TRANSPORTATION PROCESSING SYSTEM, TRANSPORTATION PROCESSING DEVICE, AUTONOMOUS TRANSPORTATION VEHICLE, TRANSPORTATION PROCESSING METHOD, AND TRANSPORTATION PROCESSING PROGRAM

Abstract

To provide a transportation processing system capable of accurately notifying a user of positional information of a dropped baggage.SOLUTION: A processor of a transportation processing system for performing a process related to a transportation of an autonomous transport vehicle which transports a baggage, is configured to output dropped baggage data Dfr representing a reaching point Pr by monitoring dropping of the baggage from the autonomous transport vehicle and sensing the reaching point Pr, which is a position reached by the dropped baggage.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a technology for performing processing related to transport of luggage by an autonomous transport vehicle. [Background technology]

[0002] In the technique disclosed in Patent Document 1, when a dropped load is detected in an unmanned guided vehicle, the position of the unmanned guided vehicle at the time of the drop is notified to a following vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4803049 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the baggage that falls from the automated guided vehicle is not necessarily present at the position where the automated guided vehicle was moving when it fell. This is because the point where the baggage falls does not coincide with the position where the automated guided vehicle was moving when it fell, and the position of the baggage that rolls on the ground due to the inertial force when it falls is far away from the position where the automated guided vehicle was moving when it fell. Therefore, with the technology disclosed in Patent Document 1, it is difficult to notify the following vehicle of the exact position of the dropped baggage.

[0005] An object of the present disclosure is to provide a transport processing system, a transport processing device, an autonomous transport vehicle, a transport processing method, and a transport processing program that are capable of accurately reporting the position information of dropped luggage. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is A transportation processing system having a processor (12) and performing processing related to transportation of an autonomous transport vehicle (1) that transports a load (9), The processor Monitoring for dropping of a load from an autonomous transport vehicle; By sensing a destination point (Pr) which is a position where the dropped baggage has arrived, outputting fallen object data (Dfr) which indicates the destination point; Turning off the power supply of the autonomous transport vehicle after outputting the falling object data related to the flammable baggage; It is configured to run.

[0008] A second aspect of the present disclosure is A transport processing device having a processor (12), configured to be mountable on an autonomous transport vehicle (1) that transports luggage (9), and performing processing related to the transport, The processor Monitoring for dropping of a load from an autonomous transport vehicle; By sensing a destination point (Pr) which is a position where the dropped baggage has arrived, outputting fallen object data (Dfr) which indicates the destination point; Turning off the power supply of the autonomous transport vehicle after outputting the falling object data related to the flammable baggage; It is configured to run.

[0009] A third aspect of the present disclosure is An autonomous guided vehicle having a processor (12) and transporting a load (9), The processor Monitoring for falling luggage; By sensing a destination point (Pr) which is a position where the dropped baggage has arrived, outputting fallen object data (Dfr) which indicates the destination point; Turning off the power supply of the autonomous transport vehicle after outputting the falling object data related to the flammable baggage; It is configured to run.

[0010] A fourth aspect of the present disclosure is A transportation processing method for performing processing related to transportation of an autonomous transport vehicle (1) that transports a load (9), comprising: Monitoring for dropping of a load from an autonomous transport vehicle; By sensing a destination point (Pr) which is a position where the dropped baggage has arrived, outputting fallen object data (Dfr) which indicates the destination point; Turning off the power supply of the autonomous transport vehicle after outputting the falling object data related to the flammable baggage; include.

[0011] A fifth aspect of the present disclosure is a method for manufacturing a semiconductor device comprising: A transportation processing program including instructions stored in a storage medium (11) and executed by a processor (12) for carrying out processing related to transportation of an autonomous transport vehicle (1) that transports a load (9), The command is, Monitoring for dropping of a load from an autonomous transport vehicle; By sensing a destination point (Pr) which is a position where the dropped baggage has arrived, dropped object data (Dfr) representing the destination point is output; Turning off the power supply of the autonomous transport vehicle after outputting the falling object data related to the flammable baggage; include.

[0012] In this way, in the first to fifth aspects, the falling of the baggage from the autonomous transport vehicle is monitored. According to the first to fifth aspects, the arrival point of the dropped baggage is sensed, and the fallen object data representing the arrival point is output. In this way, the arrival point where the baggage, which has received an inertial force when it falls, actually stops can be reported by the outputted fallen object data. Therefore, it is possible to accurately report the position information of the dropped baggage. [Brief description of the drawings]

[0013] [Figure 1] 1 is a block diagram showing an overall configuration of a transfer processing system according to a first embodiment. [Diagram 2] FIG. 1 is a perspective view showing a configuration of an autonomous guided vehicle to which a first embodiment is applied. [Diagram 3]1 is a block diagram showing a configuration of an autonomous guided vehicle to which a first embodiment is applied. FIG. [Figure 4] FIG. 2 is a block diagram showing a functional configuration of the transfer processing system according to the first embodiment. [Diagram 5] 5 is a flowchart showing a transport process flow according to the first embodiment. [Figure 6] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 7] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 8] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 9] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 10] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 11] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 12] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 13] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 14] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 15] 5A to 5C are schematic diagrams for explaining a transfer process flow according to the first embodiment. [Figure 16] 6 is a flowchart showing a transport process flow according to a modified example of FIG. 5. [Figure 17] 1 is a block diagram showing a configuration of an autonomous guided vehicle to which a first embodiment is applied. FIG. [Figure 18] 10 is a flowchart showing a transport process flow according to a second embodiment. [Figure 19] 19 is a flowchart showing a modified example of the transport process of FIG. 18 and corresponds to FIG. 16. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. In addition, by assigning the same reference numerals to corresponding components in each embodiment, duplicated descriptions may be omitted. In addition, when only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Furthermore, in addition to the combination of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments can be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0015] First embodiment The transport processing system 10 of the first embodiment shown in FIG. 1 performs processing related to the transport of an autonomous transport vehicle 1 that transports luggage 9 as shown in FIGS. 2 and 3 (hereinafter, referred to as transport-related processing). The autonomous transport vehicle 1 autonomously travels in any direction, forward, backward, left or right. The autonomous transport vehicle 1 may be a delivery vehicle that autonomously travels on a road to transport luggage 9 to a delivery destination. The autonomous transport vehicle 1 may be a logistics vehicle that autonomously travels inside and outside a warehouse to transport luggage 9. The autonomous transport vehicle 1 may of course be a vehicle other than these as long as it has a function of transporting luggage 9. Furthermore, any type of autonomous transport vehicle 1 may receive remote driving assistance or driving control through communication with an external center.

[0016] The autonomous transport vehicle 1 includes a body 2, a drive system 3, a sensor system 4, a map database 5, and an information presentation system 6. The body 2 is formed hollow, for example, from metal or the like. In this embodiment, the body 2 surrounds a luggage compartment 20 that is open toward the top of the exterior from the front, rear, left and right. The luggage compartment 20 in the body 2 has a spatial size that allows at least one piece of luggage 9 to be loaded on the loading platform. In addition to the structure shown in FIG. 2, the structure of the body 2 can be, for example, a structure that surrounds the luggage compartment 20 that is open at the top and front and rear from the left and right, or a structure that does not surround the luggage compartment 20 that is open at the top from the front, rear, left and right, as long as it is possible to assume that the luggage 9 will fall.

[0017] 2 and 3, the drive system 3 includes wheels 30, a battery 32, and an electric actuator 34. A plurality of wheels 30 are supported by the body 2. Each wheel 30 is configured to be independently rotatable. Of the plurality of wheels 30, a pair of drive wheels 300, one on each side of the body 2, are each driven independently by a separate electric actuator 34. Depending on the difference in rotational speed between the drive wheels 300 (i.e., the difference in the number of rotations per unit time), the drive state of the autonomous guided vehicle 1 is switched between linear drive and turning drive.

[0018] Specifically, the autonomous transport vehicle 1 is driven straight when the rotational speed difference between the left and right drive wheels 300 is zero or can be assumed to be zero. On the other hand, when the rotational speed difference between the left and right drive wheels 300 increases, the turning radius of the autonomous transport vehicle 1 is reduced according to the increase in the rotational speed difference. Here, the turning radius means the distance between the vertical center line of the body 2 and the turning center of the turning drive in a plan view, so that the turning drive in which the turning radius is reduced to substantially zero is particularly the turning drive. Note that the wheels 30 may include at least one driven wheel that rotates following the driving wheels 300 as shown in FIG. 2.

[0019] As shown in Fig. 3, the battery 32 is mounted in the body 2. The battery 32 is mainly composed of a storage battery such as a lithium ion battery. The battery 32 stores power by charging from an external source to be supplied to electrical components in the body 2 by discharging. The battery 32 may store regenerated power from the electric actuator 34. The battery 32 is connected to the electric actuator 34, the sensor system 4, the map database 5, the information presentation system 6, and at least a portion of the transport processing system 10 mounted on the autonomous transport vehicle 1 as described below via a wire harness so as to be able to supply power.

[0020] A pair of electric actuators 34 are mounted inside the body 2. Each electric actuator 34 is mainly composed of an individual electric motor. Each electric actuator 34 independently drives and rotates the corresponding drive wheel 300. Each electric actuator 34 may be provided with a brake unit that applies braking to the corresponding drive wheel 300 while the corresponding drive wheel 300 is rotating. Each electric actuator 34 may be provided with a lock unit that locks the corresponding drive wheel 300 while the corresponding drive wheel 300 is stopped.

[0021] The sensor system 4 acquires sensing information usable by the transport processing system 10 by sensing the external and internal worlds of the autonomous transport vehicle 1. To this end, components of the sensor system 4 are mounted at multiple locations on the body 2. Specifically, the sensor system 4 includes an external sensor 40 and an internal sensor 41.

[0022] The external sensor 40 acquires external information as sensing information from the external world that is the surrounding environment of the autonomous transport vehicle 1. The external sensor 40 acquires the external information by detecting an object existing in the external world of the autonomous transport vehicle 1. The external sensor 40 of the object detection type is at least one of a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, sonar, and the like.

[0023] The external sensor 40 may acquire external information by receiving a positioning signal from an artificial satellite of a Global Navigation Satellite System (GNSS) existing in the external world of the autonomous guided vehicle 1. The external sensor 40 of the positioning type is, for example, a GNSS receiver. The external sensor 40 may acquire external information by transmitting and receiving a communication signal between the autonomous guided vehicle 1 and a V2X system existing in the external world of the autonomous guided vehicle 1. The external sensor 40 of the communication type is, for example, at least one of a Dedicated Short Range Communications (DSRC) communication device, a cellular V2X (C-V2X) communication device, a Bluetooth (Bluetooth: registered trademark) device, a Wi-Fi (registered trademark) device, and an infrared communication device. The external sensor 40 of the communication type, particularly the V2X type, may be capable of communicating with at least one of an external center and another autonomous guided vehicle.

[0024] The internal sensor 41 acquires internal information as sensing information from the internal world, which is the internal environment of the autonomous transport vehicle 1. The internal sensor 41 acquires the internal information by detecting luggage 9 on a loading platform in the luggage compartment 20, which is the internal world of the autonomous transport vehicle 1. The internal sensor 41 of the luggage detection type is at least one of a weight sensor, a pressure sensor, a camera, and an RFID (Radio Frequency Identifier) ​​reader, for example. The internal sensor 41 may acquire the internal information by detecting a specific physical amount of motion in the internal world of the autonomous transport vehicle 1. The internal sensor 41 of the motion detection type is at least one of a speed sensor, an acceleration sensor, and a yaw rate sensor, for example.

[0025] The map database 5 stores map information that can be used by the transportation processing system 10. The map database 5 includes at least one type of non-transitory tangible storage medium, for example, a semiconductor memory, a magnetic medium, an optical medium, and the like. The map database 5 may be a database of a locator that estimates the self-state quantity including the self-position of the autonomous guided vehicle 1. The map database 5 may be a database of a planning unit that plans the travel of the autonomous guided vehicle 1. The map database 5 may be configured by combining a plurality of types of these databases, etc.

[0026] The map database 5 acquires and stores the latest map information, for example, by communication with an external center. Here, the map information is converted into two-dimensional or three-dimensional data as information representing the driving environment of the autonomous guided vehicle 1. The map information may include road information representing at least one of the following: the position, shape, and road surface condition of the road itself. The map information may include marking information representing at least one of the following: the positions and shapes of signs and dividing lines attached to the road. The map information may include structure information representing at least one of the positions and shapes of buildings and traffic lights facing the road.

[0027] The information presentation system 6 presents notification information to people in the vicinity of the autonomous transport vehicle 1. The information presentation system 6 may present the notification information by stimulating the vision of the people in the vicinity. The visual stimulation type information presentation system 6 is at least one of a monitor unit and a light-emitting unit, for example. The information presentation system 6 may present the notification information by stimulating the hearing of the people in the vicinity. The auditory stimulation type information presentation system 6 is at least one of a speaker, a buzzer, a vibration unit, for example.

[0028] 1 is mainly composed of at least one dedicated computer including a computer mounted on the body 2 of the autonomous transport vehicle 1. The dedicated computer constituting the transport processing system 10 is connected to a battery 32, an electric actuator 34, a sensor system 4, a map database 5, and an information presentation system 6 shown in FIG. 3 via at least one of a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line.

[0029] 1 may be a planning ECU (Electronic Control Unit) that plans a target trajectory along which the autonomous guided vehicle 1 travels. The dedicated computer that constitutes the transport processing system 10 may be a trajectory control ECU that causes an actual trajectory to follow a target trajectory of the autonomous guided vehicle 1. The dedicated computer that constitutes the transport processing system 10 may be an actuator ECU that controls each electric actuator 34 of the autonomous guided vehicle 1.

[0030] The dedicated computer constituting the transport processing system 10 may be a sensing ECU that controls the sensor system 4 of the autonomous transport vehicle 1. The dedicated computer constituting the transport processing system 10 may be a locator ECU that estimates the self-state quantity including the self-position of the autonomous transport vehicle 1 based on a map database 5. The dedicated computer constituting the transport processing system 10 may be an information presentation ECU that controls the information presentation system 6 of the autonomous transport vehicle 1. The dedicated computer constituting the transport processing system 10 may be a computer outside the body 2 that constitutes an external center or a mobile terminal capable of communicating via, for example, a communication-type external sensor 40.

[0031] The dedicated computer constituting the transport processing system 10 has at least one memory 11 and one processor 12. The memory 11 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. The processor 12 includes at least one type of core, such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a RISC (Reduced Instruction Set Computer)-CPU.

[0032] In the conveyance processing system 10, the processor 12 executes a plurality of instructions included in a control program stored in the memory 11 in order to carry out conveyance-related processing of the autonomous conveyance vehicle 1 that conveys the luggage 9. In this way, the conveyance processing system 10 constructs a plurality of function blocks for carrying out the conveyance-related processing. The plurality of function blocks constructed in the conveyance processing system 10 include a monitoring block 100 and an output block 110 as shown in FIG.

[0033] The method in which the transport processing system 10 performs transport-related processing through cooperation between these blocks 100 and 110 is executed according to the transport processing flow shown in Fig. 5. The transport processing flow is repeatedly executed while the autonomous transport vehicle 1 transports the luggage 9. Note that each "S" in the transport processing flow represents multiple steps executed by multiple commands included in the transport processing program.

[0034] In S100, the monitoring block 100 monitors whether or not the luggage 9 has fallen from the luggage compartment 20 to the outside of the autonomous transport vehicle 1. At this time, the fall of the luggage 9 is detected based on internal information acquired by the luggage detection type internal sensor 41. S100 is repeated until the fall of the luggage 9 is detected in S100, and the transport process flow proceeds to S101 in response to the detection of the fall.

[0035] In S101, the monitoring block 100 temporarily stops the autonomous guided vehicle 1 by controlling each electric actuator 34. In the following S102, the monitoring block 100 judges whether or not a drop point Pf, which is the position where the baggage 9 first falls onto the external ground, has been detected as the baggage falls, as shown in FIG. 6. At this time, the drop point Pf is monitored by an object detection type external sensor 40, particularly preferably based on external information acquired by a LiDAR or stereo camera capable of distance measurement. As a result, if a positive judgment is made as shown in FIG. 5, the transport process flow proceeds to S103.

[0036] In S103, the output block 110 resumes the driving of the autonomous transport vehicle 1, which is temporarily stopped, by controlling each electric actuator 34 so that the autonomous transport vehicle 1 moves to a sensing position Ps that is a distance Ls required for sensing the luggage 9 from the drop point Pf as shown in FIG. 7. At this time, the required distance Ls is set to a distance that allows the autonomous transport vehicle 1 to avoid collision with the luggage 9 by point turning drive as a minimum distance that needs to be secured to sense the luggage 9 at the arrival point Pr, which is the position reached from the drop point Pf as shown in FIGS. 6 and 7. Therefore, as shown in FIG. 8, the required distance Ls may be set to a circumscribed circle diameter around the vertical center line of the autonomous transport vehicle 1 in a plan view, or a safety value obtained by adding a margin to the difference in the circumscribed circle diameter. The driving of the autonomous transport vehicle 1 as a whole to the sensing position Ps may be a linear drive, a turning drive, or a continuous combination of them.

[0037] As shown in FIG. 5, after execution of S103, the transport process flow proceeds to S104. Even if a negative determination is made in S102, the transport process flow proceeds to S104. In S104, the output block 110 performs point turning drive of the entire autonomous transport vehicle 1, as a specific example of at least a part of the autonomous transport vehicle 1, by controlling each electric actuator 34, as shown in FIG. 9. The point turning drive at this time is based on external information acquired by an external sensor 40 of an object detection type, and continues within a maximum range of 360 degrees until the baggage 9 is captured within a sensing area As from the sensor 40. In addition, at this time, the point turning drive at S104 when moving from a negative determination in S102 is a restart of driving the autonomous transport vehicle 1 that is temporarily stopped.

[0038] The capture of the luggage 9 in S104, which determines the point turning drive range, is based on external information acquired by at least one of the external sensors 40 of the object detection type and the communication type. At this time, among the static objects that were outside the sensing area As before the fall, the static objects that are within the sensing area As after the fall may be recognized as the luggage 9. In the capture of the luggage 9 in S104, a static object that exists behind the position where the autonomous guided vehicle 1 passed before the fall may be recognized as the luggage 9. In the capture of the luggage 9 in S104 when the fall point Pf can be detected in S102, a static object that exists around the fall point Pf may be recognized as the luggage 9.

[0039] In S104, the output block 110 determines whether the baggage 9 has been captured within the sensing area As by the turning drive of 360 degrees or less, as shown in Fig. 5. If a negative determination is made as a result, the conveyance process flow proceeds to S105.

[0040] In S105, the output block 110 generates a search map M in order to search for the luggage 9 that may have fallen and reached the blind spot area Ab from the autonomous guided vehicle 1 as shown in Fig. 10. In this embodiment, the search map M is generated by predicting a likelihood representing a probability value of arrival of the luggage 9 after it has fallen for each of a plurality of grids that divide the periphery of the traveling position of the autonomous guided vehicle 1 at the time of the fall as shown in Fig. 11. Such a likelihood is predicted based on at least one of the map information in the map database 5, the traveling route of the autonomous guided vehicle 1 until the fall, the traveling direction of the autonomous guided vehicle 1 at the time of the fall, the distance from the autonomous guided vehicle 1 at the time of the fall, the weight of the luggage 9, the falling point Pf if the luggage 9 can be detected in S102, and the like.

[0041] As shown in Fig. 5, in S106 following S105, the output block 110 sets a search route R for the luggage 9 driven by the autonomous guided vehicle 1 as shown in Fig. 12 based on the generated search map M. At this time, the search route R may be set so that the integrated value of the predicted likelihood for each grid in the sensing area As is maximized. The search route R may be set so that the weighted average value of the likelihood weighted according to the distance from the autonomous guided vehicle 1 at the time of falling for each grid is maximized.

[0042] 5, in S107 following S106, the output block 110 searches for the luggage 9 by controlling each electric actuator 34 to drive the autonomous guided vehicle 1 along a search route R based on the search map M. At this time, the search drive of the autonomous guided vehicle 1 as a whole is based on external information acquired by an object detection type external sensor 40, and continues within the set range of the search route R until the luggage 9 is captured within the sensing area As of the sensor 40 as shown in FIG.

[0043] In S107, the output block 110 judges whether the baggage 9 has been captured within the sensing area As by the search drive on the search route R, as shown in FIG. 5. If a negative judgment is made in S107 because the search for the dropped baggage 9 has failed, the transport process flow proceeds to S108. Even if a negative judgment of capture is made in S107, the transport process flow may return to S106 until the likelihood integrated value or the likelihood weighted average value falls below or below a threshold value previously set by, for example, an experiment, and the like, so that the search route R may be reset within a range of the likelihood integrated value or the likelihood weighted average value smaller than the previous time. In this case, when a negative judgment of capture is made in S107 and a judgment is made that the likelihood integrated value or the likelihood weighted average value is below or below a threshold value, the transport process flow may proceed to S108.

[0044] In S108, the output block 110 outputs the fallen object data Dfl representing the running position of the autonomous guided vehicle 1 at the time when the luggage 9 falls, instead of the fallen object data Dfr representing the arrival point Pr as described later. At this time, the fallen object data Dfl may include information on the falling point Pf when the luggage 9 is detected in S102, in addition to or instead of the information on the running position at the time when the luggage 9 falls. The fallen object data Dfl may include information representing a failure in sensing the arrival point Pr, in addition to or instead of the information on the running position at the time when the luggage 9 falls. The fallen object data Dfl may include information on the time when the luggage 9 falls. The fallen object data Dfl may include information on the running environment other than the running position of the autonomous guided vehicle 1 at and / or before and after the time when the luggage 9 falls. The fallen object data Dfl may include at least one of sensing information and motion information of the autonomous guided vehicle 1 at and / or before and after the time when the luggage 9 falls. The falling object data Dfl may include information indicating at least one of the following: type, size, weight, packaging state, and destination of the baggage 9, for example.

[0045] The output in S108 may be accumulation of the fallen object data Dfl by storing it in the memory 11. The output in S108 may be distribution output of the fallen object data Dfl to at least one of an external center and another autonomous guided vehicle outside the autonomous guided vehicle 1. The output in S108 may be presentation output of alarm information as notification information based on the fallen object data Dfl to the outside of the autonomous guided vehicle 1 by at least one of visual stimulation and auditory stimulation by the information presentation system 6.

[0046] On the other hand, if a positive determination is made in S107, the transport process flow proceeds to S109. If a positive determination is made in S104, the transport process flow also proceeds to S109. In S109, the output block 110 detects the relative state of the sensing area As with respect to the luggage 9 at the time of capture, as shown in Figs. 14 and 15. In this detection, it is determined whether or not the entire luggage 9, which is 100%, or a part of the luggage 9, which is less than 100%, is within the sensing area As, as a proportion required for sensing the arrival point Pr. As a result, if a negative determination is made as shown in Fig. 5 (see Fig. 14), the transport process flow proceeds to S110.

[0047] In S110, the output block 110 controls the electric actuators 34 to additionally drive the autonomous guided vehicle 1 so that a proportion of the autonomous guided vehicle 1 required for sensing the arrival point Pr falls within the sensing area As (see FIG. 15). At this time, the additional drive of the autonomous guided vehicle 1 as a whole may be a linear drive, a turning drive, or a continuous combination thereof.

[0048] After execution of S110, the transport process flow proceeds to S111. If a positive determination is made in S109 (see FIG. 15), the transport process flow also proceeds to S111. In S111, the output block 110 senses the arrival point Pr where the baggage 9 that has fallen within the sensing area As finally reaches and stops after falling. In the following S112, the output block 110 outputs fallen object data Dfr representing the sensed arrival point Pr.

[0049] The fallen object data Dfr output in S112 may include information on the falling point Pf when the object is detected in S102. The fallen object data Dfr may include information on the time when the object 9 falls. The fallen object data Dfr may include information on the driving environment for the autonomous guided vehicle 1 at the time when the object 9 falls and / or before and after the time. The fallen object data Dfr may include at least one of sensing information and motion information of the autonomous guided vehicle 1 at the time when the object 9 falls and / or before and after the time. The fallen object data Dfr may include information indicating at least one of the type, size, weight, packaging state, and destination of the object 9, for example.

[0050] The output in S112 may be accumulation of the falling object data Dfr by storing it in the memory 11. The output in S112 may be distribution output of the falling object data Dfr to at least one of an external center and another autonomous guided vehicle outside the autonomous guided vehicle 1. The output in S112 may be presentation output of alarm information as notification information based on the falling object data Dfr to the outside of the autonomous guided vehicle 1 by at least one of visual stimulation and auditory stimulation by the information presentation system 6.

[0051] As shown in Fig. 5, after the execution of S112 and S108, the current execution of the transport processing flow ends, but as shown in a modified example in Fig. 16, before the end of the current execution, a post-control process by the output block 110 may be additionally executed as S113. In this case, the post-control process may be a process of controlling the maximum time rate of change of at least one of the speed and attitude angle of the autonomous transport vehicle 1 to be smaller than that before the load 9 was dropped after the fallen object data Dfr and Dfl are output by S112 and S108. Such a control process of the rate of change is realized, for example, by suppressing and adjusting the maximum value of at least one of the acceleration (however, including deceleration with a negative sign) and yaw rate of the autonomous transport vehicle 1 to be smaller than that before the load 9 was dropped.

[0052] Besides these, the post-control process of S113 may be a process of controlling the power supply of the autonomous guided vehicle 1 to be turned off (i.e., a shutdown process) after the output of the fallen object data Dfr, Dfl by S112, S108 in the case of a flammable baggage 9. The post-control process may be a process of changing the planned travel route of the autonomous guided vehicle 1 to a route in which changes in travel conditions due to curves, gradients, etc. are suppressed after the output of the fallen object data Dfr, Dfl by S112, S108. The post-control process may be a process of delivering the imaging results of the luggage compartment 20 to at least one of an external center and other autonomous guided vehicles by driving the autonomous guided vehicle 1 to an installation location of an infrastructure camera after the output of the fallen object data Dfr, Dfl by S112, S108.

[0053] (Action and effect) The effects of the first embodiment described above will be described below.

[0054] In the first embodiment, the falling of the luggage 9 from the autonomous transport vehicle 1 is monitored. According to the first embodiment, the arrival point Pr of the dropped luggage 9 is sensed, and the fallen object data Dfr representing the arrival point Pr is output. As a result, the arrival point Pr where the luggage 9, which has received an inertial force while falling, actually stops can be reported by the outputted fallen object data Dfr. Therefore, it is possible to accurately report the position information of the dropped luggage 9.

[0055] According to the first embodiment, at least a part of the autonomous transport vehicle 1 is driven to turn, so that the dropped baggage 9 is captured within the sensing area As of the vehicle 1. This makes it possible to sense the arrival point Pr of the baggage 9, which is expected to be around the traveling position of the autonomous transport vehicle 1 when the baggage falls, without being overlooked by the autonomous transport vehicle 1, which has a limited driving range. This makes it possible to ensure the reliability of accurately reporting the position information of the dropped baggage 9.

[0056] According to the first embodiment, the autonomous transport vehicle 1 is entirely driven to make a point turn by the drive system 3, so that the luggage 9 can be accurately captured within the sensing area As even by the vehicle 1 with a limited driving range. This makes it possible to increase the reliability of accurately reporting the position information of the dropped luggage 9.

[0057] According to the first embodiment, the dropped baggage 9 is an object that was outside the sensing area As before it was dropped, but is captured within the sensing area As. This makes it easier to prevent the autonomous guided vehicle 1 from overlooking the baggage 9 at the expected arrival point Pr, which is located in a location that was outside the sensing area As before it was dropped, from being overlooked by the autonomous guided vehicle 1, so that the arrival point Pr can be properly sensed. This makes it possible to increase the reliability of accurately reporting the position information of the dropped baggage 9.

[0058] In the first embodiment, the drop point Pf where the luggage 9 has fallen is monitored. According to the first embodiment, the autonomous transport vehicle 1 is driven to a sensing position Ps that is a distance Ls away from the drop point Pf that is necessary for sensing the arrival point Pr, and the dropped luggage 9 is captured within the sensing area As. As a result, the luggage 9 at the arrival point Pr expected to be around the drop point Pf among the areas around the traveling position of the autonomous transport vehicle 1 at the time of falling can be sensed while preventing collision with the autonomous transport vehicle 1 at the appropriate sensing position Ps. Therefore, it is possible to increase the reliability of accurately reporting the position information of the dropped luggage 9.

[0059] According to the first embodiment, the dropped luggage 9 is captured within the sensing area As by restarting the driving of the autonomous guided vehicle 1 that was stopped temporarily in response to the dropping of the luggage 9. This makes it easier to prevent the luggage 9 at the expected arrival point Pr around the traveling position of the autonomous guided vehicle 1 from being overlooked when driving from a temporary stop position, so that the arrival point Pr can be properly sensed. This makes it possible to increase the reliability of accurately reporting the position information of the dropped luggage 9.

[0060] According to the first embodiment, the luggage 9 that has fallen and reached the blind spot area Ab from the autonomous guided vehicle 1 is searched by driving the autonomous guided vehicle 1 and captured in the sensing area As. With this, even if the luggage 9 is expected to have a arrival point Pr around the traveling position of the autonomous guided vehicle 1 when it falls, the arrival point Pr of the luggage 9 that has reached the blind spot area Ab can be sensed by searching. Therefore, it is possible to increase the reliability of accurately reporting the position information of the dropped luggage 9.

[0061] According to the first embodiment, when a search for the dropped luggage 9 fails, the dropped object data Dfl representing the traveling position of the autonomous guided vehicle 1 at the time when the luggage 9 fell is output instead of the arrival point Pr. This makes it possible to notify the minimum position information regarding the dropped luggage 9 in a situation where the luggage 9 has been lost even after a search.

[0062] The fallen object data Dfr according to the first embodiment is distributed to the outside of the autonomous guided vehicle 1. In this way, the actual arrival point Pr of the luggage 9 that has received the inertial force when falling can be reported by the distributed fallen object data Dfr. Therefore, it is possible to accurately report the position information of the fallen luggage 9 to the distribution destination of the fallen object data Dfr.

[0063] According to the first embodiment, an alarm based on the fallen object data Dfr is output to the outside of the autonomous transport vehicle 1. This makes it possible to notify the falling of the luggage 9 itself by the output alarm, thereby improving the safety of the transport environment.

[0064] According to the first embodiment, after the output of the fallen object data Dfr, the maximum time rate of change of at least one of the speed and attitude angle of the autonomous guided vehicle 1 is controlled to be smaller than that before the luggage 9 falls. As a result, once the luggage 9 falls, the time change of at least one of the speed and attitude angle is suppressed, so that the possibility of the remaining luggage 9 falling, which is a concern, can be reduced. Therefore, it is possible to increase the safety of the transport environment by suppressing the continuous falling of the luggage 9.

[0065] According to the first embodiment, the power supply to the autonomous transport vehicle 1 is turned off after outputting the fallen object data Dfr regarding the flammable baggage 9. This reduces the risk of the autonomous transport vehicle 1 colliding with the fallen flammable baggage 9, making it possible to increase the safety of the transport environment.

[0066] Second Embodiment As shown in FIG. 17, the second embodiment is a modification of the first embodiment.

[0067] An external sensor 2040 used for sensing the arrival point Pr in the sensor system 2004 of the second embodiment is configured to be capable of being driven to turn 360 degrees by a sensor driving unit 2042 in a part of the autonomous guided vehicle 1 .

[0068] In the transport process flow of the second embodiment, as shown in Figs. 18 and 19, in S2104 instead of S104 in the first embodiment, the output block 110 controls the sensor driving unit 2042 in a part of the autonomous transport vehicle 1 to perform point turning drive of the external sensor 2040 in that part. The point turning drive at this time is also based on external information acquired by the external sensor 2040 of an object detection type, and continues within a maximum range of 360 degrees until the baggage 9 is captured within the sensing area As from the sensor 2040. In addition, at this time, additional driving at S111 following S2104 when transitioning from the fire negative determination at S102 is the resumption of driving of the autonomous transport vehicle 1 after a temporary stop.

[0069] According to the second embodiment, the sensor system 2004 for sensing the arrival point Pr is driven to rotate in a part of the autonomous guided vehicle 1, so that the baggage 9 can be accurately captured within the sensing area As even from the sensor system 2004 with a limited driving range. Therefore, it is possible to increase the reliability of accurately reporting the position information of the dropped baggage 9.

[0070] (Other embodiments) Although several embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0071] In a modified example, the dedicated computer constituting the transport processing system 10 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device), etc. In addition, such a digital circuit may have a memory that stores a program.

[0072] In the modified transport processing flow, S102 to S103 may be omitted, and the flow may proceed to S104 and S2104 after S101 is executed. In the modified transport processing flow, S109 to S110 may be omitted, and the flow may proceed to S111 after S108 is executed and from positive determinations in S104 and S2104. In the modified transport processing flow, S105 to S107 may be omitted, and the flow may proceed to S108 if negative determinations are made in S104 and S2104. In the modified transport processing flow, S105 to S108 may be omitted, and the current execution of the flow may end if negative determinations are made in S104 and S2104.

[0073] In addition to the forms described so far, the above-mentioned embodiments and modified examples may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.) as a transport processing device configured to be mounted on an autonomous transport vehicle 1, or as an autonomous transport vehicle 1 equipped with the transport processing device.

[0074] (Additional remarks) This specification discloses the following technical ideas and combinations thereof.

[0075] (Technical thought 1) A transportation processing system having a processor (12) and performing processing related to transportation of an autonomous transport vehicle (1) that transports a load (9), The processor Monitoring for dropping of a load from an autonomous transport vehicle; A conveying processing system configured to execute the steps of: sensing a arrival point (Pr), which is a position where a dropped cargo arrives, and outputting fallen object data (Dfr) representing the arrival point.

[0076] (Technical thought 2) Outputting falling object data is A transport processing system according to technical idea 1, which includes capturing a dropped load within a sensing area (As) from the autonomous transport vehicle by turning at least a part of the autonomous transport vehicle.

[0077] (Technical Thought 3) Outputting falling object data is The transport processing system according to Technical Idea 2 includes driving the entire autonomous transport vehicle in a point-turning manner by a drive system (3) that drives the autonomous transport vehicle.

[0078] (Technical Thought 4) Outputting falling object data is A transport processing system according to technical idea 2, which includes a sensor system (2004) for sensing the arrival point, which is driven in a turning manner in a part of the autonomous transport vehicle.

[0079] (Technical Thought 5) Outputting falling object data is A transport processing system according to any one of Technical Ideas 1 to 4, which includes capturing an object outside the sensing area within the sensing area before it falls as a dropped load.

[0080] (Technical Thought 6) Monitoring for falling luggage is Monitoring the point of fall (Pf) of the load, Outputting falling object data is A transport processing system described in any one of technical ideas 1 to 5, which includes capturing the dropped luggage within a sensing area by driving an autonomous transport vehicle to a sensing position (Ps) that is a distance (Ls) away from the drop point required for sensing the arrival point.

[0081] (Technical Thought 7) Outputting falling object data is A transport processing system according to any one of technical ideas 1 to 6, which includes capturing the dropped luggage within a sensing area by resuming driving of an autonomous transport vehicle that has temporarily stopped in response to the luggage falling.

[0082] (Technical Thought 8) Outputting falling object data is A transport processing system according to any one of technical ideas 1 to 7, which includes driving the autonomous transport vehicle to search for and capture within a sensing area any luggage that has fallen and fallen into a blind spot area (Ab) from the autonomous transport vehicle.

[0083] (Technical Thought 9) Outputting falling object data is A transport processing system as described in technical idea 8, which includes outputting fallen object data (Dfl) representing the traveling position of the autonomous transport vehicle at the time the object fell instead of the arrival point when the search for the dropped object fails.

[0084] (Technical Thought 10) Outputting falling object data is The transport processing system according to any one of Technical Ideas 1 to 9, further comprising distributing the fallen object data to an outside of the autonomous transport vehicle.

[0085] (Technical Thought 11) Outputting falling object data is 11. The transport processing system according to any one of Technical Ideas 1 to 10, further comprising outputting an alarm based on the falling object data to the outside of the autonomous transport vehicle.

[0086] (Technical Thought 12) The processor A transport processing system as described in any one of technical ideas 1 to 11, further configured to control the maximum time rate of change of at least one of the speed and attitude angle of the autonomous transport vehicle to be smaller than that before the cargo fell, after outputting the fallen object data.

[0087] (Technical Thought 13) The processor The transport processing system according to any one of Technical Ideas 1 to 12, further configured to turn off the power supply of the autonomous transport vehicle after outputting the falling object data regarding the flammable cargo.

[0088] (Technical Thought 14) A transport processing device having a processor (12), configured to be mountable on an autonomous transport vehicle (1) that transports luggage (9), and performing processing related to the transport, The processor Monitoring for dropping of a load from an autonomous transport vehicle; and outputting fallen object data (Dfr) representing a position where the dropped object has arrived by sensing the arrival point (Pr).

[0089] (Technical Thought 15) An autonomous guided vehicle having a processor (12) and transporting a load (9), The processor Monitoring for falling luggage; The autonomous transport vehicle is configured to execute the following: sensing a arrival point (Pr), which is a position where a dropped load has arrived, and outputting fallen object data (Dfr) representing the arrival point.

[0090] (Technical Thought 16) A transportation processing method for performing processing related to transportation of an autonomous transport vehicle (1) that transports a load (9), comprising: Monitoring for dropping of a load from an autonomous transport vehicle; A conveying processing method including: sensing a destination point (Pr) which is a position where the dropped cargo has arrived; and outputting fallen object data (Dfr) which represents the destination point.

[0091] (Technical Thought 17) A transportation processing program including instructions stored in a storage medium (11) and executed by a processor (12) for carrying out processing related to transportation of an autonomous transport vehicle (1) that transports a load (9), The command is, Monitoring for dropping of a load from an autonomous transport vehicle; A transportation processing program including: sensing a destination point (Pr) that is a position where a dropped load has arrived, and outputting fallen object data (Dfr) that represents the destination point. [Explanation of symbols]

[0092] 1: Transport processing system, 3: Drive system, 4,2004: Sensor system, 9: Baggage, 10: Autonomous transport vehicle, 11: Memory, 12: Processor, Ab: Blind spot area, As: Sensing area, Dfl, Dfr: Falling object data, Ls: Required distance, Pf: Falling point, Pr: Arrival point, Ps Sensing position

Claims

1. A transport processing system having a processor (12) and performing processing related to the transport of an autonomous transport vehicle (1) transporting a load (9), comprising: The processor, monitoring for a drop of the load from the autonomous guided vehicle; outputting fallen object data (Dfr) representing a position where the dropped object has arrived by sensing the position where the dropped object has arrived; A transportation processing system configured to execute the steps of: turning off the power of the autonomous transport vehicle after outputting the falling object data regarding the flammable luggage.

2. Outputting the falling object data includes: The transport processing system of claim 1 , further comprising: capturing the dropped load within a sensing area (As) from the autonomous transport vehicle by driving at least a portion of the autonomous transport vehicle in a point-turning manner.

3. Outputting the falling object data includes: The transport processing system according to claim 2 , further comprising a drive system (3) for driving the autonomous transport vehicle, the drive system (3) driving the autonomous transport vehicle to perform point turning motion on the entire autonomous transport vehicle.

4. Outputting the falling object data includes: The transport processing system according to claim 2 , further comprising: driving a sensor system (2004) for sensing the arrival point in a point-turning manner in a portion of the autonomous transport vehicle.

5. Outputting the falling object data includes: The conveying processing system according to any one of claims 1 to 4, further comprising capturing an object outside a sensing area (As) from the autonomous transport vehicle before the dropped object within the sensing area as the dropped object.

6. Monitoring the drop of the load includes: monitoring the point of fall (Pf) of the load; Outputting the falling object data includes: A conveying processing system as described in any one of claims 1 to 4, comprising capturing the dropped luggage within a sensing area (As) from the autonomous conveying vehicle by driving the autonomous conveying vehicle to a sensing position (Ps) that is a distance (Ls) required for sensing the arrival point from the drop point.

7. Outputting the falling object data includes: A conveying processing system as described in any one of claims 1 to 4, comprising capturing the fallen luggage within a sensing area (As) from the autonomous conveying vehicle by resuming driving of the autonomous conveying vehicle, which was temporarily stopped in response to the fall of the luggage.

8. Outputting the falling object data includes: The transport processing system according to any one of claims 1 to 4, further comprising: searching for the luggage that has fallen and fallen into a blind spot area (Ab) from the autonomous transport vehicle by driving the autonomous transport vehicle and capturing it within a sensing area (As) from the autonomous transport vehicle.

9. Outputting the falling object data includes: The conveying processing system of claim 8, further comprising: if a search for the dropped luggage fails, outputting the fallen object data (Dfl) representing the traveling position of the autonomous transport vehicle at the time the luggage fell instead of the arrival point.

10. Outputting the falling object data includes: The transport processing system according to any one of claims 1 to 4, further comprising distributing the fallen object data to an outside of the autonomous transport vehicle.

11. Outputting the falling object data includes:

5. The transport processing system according to claim 1, further comprising: outputting an alarm based on the fallen object data to an outside of the autonomous transport vehicle.

12. The processor, The conveying processing system according to any one of claims 1 to 4, further configured to control, after outputting the fallen object data, a maximum time rate of change of at least one of the speed and attitude angle of the autonomous conveying vehicle to be smaller than that before the load fell.

13. A transport processing device having a processor (12), configured to be mountable on an autonomous transport vehicle (1) that transports luggage (9), and performing processing related to the transport, The processor, monitoring for a drop of the load from the autonomous guided vehicle; outputting fallen object data (Dfr) representing a position where the dropped object has arrived by sensing the position where the dropped object has arrived; and turning off the power supply of the autonomous transport vehicle after outputting the falling object data regarding the flammable luggage.

14. An autonomous guided vehicle having a processor (12) and transporting a load (9), The processor, monitoring the dropping of said load; outputting fallen object data (Dfr) representing a position where the dropped object has arrived by sensing the position where the dropped object has arrived; and turning off the power of the autonomous transport vehicle after outputting the falling object data regarding the flammable luggage.

15. A transportation processing method for performing processing related to transportation of an autonomous transport vehicle (1) transporting a load (9), comprising: monitoring for a drop of the load from the autonomous guided vehicle; outputting fallen object data (Dfr) representing a position where the dropped object has arrived by sensing the position where the dropped object has arrived; A transportation processing method including: turning off a power supply to the autonomous transport vehicle after outputting the falling object data regarding the flammable luggage.

16. A transportation processing program including instructions stored in a storage medium (11) and executed by a processor (12) for carrying out processing related to transportation of an autonomous transport vehicle (1) that transports a load (9), The instruction: monitoring for a drop of the load from the autonomous transport vehicle; outputting fallen object data (Dfr) representing a position where the dropped object has arrived by sensing the arrival point (Pr); and turning off a power supply to the autonomous transport vehicle after outputting the falling object data regarding the flammable luggage.

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