determination unit 16 identifies the remaining range in the placement area shown in the three-dimensional spatial image excluding the tentative placement range, and identifies the apex of that range that is farthest from the stopping position of the transport robot 2 as a new reference position. The placement range determination unit 16 aligns one apex of the rectangular bottom shape of the package O with the new reference position to determine the tentative placement range, and determines whether the height information of the range indicating the tentative placement range in the three-dimensional spatial image is higher than the height information indicating the floor. If the height information of the tentative placement range is higher than the height information indicating the floor, the placement range determination unit 16 determines that an object such as another package O is placed in the tentative placement range, and excludes the tentative placement range from the range to be determined for the placement range in the placement area.

[0036] The above-described process of the placement range determination unit 16 is one aspect of the process of determining a new placement range from a range close to the reference position within the vacant area range, excluding the excluded range.

[0037] If the temporary placement range determined by aligning one vertex of the rectangular bottom shape of package O with the new reference position has an area outside the placement area, the placement range determination unit 16 excludes that temporary placement range from the range to be determined, since package O cannot be placed in that temporary placement range. The placement range determination unit 16 repeats this process. If the height information of all areas of the temporary placement range matches the height information indicating the floor, the placement range determination unit 16 determines that temporary placement range as the placement range for package O currently being transported.

[0038] The above process is one aspect of a process in which image information is acquired that includes placement area information that includes at least a reference position indicating the position at which the transported item is to be preferentially placed in the placement area for the transported item, and information on the range of the placement area, and a placement range in which the transported item can be placed closest to the reference position within the empty area range based on the empty area range within the placement area identified from the image information and the size of the transported item.

[0039] The above-mentioned process for determining the placement range by the placement range determination unit 16 is just one example, and the placement range determination unit 16 may use other methods to determine a placement range in which the transported item can be placed close to the reference position within the vacant area range based on the vacant area range within the placement area and the size of the transported item.

[0040] The placement range determination unit 16 judges whether the placement range has been determined (step S113). If the placement range determination unit 16 has been able to determine the placement range, it converts the coordinates of the placement range in the three-dimensional space image into real space coordinates to calculate the real space coordinates of the placement range. The placement range determination unit 16 outputs the real space coordinates of the placement range to the control unit 11. The control unit 11 outputs the real space coordinates of the placement range to the movement control unit 14 and the obstacle determination unit 15. The movement control unit 14 specifies a movement path from the stop position (current position) of the transport robot 2 to a position where the luggage O can be placed in the real space coordinates of the placement range in the three-dimensional space image obtained from the camera 3 (step S114). The movement control unit 14 may use information such as the size of the dolly 5 to specify the movement path, and calculate a movement path along which the dolly 5 of that size can move. The movement control unit 14 outputs coordinate information of the movement path to the obstacle determination unit 15. The obstacle determination unit 15 determines whether there is an obstacle on the movement path (step S115). If the height information is higher than the height information indicating the floor surface in the range where the transport robot 2 travels, which is indicated by the coordinate information of the movement path, the obstacle determination unit 15 may determine that there is an obstacle. The obstacle determination unit 15 outputs the presence or absence of an obstacle on the movement path to the arrangement range determination unit 16.

[0041] The above processing is one aspect of a process that calculates a movement path from the current position of the transport robot 2 transporting the transported item to the placement range, determines whether there is an obstacle on the movement path, and decides to place the transported item in the placement range when it is determined that there is no obstacle on the movement path.

[0042] If there is no obstacle, the placement range determination unit 16 determines the placement range as the location for luggage O, and outputs route information to the movement control unit 14 to a position for placing luggage O in the placement range. The movement control unit 14 moves based on the route information (step S116). When the movement control unit 14 reaches the end point of the route information, it notifies the control unit 11. The control unit 11 places luggage O in the placement range (step S117).

[0043] If the placement range determination unit 16 determines that there is an obstacle within the range indicated by the movement route, it determines to cancel placement of luggage O (step S118). The placement range determination unit 16 outputs a placement cancellation signal for luggage O to the control unit 11. The control unit 11 transmits an instruction request for the next destination of luggage O based on the cancellation of placement to the management server 10. The management server 10 transmits control instruction information including placement area information indicating the next destination and route information to that destination. When the control unit 11 receives the control instruction information, it performs transportation control in the same manner as the above-mentioned process.

[0044] Note that even if the placement range determination unit 16 is unable to determine the placement range in step S113, it still transmits a request to the management server 10 to instruct the next destination of the package O. The management server 10 transmits control instruction information including placement area information indicating the next destination and route information to the destination. Upon receiving the control instruction information, the control unit 11 performs transportation control in the same manner as the above-mentioned process.

[0045] According to the above process, the transport control device 1 can determine the placement range of the package O in the placement area of ​​the package O, starting from the end of the placement area that is farthest from the stopping position in the vicinity of the placement area. This allows the transported goods to be efficiently placed and stored in accordance with the size of the package O, without having to determine the placement range in the placement area in advance, so that there is no empty space from the end of the placement area.

[0046] In the above process, when it is determined that there is an obstacle on the movement path, the placement range determination unit 16 may determine the placement range determined in the free area range as an excluded range, and repeat the process of determining a new placement range that is a placement range excluding the excluded range and changed within the free area range. Then, when it is determined that there is an obstacle on the movement path, the movement control unit 14 may calculate a new movement path from the current position of the transport robot 2 to the new placement range, and when it is determined that there is an obstacle on the movement path, the obstacle determination unit 15 may repeat the process of determining whether or not there is an obstacle on the new movement path.

[0047] <Other embodiments> In the above process, the transport robot 2 is equipped with the transport control device 1. However, the management server 10 may be equipped with the transport control device 1 and perform the same process as above to control the movement of the transport robot 2, determine the placement range, and control the placement of the luggage O. In addition, in the above process, the mode in which the camera 3 is attached to the transport robot 2 is described, but multiple cameras 3 may be attached to a structure other than the transport robot 2, such as a ceiling, and the transport control device 1 may obtain images including the placement area and images including the movement path from among the images captured by the multiple cameras 3, and perform the same process as above to control the movement of the transport robot 2, determine the placement range, and control the placement of the luggage O.

[0048] When the transport control device 1 is provided in the management server 10, the management server 10 acquires the image information and the position information of the transport robot 2, and the transport control device 1 provided in the management server 10 performs the above-mentioned processing of the control unit 11, acquisition unit 12, movement control unit 14, obstacle determination unit 15, and placement range determination unit 16. In this case, the transport control device 1 calculates a movement route to the placement range determined by the placement range determination unit 16 by the movement control unit 14, and transmits a control signal indicating information of the movement route to the transport robot 2. The transport robot 2 moves and places the transported object O based on the control signal received from the management server 10.

[0049] FIG. 9 is a diagram showing the minimum configuration of the transport control system according to this embodiment. FIG. 10 is a diagram showing a process flow of the transport control system of the minimum configuration according to this embodiment. The transport control system 100 includes at least an acquisition unit 91 and a placement range determination unit 92 . The acquiring means 91 acquires placement area information including at least a reference position indicating a position where an object is preferentially placed in the placement area of ​​the object and information on the range of the placement area, and image information including the placement area (step S301). The placement range determination means 92 determines a placement range in which the transported object closest to the reference position can be placed within the empty area range, based on the empty area range within the placement area identified from the image information and the size of the transported object (step S302).

[0050] Each of the above-mentioned devices has a computer system inside. The steps of each of the above-mentioned processes are stored in a computer-readable recording medium in the form of a program, and the above processes are performed by the computer reading and executing this program. Here, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. Also, the computer program may be distributed to a computer via a communication line, and the computer that receives the program may execute the program.

[0051] The program may be a program for implementing some of the above-mentioned functions, or may be a so-called differential file (differential program) that can implement the above-mentioned functions in combination with a program already recorded in the computer system. [Explanation of symbols]

[0052] 1. Transport control device 2. Transport robot 3. Camera 5... Cart 11. Control section 12...Acquisition part 14. Movement control section 15. Obstacle detection section 16. Placement range determination unit O···Luggage (transported goods) B... Control card 100...Transport control system

Claims

1. an acquiring means for acquiring placement area information including at least a reference position indicating a position where the transported object is preferentially placed in a placement area of ​​the transported object and information on a range of the placement area, and image information including the placement area; a placement range determination means for determining a placement range within the empty area range in which the transported object can be placed closest to the reference position, based on a free area range within the placement area specified from the image information and a size of the transported object; a movement path calculation means for calculating a movement path from a current position of a transport robot that transports an object to the arrangement range; an obstacle determination means for determining the presence or absence of an obstacle on the movement path, the placement range determination means, when it is determined that there is no obstacle on the movement path, determines that the transported object is to be placed in the placement range, and when it is determined that there is an obstacle on the movement path, determines the placement range determined in the free area range as an exclusion range, and repeats the process of determining a new placement range that is a placement range excluding the exclusion range and is changed within the free area range; the movement path calculation means, when it is determined that the obstacle is present on the movement path, repeats a process of calculating a new movement path from a current position of the transport robot to the new arrangement range, The obstacle determining means repeats a process of determining the presence or absence of an obstacle on the new movement path when it is determined that the obstacle is present on the movement path. Transport control system.

2. The arrangement range determination means determines the new arrangement range from a range close to the reference position within the free area range, excluding the excluded range. The transport control system according to claim 1 .

3. a determination means for determining that the transport object has moved to a predetermined position in the vicinity of the placement area of ​​the transport object, The placement range determination means determines the placement range when the transport object moves to a predetermined position near the placement area of ​​the transport object. The transport control system according to claim 1 or 2.

4. Acquire placement area information including at least a reference position indicating a position where the transported object is preferentially placed in a placement area of ​​the transported object and information on a range of the placement area, and image information including the placement area; determining a placement range in which the transported object can be placed within the empty area range, the placement range being close to the reference position, based on a free area range within the placement area identified from the image information and a size of the transported object; Calculating a movement path from a current position of a transport robot that transports an object to the arrangement range; determining whether or not there is an obstacle on the movement path; when it is determined that there is no obstacle on the movement path, it is determined that the transported object is to be placed in the placement range, and when it is determined that there is an obstacle on the movement path, it is determined that the placement range determined in the empty area range is an exclusion range, and a process of determining a new placement range that is a placement range excluding the exclusion range and changed within the empty area range is repeated; repeating a process of calculating a new movement path from a current position of the transport robot to the new arrangement range when it is determined that the obstacle is present on the movement path; When it is determined that the obstacle is present on the moving path, the process of determining whether or not there is an obstacle on the new moving path is repeated. Transport control method.

5. The transport control system computer, an acquiring means for acquiring placement area information including at least a reference position indicating a position where the transported object is preferentially placed in a placement area of ​​the transported object and information on a range of the placement area, and image information including the placement area; a placement range determination means for determining a placement range within the empty area range in which the transported object closest to the reference position can be placed, based on a free area range within the placement area specified from the image information and a size of the transported object; a movement path calculation means for calculating a movement path from a current position of a transport robot that transports an object to the arrangement range; functioning as an obstacle determination means for determining the presence or absence of an obstacle on the movement path; the placement range determination means, when it is determined that there is no obstacle on the movement path, determines that the transported object is to be placed in the placement range, and when it is determined that there is an obstacle on the movement path, determines the placement range determined in the free area range as an exclusion range, and repeats the process of determining a new placement range that is a placement range excluding the exclusion range and is changed within the free area range; the movement path calculation means, when it is determined that the obstacle is present on the movement path, repeats a process of calculating a new movement path from a current position of the transport robot to the new arrangement range, The obstacle determining means repeats a process of determining the presence or absence of an obstacle on the new movement path when it is determined that the obstacle is present on the movement path. program.

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