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

Abstract

To improve conveyance efficiency.SOLUTION: A conveyance control system 1 comprises a communication unit 11, a determination unit 101, and a conveyance control unit 102. The determination unit 101 determines whether or not to be in a full state where loads are arranged at all plural arrangement positions inside a first area. The conveyance control unit 102 gives a conveyance instruction to a conveyance robot 2 via the communication unit 11. The conveyance control unit 102 determines propriety of conveyance of the loads into the first area, based on a determination result of the full state that is obtained by the determination unit 101. The determination unit 101 determines that the first area is in the full state when receiving conveying-in information indicating that the conveyance robot 2 unloads the loads at a first arrangement position. The first arrangement position is an arrangement position through which the conveyance robot 2 first passes when entering the first area along a first conveyance path, among the plural arrangement positions.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a transport control system, a transport system, a transport control method, and a program. More specifically, the present disclosure relates to a transport control system, a transport system, a transport control method, and a program that control a transport operation by a transport robot that transports luggage. [Background technology]

[0002] Patent Document 1 discloses an automated guided vehicle (transport robot) that transports a dolly (baggage). The automated guided vehicle slides under the dolly and is coupled to the dolly by lifting the bottom of the dolly with a lift mechanism. The automated guided vehicle transports the dolly by traveling while coupled to the dolly. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-77295 A Summary of the Invention [Problem to be solved by the invention]

[0004] When an unmanned guided vehicle receives a transport instruction and transports a cart to a designated area, if the designated area is full and there is no space to place the cart, the unmanned guided vehicle must either make space in the designated area to place the cart or move the cart to another location during transport, resulting in reduced efficiency of the transport operation.

[0005] An object of the present disclosure is to provide a transport control system, a transport system, a transport control method, and a program that can improve transport efficiency. [Means for solving the problem]

[0006] A transport control system according to an embodiment of the present disclosure includes a communication unit, a determination unit, and a transport control unit. The communication unit communicates with a transport robot capable of transporting luggage. The determination unit determines whether a first area is full with luggage placed at all of a plurality of placement positions. A first transport path through which the transport robot can enter along a first direction is set in the first area, and the plurality of placement positions at which the luggage can be placed are set side by side on the first transport path. The transport control unit issues an instruction to the transport robot to transport the luggage via the communication unit. The transport control unit determines whether or not the load can be carried into the first area based on the result of the determination of the full state by the determination unit. When the communication unit receives from the transport robot carry-in information indicating that the transport robot has unloaded the load at a first placement position that the transport robot passes first when it enters the first area along the first transport path among the multiple placement positions, the determination unit determines that the first area is in the full state. When the judgment unit determines that the first area is in the full state and the communication unit receives vacancy information from the transport robot indicating that the luggage is not placed in at least one of the multiple placement positions in the first area, the transport control unit outputs a first alignment instruction from the communication unit to the transport robot to pack and arrange the luggage placed in the first area in the first direction. A transport control system according to an embodiment of the present disclosure includes a communication unit, a determination unit, and a transport control unit. The communication unit communicates with a transport robot capable of transporting luggage. The determination unit determines whether a first area is full with luggage placed at all of a plurality of placement positions. A first transport path through which the transport robot can enter along a first direction is set in the first area, and the plurality of placement positions at which the luggage can be placed are set side by side on the first transport path. The transport control unit issues an instruction to the transport robot to transport the luggage via the communication unit. The transport control unit determines whether or not the load can be carried into the first area based on the result of the determination of the full state by the determination unit. When the communication unit receives from the transport robot carry-in information indicating that the transport robot has unloaded the load at a first placement position that the transport robot passes first when it enters the first area along the first transport path among the multiple placement positions, the determination unit determines that the first area is in the full state.The determination unit determines whether the luggage is placed at all of the multiple placement positions in a second area in which the multiple first areas are arranged side by side in a third direction intersecting the first direction. The luggage includes a first luggage and a second luggage having different attributes. The transport control unit issues a transport instruction to the transport robot that carries the first luggage into the second area so that the first luggage is placed from the first area on one end side in the third direction. The transport control unit issues a transport instruction to the transport robot that carries the second luggage into the second area so that the second luggage is placed from the first area on the other end side in the third direction. After the transport operation of the multiple luggage to the second area is completed, the transport control unit causes the communication unit to output a second alignment instruction to the transport robot to pack and place the luggage placed in the second area on one side in the third direction.

[0007] A transport system according to one aspect of the present disclosure includes the transport control system and the transport robot that transports the luggage based on the transport instruction from the transport control system.

[0008] A transport control method according to an aspect of the present disclosure includes a determination process and a transport control process. In the determination process, it is determined whether a first area is full with luggage placed at all of a plurality of placement positions. In the first area, a first transport path is set through which a transport robot capable of transporting the luggage can enter along a first direction, and the plurality of placement positions at which the luggage can be placed are set side by side on the first transport path. In the transport control process, an instruction to transport the luggage is given to the transport robot. In the transport control process, it is determined whether or not the load of the cargo can be carried into the first area based on the result of the determination process of the full state. In the determination process, when carry-in information indicating that the transport robot has unloaded the cargo at a first arrangement position that the transport robot passes first when it enters the first area along the first transport path among the plurality of arrangement positions is received from the transport robot, it is determined that the first area is in the full state. When the judgment process determines that the first area is in the full state and vacancy information indicating that the luggage is not placed in at least one of the multiple placement positions in the first area is received from the transport robot, the transport control process outputs a first alignment instruction to the transport robot to pack the luggage placed in the first area in the first direction. A transport control method according to an aspect of the present disclosure includes a determination process and a transport control process. In the determination process, it is determined whether a first area is full with luggage placed at all of a plurality of placement positions. In the first area, a first transport path is set through which a transport robot capable of transporting the luggage can enter along a first direction, and the plurality of placement positions at which the luggage can be placed are set side by side on the first transport path. In the transport control process, an instruction to transport the luggage is given to the transport robot. In the transport control process, it is determined whether or not the load of the cargo can be carried into the first area based on the result of the determination process of the full state. In the determination process, when carry-in information indicating that the transport robot has unloaded the cargo at a first arrangement position that the transport robot passes first when it enters the first area along the first transport path among the plurality of arrangement positions is received from the transport robot, it is determined that the first area is in the full state. In the determination process, it is determined whether the luggage is placed at all of the multiple placement positions in a second area in which the multiple first areas are arranged side by side in a third direction intersecting the first direction. The luggage includes a first luggage and a second luggage having different attributes. In the transport control process, a transport instruction is given to the transport robot that carries the first luggage into the second area so that the first luggage is placed from the first area on one end side in the third direction. In the transport control process, a transport instruction is given to the transport robot that carries the second luggage into the second area so that the second luggage is placed from the first area on the other end side in the third direction. In the transport control process, after the transport operation of the multiple luggage to the second area is completed, a second alignment instruction is output to the transport robot to arrange the luggage placed in the second area on one side in the third direction.

[0009] A program according to one aspect of the present disclosure is a program for causing a computer system to execute the transport control method. Effect of the Invention

[0010] According to the present disclosure, it is possible to improve the transport efficiency. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic system configuration diagram of a transport system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a perspective view of a state before a transfer robot included in the transfer system holds a dolly. [Diagram 3] FIG. 3 is a perspective view of the transport robot transporting a cart. [Figure 4] FIG. 4 is a schematic plan view of a facility where the transfer robot performs transfer operations. [Diagram 5] FIG. 5 is a schematic plan view illustrating a transfer operation by the transfer robot. [Figure 6] FIG. 6 is a schematic plan view illustrating a transfer operation by the transfer robot. [Figure 7] FIG. 7 is a schematic plan view illustrating a transfer operation by the transfer robot. [Figure 8] FIG. 8 is a flow chart when the above-mentioned transfer control system causes the transfer robot to perform a loading operation. [Figure 9] FIG. 9 is a flow chart when the above-mentioned transfer control system causes the transfer robot to perform a carry-out operation. [Figure 10] FIG. 10 is a schematic plan view illustrating a transfer operation by the transfer robot. [Figure 11] FIG. 11 is a schematic plan view illustrating a transfer operation by the transfer robot. [Figure 12] FIG. 12 is a schematic plan view illustrating a transfer operation by the transfer robot. [Figure 13] FIG. 13 is a schematic plan view illustrating a transfer operation by the transfer robot. [Figure 14] FIG. 14 is a schematic plan view illustrating a transfer operation by the transfer robot. [Figure 15] FIG. 15 is a schematic plan view illustrating a transfer operation by the transfer robot. [Figure 16] FIG. 16 is a schematic plan view illustrating a transfer operation performed by a transfer robot included in the transfer system of the first modification. [Figure 17] FIG. 17 is a schematic plan view illustrating a transfer operation by the transfer robot of the first modification. [Figure 18]FIG. 18 is a schematic plan view illustrating a transfer operation by the transfer robot of the first modification. [Figure 19] FIG. 19 is a schematic plan view illustrating a transfer operation by the transfer robot of the first modification. [Figure 20] FIG. 20 is a schematic plan view illustrating a transfer operation by the transfer robot of the first modification. [Figure 21] FIG. 21 is a schematic plan view illustrating a transfer operation by the transfer robot of the first modification. [Figure 22] FIG. 22 is a schematic plan view illustrating a transfer operation by a transfer robot included in the transfer system of the second modification. [Figure 23] FIG. 23 is a schematic plan view illustrating a transfer operation by the transfer robot of the second modification. [Figure 24] FIG. 24 is a schematic plan view illustrating a transfer operation by the transfer robot of the second modification. [Diagram 25] FIG. 25 is a schematic plan view illustrating a transfer operation by the transfer robot of the second modification. [Figure 26] FIG. 26 is a schematic plan view illustrating a transfer operation by the transfer robot of the second modification. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] (Embodiment) (1) Overview Each drawing described in the following embodiments is a schematic drawing, and the size and thickness ratios of each component in each drawing do not necessarily reflect the actual dimensional ratios.

[0013] As shown in Figs. 1 to 3, the transport control system 1 according to this embodiment is a system for controlling a transport operation by a transport robot 2 for transporting luggage 30. In the following description, the directions are defined as indicated by the arrows "up", "down", "left", "right", "front" and "rear" in Figs. 2 and 3. These directions are defined as directions when the transport robot 2 moves forward while holding the luggage 30, and are not intended to limit the direction in which the transport robot 2 is used. Moreover, the arrows indicating the directions in the drawings are merely indicated for the purpose of explanation and do not have any substance.

[0014] The transport control system 1 of this embodiment and the transport system 3 including the transport robot 2 are introduced into a facility F1 (see FIG. 4) such as a factory, a logistics center (including a distribution center), an office, a store, a school, or a hospital. The transport robot 2 moves by running on a moving surface 200 with one or more wheels 27. The moving surface 200 is the surface on which the transport robot 2 moves, and when the transport robot 2 moves within the facility F1, the floor surface of the facility F1 or the like becomes the moving surface 200, and when the transport robot 2 moves outdoors, the ground or the like becomes the moving surface 200.

[0015] In the following, a case will be described in which the transport robot 2 transports the luggage 30 between a storage area B1 in which a plurality of luggage 30 are stored and a first area A1 in a facility F1 (see FIG. 4) such as a logistics center. The first area A1 is provided adjacent to a shipping / receiving area C1. The shipping / receiving area C1 includes a truck yard where trucks 40 transporting the luggage 30 are parked. In the shipping / receiving area C1, a loading operation of loading the luggage 30 onto a parked truck 40 or an unloading operation of unloading the luggage 30 from the parked truck 40 is performed. The first area A1 is a temporary storage area where the luggage 30 to be loaded onto the truck 40 or the luggage 30 unloaded from the truck 40 is temporarily stored.

[0016] FIG. 4 is a schematic plan view showing an example of a moving surface 200 on which the transport robot 2 moves inside the facility F1. The facility F1 is provided with the above-mentioned receiving / shipping area C1, the first area A1 which is a temporary storage area, and a storage area B1. A transport path RT1 on which the transport robot 2 can move is set on the moving surface 200 of the facility F1, and the transport robot 2 autonomously travels along the transport path RT1. In this embodiment, a first transport path RT10 is set in the first area A1 along the first direction DR1 so that the transport robot 2 can move along the first direction DR1 in the first area A1. That is, the first area A1 is provided with the first transport path RT10 on which the transport robot 2 can move along the first direction DR1. In addition, a plurality of placement positions P1 on which the luggage 30 can be placed are set side by side on the first transport path RT10 in the first area A1. One luggage 30 can be placed on each of the plurality of placement positions P1. 4, for example, five placement positions P1 are set on the first conveying path RT10, and a maximum of five packages 30 can be placed in the first area A1. In the following, when distinguishing between the five placement positions P1, they may be referred to as placement positions P11, P12, P13, P14, and P15 in order from the back of the first conveying path RT10.

[0017] When the transport robot 2 transports the luggage 30 from the storage area B1 to the first area A1, the transport robot 2 places the luggage 30 transported from the storage area B1 at one of the five arrangement positions P1. When the transport robot 2 transports the luggage 30 from the first area A1 to the storage area B1, the transport robot 2 holds (picks up) the luggage 30 arranged at one of the five arrangement positions P1 and transports it to the storage area B1. In this embodiment, the transport robot 2 puts and takes out the luggage 30 in the first area A1 on a first-in, first-out basis (FIFO). That is, when the transport robot 2 transports the luggage 30 into the first area A1, the transport robot 2 moves along the first transport path RT10 in the first area A1, and moves to the arrangement position P1 at which no luggage 30 is arranged and which is the innermost of the five arrangement positions P11 to P15, and unloads the luggage 30. In the example of Figure 5, luggage 30 is placed only at the two rear placement positions P11 and P12, so the transport robot 2 moves to the third placement position P13 from the back, which is an empty position where luggage 30 is placed and is the rearmost position, and unloads the luggage 30.

[0018] Furthermore, when the transport robot 2 takes out the luggage 30 from the first area A1, the transport robot 2 moves along the first transport path RT10 in the first area A1 and holds the luggage 30 at the arrangement position P1 where the luggage 30 is first arranged among the five arrangement positions P11 to P15. After that, the transport robot 2 moves along the first transport path RT10 in a second direction DR2 opposite to the first direction DR1, and takes out the luggage 30 from the first area A1. In the example of FIG. 4, the luggage 30 is arranged at the three arrangement positions P11 to P13 on the back side, so the transport robot 2 moves along the first transport path RT10 in the first direction DR1, and when the luggage 30 is first detected at the third arrangement position P13 from the back, it holds the luggage 30 at this position. Then, the transport robot 2 moves along the first transport path RT10 in the second direction DR2, and takes out the luggage 30 from the first area A1.

[0019] Further, a transport path RT30 along which the transport robot 2 can move between the first area A1 and the storage area B1 is set on the moving surface 200. That is, on the moving surface 200, the transport path RT1 along which the transport robot 2 can move includes at least the first transport path RT10 and the transport path RT30.

[0020] On the moving surface 200, for example, a magnetic tape is arranged along the transport path RT1 so that the transport robot 2 can move along the transport path RT1. The transport robot 2 moves along the transport path RT1 by detecting the magnetic tape using, for example, a magnetic sensor and moving along the magnetic tape. The guidance method of the transport robot 2 is not limited to a magnetic guidance method using a magnetic tape, and may be an electromagnetic guidance method, an optical guidance method, or other guidance method. The transport path RT1 shown in FIG. 4 is an example and can be changed as appropriate. A plurality of first areas A1 and a plurality of storage areas B1 may be provided in the facility F1, and the transport path RT1 may be set so that the transport robot 2 can move between the plurality of first areas A1 and the plurality of storage areas B1.

[0021] The transport control system 1 of this embodiment includes a communication unit 11, a determination unit 15, and a transport control unit 16, as shown in FIG.

[0022] The communication unit 11 communicates with a transport robot 2 capable of transporting luggage 30.

[0023] The determination unit 15 determines whether or not the first area A1 is in a full state in which luggage 30 is placed at all of the multiple (e.g., five in FIG. 4) placement positions P1 (P11 to P15). The transport control unit 16 issues a transport instruction for the luggage 30 to the transport robot 2 via the communication unit 11. The transport control unit 16 determines whether or not the luggage 30 can be carried into the first area A1 based on the full state determination result by the determination unit 15. When the communication unit 11 receives carry-in information from the transport robot 2 indicating that the transport robot 2 has unloaded the luggage 30 at the first placement position (placement position P15) as shown in FIG. 6, the determination unit 15 determines that the first area A1 is in a full state. The first placement position (placement position P15) is the placement position that the transport robot 2 passes through first among the multiple placement positions P11 to P15 when it enters the first area A1 along the first transport path RT10. In other words, the first arranging position (arrangement position P15) is the arrangement position where the luggage 30 is arranged last when the luggage 30 is arranged at the plurality of arrangement positions P11 to P15.

[0024] The transport system 3 of this embodiment includes a transport control system 1 and a transport robot 2 that transports luggage 30 based on a transport instruction from the transport control system 1.

[0025] Here, the transport robot 2 is an automated guided vehicle (AGV) for transporting the luggage 30, and autonomously travels to a destination while holding the luggage 30 in a lifted state. The transport robot 2 is not limited to a robot that transports the luggage 30 in a lifted state. The transport robot 2 may transport the luggage 30 by towing the luggage 30 or pushing the luggage 30 from behind while holding (connecting) the luggage 30 by gripping a part of the luggage 30. The luggage 30 is an object (transported object) to be transported by the transport robot 2. In this embodiment, a case will be described in which the luggage 30 is a dolly 31 used for carrying and transporting a plurality of items. The dolly 31 is a dolly with a basket (so-called roll box pallet) with a plurality of wheels 33 provided on the bottom, and an operator can push the dolly 31 to move it. The luggage 30 is not limited to the dolly 31 provided with wheels 33. The luggage 30 may be a shelf without wheels capable of accommodating multiple items, a pallet capable of accommodating multiple items, or the items themselves. The first area A1 being full means that all of the multiple placement positions P1 in the first area A1 have luggage 30 placed therein, and there is no placement position P1 at which luggage 30 can be newly placed.

[0026] As described above, when the luggage 30 is placed at the first arrangement position (arrangement position P15) among the multiple arrangement positions P11 to P15 in the first area A1, the first area A1 becomes full. Therefore, the determination unit 15 can determine that the first area A1 is full based on the carry-in information indicating that the luggage 30 has been unloaded at the first arrangement position (arrangement position P15). Then, the transport control unit 16 determines whether or not the luggage 30 can be carried into the first area A1 based on the full state determination result by the determination unit 15, so that it is possible to reduce the possibility of giving a transport instruction to the transport robot 2 to instruct the luggage 30 to be carried into the first area A1 even when the first area A1 is full. Therefore, there is an advantage in that the transport efficiency of the transport work of the transport robot 2 to transport the luggage 30 is improved.

[0027] Furthermore, when detecting whether the first area A1 is full based on an image of a camera that photographs the first area A1 or the detection result of a sensor that detects an object in the first area A1, it is necessary to install a camera or sensor in the first area A1, and when the position of the first area A1 is changed, it is necessary to change the installation position of the camera or sensor. In contrast, the determination unit 15 of this embodiment determines whether the area is full based on carry-in information indicating that luggage 30 has been unloaded at the first arrangement position (arrangement position P15), so there is no need to install a camera or sensor in the first area A1, and there is an advantage that it is easy to respond to changes in the position of the first area A1.

[0028] (2) Details (2.1) Overall Structure Hereinafter, a transfer system 3 including a transfer control system 1 according to this embodiment will be described in detail with reference to the drawings.

[0029] As described above, the transport system 3 includes the transport control system 1 and the transport robot 2. The transport robot 2 and the transport control system 1 are configured to be able to communicate with each other. In the present disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a network NT1 or a relay device 4 by an appropriate communication method such as wired communication or wireless communication. In the present embodiment, the transport control system 1 and the transport robot 2 are capable of bidirectional communication, and both transmission of information from the transport control system 1 to the transport robot 2 and transmission of information from the transport robot 2 to the transport control system 1 are possible. Note that, although the number of the transport robots 2 is one in FIGS. 1 to 4, the number of the transport robots 2 may be two or more.

[0030] (2.2) Transport robot The configuration of the transport robot 2 of this embodiment will be described in more detail. As shown in Fig. 1 to Fig. 3, the transport robot 2 is an automated guided vehicle (AGV) for transporting a cart 31 as a load 30, and autonomously travels to a destination while holding the cart 31 in a lifted state. In this embodiment, the transport control system 1 communicates with the transport robot 2 via a network NT1 and a relay device 4, and indirectly controls the movement of the transport robot 2.

[0031] The transport robot 2 autonomously travels on a flat moving surface 200 formed of, for example, the floor surface of the facility F1. The transport robot 2 includes a storage battery such as a lithium-ion battery or a nickel-metal hydride battery, and operates using electric energy stored in the storage battery. In this embodiment, the transport robot 2 moves while holding the cart 31 in a lifted state by getting under the cart 31 and raising a part of the main body 26. This allows the transport robot 2 to transport the cart 31 placed in one place to another place, for example. The transport robot 2 may transport the cart 31 by gripping a part of the cart 31 to connect the cart 31 and towing or pushing the cart 31.

[0032] 1, the transport robot 2 includes a control unit 20, a communication unit 21, a detection unit 22, a drive unit 23, a storage unit 24, and a lifting mechanism 25. The control unit 20, the communication unit 21, the detection unit 22, the storage unit 24, the drive unit 23, the storage unit 24, and the lifting mechanism 25 are mounted on a main body 26 of the transport robot 2.

[0033] The main body 26 of the transfer robot 2 is shaped like a rectangular parallelepiped that is longer in the front-rear direction than in the left-right direction and whose vertical dimensions are smaller than the left-right and front-rear dimensions.

[0034] The main body 26 is supported on the moving surface 200 by a plurality of (here, four) wheels 27. The plurality of wheels 27 includes a plurality of (here, two) driving wheels 27A and a plurality of (here, two) auxiliary wheels 27B.

[0035] The multiple drive wheels 27A are arranged at intervals in the width direction (left and right direction) of the main body 26 in the center of the longitudinal direction (front and back direction) of the main body 26. Each of the multiple drive wheels 27A can rotate individually by receiving a driving force from the drive unit 23.

[0036] The multiple auxiliary wheels 27B are arranged at intervals in the longitudinal direction (front-rear direction) of the main body 26 at the center in the width direction (left-right direction) of the main body 26. Each of the multiple auxiliary wheels 27B can rotate individually without receiving a driving force from the drive unit 23.

[0037] In this embodiment, the multiple drive wheels 27A are individually driven by the drive unit 23, so that the main body 26 can move in all directions. That is, the multiple drive wheels 27A can turn in either the left or right direction by rotating at different angular velocities, and can travel linearly (forward travel or backward travel) by rotating at the same angular velocity. Therefore, the main body 26 can move forward, backward, and turn in the left and right directions (including pivot turns and super pivot turns). The main body 26 can also move so as to describe a curved trajectory (i.e., a curve).

[0038] Two lift plates 28 are arranged on each side of the longitudinal direction (front-rear direction) of the main body 26 with a gap in between in the width direction (left-right direction) of the main body 26. Each lift plate 28 is raised or lowered by the lift mechanism 25. When each lift plate 28 is lowered to its lower limit position, the distance from the moving surface 200 to the upper surface of each lift plate 28 is shorter than the distance from the moving surface 200 to the lower surface of the bottom plate 32 of the cart 31. On the other hand, when each lift plate 28 is raised to its upper limit position, the distance from the moving surface 200 to the upper surface of each lift plate 28 is longer than the distance from the moving surface 200 to the lower surface of the bottom plate 32 of the cart 31.

[0039] The transport robot 2, in a state where the lifting mechanism 25 has lowered each lifting plate 28 to the lowest position, enters under the cart 31, and lifts each lifting plate 28 to the highest position by the lifting mechanism 25, thereby lifting the cart 31. When the transport robot 2 has lifted the cart 31, the wheels 33 of the cart 31 are raised above the moving surface 200, and the transport robot 2 travels in this state to transport the cart 31. When the transport robot 2 transports the cart 31 to the destination, the lifting mechanism 25 lowers each lifting plate 28 to the lowest position. When each lifting plate 28 descends to the lowest position, the wheels 33 of the cart 31 come into contact with the moving surface 200, and each lifting plate 28 separates from the bottom plate 32 of the cart 31, so that the transport robot 2 is separated from the cart 31. Thereafter, the transport robot 2 moves forward or backward, so that the transport robot 2 can leave the cart 31 at the destination and leave the site.

[0040] In addition, it is preferable that the upper surface of the lifting plate 28 is subjected to, for example, an anti-slip treatment so as to have a larger friction coefficient than the upper surface of the main body 26. This makes it difficult for the cart 31 loaded on each lifting plate 28 to slip on each lifting plate 28.

[0041] The detection unit 22 detects at least the surrounding situation of the transport robot 2 and the current position of the transport robot 2. The detection unit 22 includes sensors 22A and 22B (see FIG. 2) such as LiDAR (Light Detection and Ranging). The sensors 22A and 22B are provided on both sides (i.e., the front and rear) of the main body 26 in the longitudinal direction, respectively, and detect the surrounding situation in the detection areas in the front and rear of the main body 26, respectively. The LiDAR is a sensor that irradiates light (laser light) to the surroundings and measures the distance to an object and the direction of the object based on the reflected light from the object present in the vicinity of the main body 26. The range scanned by the LiDAR (horizontal and vertical scan ranges) is a fan-shaped range centered on the laser light source, and the scan range can be changed by narrowing the irradiation range of the laser light, for example. In this embodiment, LiDAR with a horizontal scan range of up to 270 degrees is used as the sensors 22A and 22B, so that objects present beside the main body 26 can also be detected. It is also possible to narrow the horizontal scanning range of the LiDAR to detect only objects present in front of the main body 26. For example, when the transport robot 2 is located in front of the first area A1 on the transport path RT1, the LiDAR can detect whether or not there are packages 30 at multiple placement positions P1 on the first transport path RT10.

[0042] The detection unit 22 may include sensors such as a radar (Radio Detection and Ranging), a sonar sensor, and an image sensor (camera) as sensors that detect the surrounding conditions of the transport robot 2. The radar is a sensor that uses electromagnetic waves (radio waves) such as microwaves to measure the distance to an object and the direction of the object based on the waves reflected by the object present around the main body 26.

[0043] The detection unit 22 also has a position identification unit that identifies the current position of the transfer robot 2. As an example, the position identification unit estimates the current position based on detection information of surrounding objects by LiDAR and electronic map information inside the facility F1. The position identification unit may estimate the current position using a Local Positioning System (LPS) that uses a radio beacon. The position identification unit may also be realized using a satellite positioning system such as a Global Positioning System (GPS).

[0044] Furthermore, the detection unit 22 may include a sensor that detects the behavior of the main body 26 of the transport robot 2. The "behavior" of the main body 26 means the operation, state, and the like. In other words, the behavior of the main body 26 of the transport robot 2 includes the operating state of the transport robot 2 indicating whether the transport robot 2 is transporting the baggage 30, the travel distance and speed of the transport robot 2, the acceleration acting on the main body 26 of the transport robot 2, and the moving posture of the main body 26. Specifically, the detection unit 22 may include sensors such as a rotary encoder, an acceleration sensor, a gyro sensor, and the like, and may detect the behavior of the main body 26 of the transport robot 2 by using these sensors.

[0045] The drive unit 23 directly or indirectly applies a driving force to the two drive wheels 27A. The drive unit 23 is built into the main body 26. The drive unit 23 includes, for example, an electric motor, and indirectly applies a driving force generated by the electric motor to each drive wheel 27A via a gear box, a belt, or the like. The drive unit 23 may also be configured to directly apply a driving force to each drive wheel 27A, such as an in-wheel motor. Based on a control signal input from the control unit 20, the drive unit 23 drives each of the multiple drive wheels 27A in a rotation direction and at a rotation speed according to the control signal.

[0046] The lifting mechanism 25 is a mechanism that raises and lowers the lifting plates 28, two of which are provided on each of the front and rear sides, upon receiving a control command from the control unit 20. The lifting mechanism 25 raises or lowers the upper surface (loading surface) of each lifting plate 28 by vertically moving each lifting plate 28 relative to the main body 26. The lifting mechanism 25 moves each lifting plate 28 between a lower limit position and an upper limit position of the movable range of each lifting plate 28.

[0047] When the transport robot 2 holds the cart 31, the lifting mechanism 25 raises each lifting plate 28 while the main body 26 is under the cart 31, and the transport robot 2 holds the cart 31 by lifting the cart 31.

[0048] The control unit 20 mainly comprises a computer system having one or more processors and a memory. The functions of the control unit 20 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunication line such as the Internet, or may be provided by recording it on a non-transitory recording medium such as a memory card.

[0049] The control unit 20 controls the operation of the main body 26, for example, by controlling the operation of the drive unit 23 and the lifting mechanism 25, based on the control command received by the communication unit 21 from the conveying control system 1 and the detection results of the detection unit 22.

[0050] When the control unit 20 receives a transport instruction for the dolly 31 from the transport control system 1 via the communication unit 21, the control unit 20 moves the main body 26 to a position where the dolly 31 to be transported is located. Based on the detection result of the detection unit 22, the control unit 20 passes between the wheels 33 of the dolly 31 and gets under the dolly 31. The control unit 20 holds the dolly 31 by raising each lift plate 28 to the upper limit position using the lift mechanism 25 and lifting the dolly 31. Then, the control unit 20 controls the drive unit 23 while holding the dolly 31 to autonomously travel to the transport destination (destination) of the dolly 31. When the destination is reached, the control unit 20 lowers each lift plate 28 to the lower limit position using the lift mechanism 25 to lower the dolly 31 to the destination, and then controls the drive unit 23 to move from the destination, thereby transporting the dolly 31 to the destination.

[0051] For example, when the control unit 20 receives a transport instruction to carry the dolly 31 into the first area A1 via the communication unit 21, it controls the drive unit 23 to move the main body 26 into the first area A1 according to the transport path RT1, and within the first area A1, it moves forward according to the first transport path RT10. The transport robot 2 moves forward while detecting whether the dolly 31 is placed at a plurality of placement positions P1 set in the first area A1 using the detection unit 22. Then, the transport robot 2 moves to the innermost placement position among the plurality of placement positions P1 set in the first area A1 where the dolly 31 is not placed, and drops the dolly 31 at that position. When the transport robot 2 transmits the delivery information of the dolly 31 including the position information of the transport robot 2 when the dolly 31 is dropped to the transport control system 1, it moves backward according to the first transport path RT10, turns 180 degrees when it goes out of the first area A1, and moves forward toward the next destination. Incidentally, even if the vehicle is within the first area A1, if the detection unit 22 can detect that no objects exist in the vicinity, the vehicle can turn 180 degrees within the first area A1 and continue traveling forward toward the next destination.

[0052] In addition, when the transport robot 2 receives a transport instruction to transport the cart 31 arranged in the first area A1 out of the first area A1, the transport robot 2 enters the first area A1 according to the transport path RT1, and advances within the first area A1 according to the first transport path RT10. The transport robot 2 advances while detecting whether the cart 31 is arranged at a plurality of arrangement positions P1 set in the first area A1 using the detection unit 22. When the transport robot 2 gets under the cart 31 at the arrangement position P1 that is reached first according to the first transport path RT10 among one or more arrangement positions P1 at which the cart 31 is arranged in the first area A1, the transport robot 2 raises each lift plate 28 to lift the cart 31. In other words, the transport robot 2 carries out the cart 31 that was arranged last among the plurality of carts 31 arranged at the plurality of arrangement positions P1 in the first area A1. When the transport robot 2 lifts the cart 31, it transmits information on the transport robot 2's removal, including the position information of the transport robot 2 when it held the cart 31, to the transport control system 1. The transport robot 2 moves backward along the first transport path RT10, turns 180 degrees when it leaves the first area A1, and moves forward toward the next destination. Note that even if the transport robot 2 is within the first area A1, if the detection unit 22 can detect that no objects exist in the vicinity, it may turn 180 degrees within the first area A1 and move forward toward the next destination.

[0053] The communication unit 21 is configured to be able to communicate with the transport control system 1. In this embodiment, the communication unit 21 communicates with any one of one or more relay devices 4 installed within the area in which the transport robot 2 is operated, by wireless communication using radio waves as a medium. Therefore, the communication unit 21 and the transport control system 1 communicate indirectly via at least the network NT1 and the relay device 4.

[0054] That is, each relay device 4 is a device (access point) that relays communication between the communication unit 21 and the transport control system 1. The relay device 4 communicates with the transport control system 1 via the network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), Zig Bee (registered trademark), or low-power radio (specific low-power radio) that does not require a license is adopted for communication between the relay device 4 and the communication unit 21. In addition, the network NT1 is not limited to the Internet, and may be, for example, a local communication network within the area where the transport robot 2 is operated or within the operating company of this area.

[0055] The storage unit 24 includes a rewritable non-volatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory). Information on an electronic map of the facility F1 in which the transport robot 2 moves is stored in advance in the storage unit 24. The information on the electronic map of the facility F1 includes information on the positions of the first area A1 and the storage area B1 set in the facility F1, information on the transport path RT1, and information on the positions of a plurality of placement positions P1 set in the first area A1.

[0056] Furthermore, the transport robot 2 is appropriately equipped with components other than those described above, such as a charging circuit for a storage battery.

[0057] Incidentally, the transport robot 2 of this embodiment may be used in a factory or the like in which a manufacturing device for manufacturing products such as circuit boards is installed, and the luggage 30 transported by the transport robot 2 may include a parts supplying device that supplies parts to the manufacturing device. Note that the luggage 30 transported by the transport robot 2 is not limited to the parts supplying device, but may be the parts themselves, and may be appropriately changed depending on the place of use or purpose of use of the transport robot 2.

[0058] (2.3) Transport control system The transport control system 1 is realized by, for example, a computer system. The transport control system 1 controls the transport operation by the transport robot 2. The transport control system 1 may be located inside the facility F1 or outside the facility F1.

[0059] The transport control system 1 includes a control unit 10, a communication unit 11, an operation reception unit 12, a display unit 13, and a storage unit 14.

[0060] The communication unit 11 communicates with the transport robot 2 via the network NT1 and the relay device 4. As a communication method between the communication unit 11 and the relay device 4, an appropriate communication method such as wireless communication or wired communication is adopted.

[0061] The operation reception unit 12 has a function of receiving operations from a user who uses the transport control system 1. In this embodiment, the operation reception unit 12 is realized by, for example, a pointing device such as a mouse, a keyboard, or a combination of these. The operation reception unit 12 may also be realized by a voice recognition unit that receives operations by voice uttered by the user. The operation reception unit 12 may also receive information input to a terminal such as a tablet terminal used by the user via the communication unit 11.

[0062] The display unit 13 is used to present information to a user who uses the transport control system 1. The display unit 13 is realized by a display device such as a liquid crystal display or an organic EL display. If the transport control system 1 has a touch panel display, the touch panel display may function as the operation reception unit 12 and the display unit 13.

[0063] The storage unit 14 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory. The storage unit 14 stores, for example, position information of the first area A1, the storage area B1, and the receiving / shipping area C1 in the facility F1 input by a user of the transport control system 1, information of the transport route RT1 set in the facility F1, and position information of a plurality of placement positions P1 set in the first area A1.

[0064] The control unit 10 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the control unit 10 (for example, the functions of the determination unit 15 and the transport control unit 16, etc.) are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, may be provided via a telecommunication line such as the Internet, or may be provided by recording it on a non-transitory recording medium such as a memory card.

[0065] The determination unit 15 determines whether the first area A1 is in a full state in which the dollies 31 are placed at all of the multiple placement positions P1 (P11 to P15) set in the first area A1. The determination unit 15 identifies the placement position P1 to which the dolly 31 has been carried in within the first area A1, based on the position information included in the carry-in information received by the communication unit 11 from the transport robot 2. The determination unit 15 also identifies the placement position P1 to which the dolly 31 has been carried out within the first area A1, based on the position information included in the carry-out information received by the communication unit 11 from the transport robot 2.

[0066] In this embodiment, the trolley 31 is moved in and out of the first area A1 in a FIFO manner, so that the area is full when the trolley 31 is placed at the arrangement position P15 (first arrangement position) through which the transport robot 2 passes first on the first transport path RT10 among the arrangement positions P11 to P15. Therefore, when the determination unit 15 receives carry-in information from the transport robot 2 via the communication unit 11 that the trolley 31 has been carried into the first arrangement position, the determination unit 15 determines that the first area A1 is full. In addition, when the determination unit 15 determines that the first area A1 is full and the transport control unit 16 outputs a transport instruction to the transport robot 2 to instruct the transport robot 2 to carry out the trolley 31 (baggage 30) from the first area A1, the determination unit 15 determines that the first area A1 is no longer full.

[0067] In addition, the determination unit 15 further determines whether the first area A1 is in an empty state where no dolly 31 (baggage 30) is placed at any of the multiple placement positions P1. In this embodiment, the transport robot 2 moves the multiple dollies 31 (baggage 30) placed at the multiple placement positions P1 in a second direction DR2 opposite to the first direction DR1 to remove them from the first area A1. In this case, when the communication unit 11 receives from the transport robot 2 information indicating that the dolly 31 (baggage 30) at the second placement position (placement position P11) at the head of the multiple placement positions P1 in the first direction DR1 has been removed as shown in FIG. 7, the determination unit 15 determines that the area is in an empty state. In addition, when the determination unit 15 determines that the first area A1 is in an empty state, and the transport control unit 16 outputs a carry-in instruction to the transport robot 2 to instruct the transport robot 2 to carry the dolly 31 (baggage 30) into the first area A1, the determination unit 15 determines that the first area A1 is no longer in an empty state.

[0068] The transfer control unit 16 gives the transfer robot 2 a transfer instruction for the dolly 31 via the communication unit 11. The transfer control unit 16, for example, gives a transfer instruction to the transfer robot 2 to carry the dolly 31 located in the storage area B1 into the first area A1, thereby causing the transfer robot 2 to transfer the dolly 31 from the storage area B1 to the first area A1. The transfer control unit 16 also, for example, gives a transfer instruction to the transfer robot 2 to carry the dolly 31 located in the first area A1 into the storage area B1, thereby causing the transfer robot 2 to transfer the dolly 31 from the first area A1 to the storage area B1.

[0069] Here, the transport control unit 16 judges whether or not the baggage 30 (cart 31) can be carried into the first area A1 based on the result of the judgment of the full state by the judgment unit 15. When the judgment unit 15 judges that the first area A1 is full, the transport control unit 16 does not output a carry-in instruction to the transport robot 2 to carry the cart 31 into the first area A1. This makes it less likely that the transport robot 2 will transport the cart 31 to the first area A1, but then return the cart 31 to the storage area B1 because all of the arrangement positions P1 are occupied by the carts 31, thereby improving transport efficiency.

[0070] Furthermore, the transport control unit 16 judges whether or not the baggage 30 (cart 31) can be removed from the first area A1 based on the result of the judgment by the judgment unit 15 of the empty state. When the judgment unit 15 judges that the first area A1 is empty, the transport control unit 16 does not output a carry-out instruction to the transport robot 2 to carry the cart 31 out from the first area A1 to the outside. This makes it less likely that a situation will occur in which the transport robot 2 moves in vain when it has gone to carry out the cart 31 to the first area A1 but the cart 31 is not located in the first area A1, thereby improving transport efficiency.

[0071] (2.4) Operation Description The operation of the transport control system 1 of this embodiment for controlling the transport work of the transport robot 2 to transport the luggage 30 will be described with reference to Figs. 8 to 15 etc. Note that the flowcharts shown in Figs. 8 and 9 are merely an example of the transport control method according to this embodiment, and the order of the processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0072] The process in which the transport control system 1 causes the transport robot 2 to carry in the cargo 30 into the first area A1 will be described with reference to FIG.

[0073] When the operation reception unit 12 of the transport control system 1 receives a request for carrying in the luggage 30 input by a user (step ST1), the transport control unit 16 determines whether or not to issue a carrying-in instruction based on the determination result of the determination unit 15 (step ST2).

[0074] If it is determined that the first area A1 is full (ST2: Yes), the transport control unit 16 does not output an instruction to the transport robot 2 to carry in the luggage 30 into the first area A1, and the transport robot 2 is prevented from performing unnecessary transport work. In addition, the transport control unit 16 performs a notification process to notify the user that the first area A1 is full, for example, by causing the display unit 13 to display a message indicating that the first area A1 is full and luggage 30 cannot be carried in (step ST3). The transport control system 1 may perform the notification process on a terminal such as a tablet used by the user.

[0075] On the other hand, if it is determined that the first area A1 is not full (ST2: No), the transport control unit 16 outputs an instruction to the transport robot 2 to carry in the luggage 30 to the first area A1 (step ST4), and causes the transport robot 2 to carry in the luggage 30 to the first area A1. When the transport robot 2 carries in the luggage 30 to the first area A1, it transmits carry-in information including position information of the position where the luggage 30 is dropped off to the transport control system 1. When the communication unit 11 of the transport control system 1 receives the carry-in information from the transport robot 2 (step ST5), the judgment unit 15 specifies the arrangement position P1 where the transport robot 2 has dropped off the luggage 30 based on the position information included in the carry-in information. The judgment unit 15 judges whether the first area A1 is full or not based on the arrangement position P1 where the luggage 30 is dropped off (step ST6). The judgment unit 15 judges that the first area A1 is full when luggage 30 is placed (delivered) at the first placement position P15, and judges that the first area A1 is not full when luggage 30 is placed (delivered) at placement positions P11 to P14 other than the first placement position P15.

[0076] Next, a process in which the transport control system 1 causes the transport robot 2 to perform a carry-out operation of carrying out the luggage 30 from the first area A1 will be described with reference to FIG.

[0077] When the operation reception unit 12 of the transport control system 1 receives a request to carry out the luggage 30 input by a user (step ST11), the transport control unit 16 determines whether or not to issue a carry-out instruction based on the determination result of the determination unit 15 (step ST12).

[0078] If it is determined that the first area A1 is empty (ST12: Yes), the transport control unit 16 does not output an instruction to the transport robot 2 to take out the luggage 30 from the first area A1, and the transport robot 2 is prevented from performing a useless transport operation. In addition, the transport control unit 16 performs a notification process to notify the user that the first area A1 is empty, for example, by causing the display unit 13 to display a message indicating that the first area A1 is empty and the luggage 30 cannot be taken out (step ST13). Note that the transport control system 1 may perform the notification process on a terminal such as a tablet used by the user.

[0079] On the other hand, if it is determined that the first area A1 is not empty (ST12: No), the transport control unit 16 outputs an instruction to the transport robot 2 to take out the luggage 30 from the first area A1 (step ST14), and causes the transport robot 2 to perform a take-out operation of taking out the luggage 30 from the first area A1 to the outside. The transport robot 2 moves to the first area A1, holds the luggage 30 arranged in the first area A1, and performs a take-out operation of taking out the held luggage to the first area A1. At this time, the transport robot 2 transmits take-out information including position information of the position where the luggage 30 is held in the first area A1 to the transport control system 1. When the communication unit 11 of the transport control system 1 receives the take-out information from the transport robot 2 (step ST15), the judgment unit 15 identifies the arrangement position P1 where the transport robot 2 holds the luggage 30 based on the position information included in the take-out information. The determination unit 15 determines whether the first area A1 is empty based on the placement position P1 where the luggage 30 is held (step ST16). The determination unit 15 determines that the first area A1 is empty if the luggage 30 is held (transported) at the innermost second placement position P11, and determines that the first area A1 is not empty if the luggage 30 is held (transported) at placement positions P12 to P15 other than the second placement position P11.

[0080] As described above, the transport control unit 16 determines whether to issue an instruction to carry the luggage 30 into the first area A1 based on the result of the determination of the full state by the determination unit 15, and therefore can prevent an instruction to carry the luggage 30 into the first area A1 from being output when the area is full, improving transport efficiency. Also, the transport control unit 16 determines whether to issue an instruction to take the luggage 30 out of the first area A1 based on the result of the determination of the empty state by the determination unit 15, and therefore can prevent an instruction to take the luggage 30 out of the first area A1 from being output when the area is empty, improving transport efficiency.

[0081] Incidentally, as shown in FIG. 10, even if the luggage 30 placed at the placement position P13 is moved outside the first area A1 by, for example, an operator, when the transport robot 2 drops the luggage 30 at the first placement position P15, the determination unit 15 determines that the first area A1 is full. In this embodiment, the transport robot 2 has a detection unit 22 that detects surrounding objects, and can move through the gap 210 between the luggage 30 placed in the first area A1 and the moving surface 200. That is, the transport robot 2 can move by crawling under the luggage 30 placed in the first area A1. Therefore, it is also preferable that the transport robot 2 that has dropped the luggage 30 at the first placement position P15 moves through the gap 210 between the luggage 30 and the moving surface 200 to the innermost placement position P11, while detecting with the detection unit 22 whether or not there is a placement position P1 where no luggage 30 is placed. In other words, while the transport robot 2 moves along the first transport path RT10 set in the first area A1, when the detection unit 22 detects that no luggage 30 is placed at at least one of the multiple placement positions P1, the transport robot 2 transmits vacancy information to the communication unit 11.

[0082] For example, as shown in FIG. 11, when the transport robot 2 detects that no luggage 30 is placed at the third placement position P13 from the back, the transport robot 2 transmits vacancy information indicating that no luggage 30 is placed at at least one of the placement positions P1 in the first area A1 to the transport control system 1. When the communication unit 11 receives vacancy information from the transport robot 2 in a state in which the determination unit 15 determines that the first area A1 is full, the transport control unit 16 causes the communication unit 11 to output a first alignment instruction to the transport robot 2. Here, the first alignment instruction is a transport instruction to pack and arrange the luggage 30 placed in the first area A1 in the first direction DR1. The transport robot 2 that has received the first alignment instruction lifts the luggage 30 placed at the placement position P14 and moves it to the placement position P13, and then drops the luggage 30 at the placement position P13, as shown in FIG. 12. Next, the transport robot 2 lifts the luggage 30 placed at the placement position P15 and moves it to the placement position P14, and then drops the luggage 30 at the placement position P14. This allows the transport robot 2 to pack multiple pieces of luggage 30 arranged in the first area A1 in the first direction DR1, and to transport new luggage 30 to the arrangement position P1 that becomes vacant after alignment, thereby making effective use of the arrangement space for the luggage 30.

[0083] After the transport robot 2 unloads the luggage 30 in the first area A1, it moves along the first transport path RT10 to the innermost placement position P11 and uses the detection unit 22 to detect whether there is a placement position P1 where no luggage 30 is placed, but the detection method is not limited to this.

[0084] 13, an observation position WP1 capable of detecting the presence or absence of objects at all arrangement positions P11 to P15 in the first area A1 may be set outside the first area A1, and the detection unit 22 of the transport robot 2 stopped at the observation position WP1 may detect the presence or absence of objects at the arrangement positions P11 to P15. That is, when the detection unit 22 detects that no luggage 30 is placed at at least one of the arrangement positions P1 at the observation position WP1 where the transport robot 2 is off the first transport path RT10, the transport robot 2 transmits vacancy information to the communication unit 11. Note that it is not essential for the transport robot 2 to detect the presence or absence of luggage 30 while stopped at the observation position WP1, and the transport robot 2 may detect the presence or absence of luggage 30 while moving. The transport robot 2 moving along the transport path RT31 provided in parallel with the first transport path RT10 in the first area A1 may use the detector 22 with the detection range expanded to the maximum to detect the presence or absence of objects at the arrangement positions P11 to P15 in the first area A1. When the transport robot 2 detects the presence or absence of luggage 30 while moving, the observation position WP1 is the position where the moving transport robot 2 is located.

[0085] Incidentally, a plurality of first areas A1 may be provided in the facility F1, and the transport control system 1 causes the transport robot 2 to transport the luggage 30 between the plurality of first areas A1 and the storage area B1. Fig. 14 is a schematic plan view of the facility F1 in which two first areas A1 are set adjacent to each other. Here, when describing the two first areas A1 separately, they may be referred to as first areas A11 and A12.

[0086] When the operation reception unit 12 of the transport control system 1 receives a transport request for the luggage 30 from the two first areas A11, A12 to the storage area B1, the transport control unit 16 gives a transport instruction to the transport robot 2 to transport the luggage 30 arranged in the two first areas A11, A12 to the storage area B1. Here, the judgment unit 15 judges whether each of the two first areas A11, A12 is full or empty. Then, based on the judgment result of the judgment unit 15, the transport control unit 16 judges whether to issue an instruction to carry the luggage 30 into each of the first areas A11, A12 and whether to issue an instruction to carry the luggage 30 out of each of the first areas A11, A12. For example, when carrying out luggage 30 from two first areas A11, A12 to the storage area B1, if one of the first areas A11 is empty, the transport control unit 16 does not output an instruction to instruct the transport robot 2 to carry out the luggage 30 from the first area A11. The transport control unit 16 outputs an instruction to instruct the transport robot 2 to carry out the luggage 30 from the first area A12 that is not empty, and causes the transport robot 2 to execute the carry-out process of carrying out the luggage 30 from the first area A12.

[0087] In addition, when the operation reception unit 12 of the transport control system 1 receives a transport request for the luggage 30 from the storage area B1 to the two first areas A11 and A12, the transport control unit 16 gives the transport robot 2 a transport instruction to transport the luggage 30 arranged in the storage area B1 to the two first areas A11 and A12. As shown in FIG. 15, when one of the first areas A11 is full and the other first area A12 is not full, the transport control unit 16 does not output a carry-in instruction to instruct the loading of the luggage 30 into the first area A11 based on the judgment result of the judgment unit 15. The transport control unit 16 instructs the transport robot 2 to carry the luggage 30 into the first area A12 that is not full, and causes the transport robot 2 to execute a carry-in process to carry the luggage 30 into the first area A12.

[0088] (3) Variations The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. In addition, the same function as the transport control system 1 may be embodied in a transport control method, a computer program, or a non-transitory recording medium having a program recorded thereon. The transport control method according to one aspect includes a determination process and a transport control process. In the determination process, it is determined whether or not the first area A1 is in a full state in which luggage 30 is placed at all of the multiple placement positions P1. In the first area A1, a first transport path RT10 is set into which a transport robot 2 capable of transporting luggage 30 can enter along a predetermined first direction DR1. In the first area A1, multiple placement positions P1 in which luggage 30 can be placed are set side by side on the first transport path RT10. In the transport control process, a transport instruction for transporting luggage 30 is given to the transport robot 2. In the transport control process, it is determined whether or not the luggage 30 can be carried into the first area A1 based on the result of the full state determination by the determination process. In the determination process, when carry-in information indicating that the transport robot 2 has unloaded the luggage 30 at the first arrangement position (arrangement position P15) is received from the transport robot 2, it is determined that the first area A1 is full. The first arrangement position (arrangement position P15) is the arrangement position that the transport robot 2 passes through first when it enters the first area A1 along the first transport path RT10, among the multiple arrangement positions P1. A (computer) program according to one aspect is a program for causing a computer system to execute the transport control method described above.

[0089] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0090] The transport control system 1 and the transport robot 2 in the present disclosure include a computer system. The computer system is mainly composed of a processor and a memory as hardware. The functions of the transport control system 1 and the transport robot 2 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be provided by being recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI referred to here are called by different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or the circuit partition inside the LSI, can also be adopted as a processor. The electronic circuits may be integrated in one chip or distributed among multiple chips. The chips may be integrated in one device or distributed among multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Thus, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0091] Furthermore, it is not essential for the transport control system 1 that multiple functions are concentrated in one housing, and the components of the transport control system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the transport control system 1, such as the determination unit 15 or the transport control unit 16, may be realized by cloud (cloud computing) or the like.

[0092] (3.1) Variation 1 The transport control system 1 of the modified example 1 will be described with reference to Fig. 16 to Fig. 21. Note that the configuration of the transport control system 1 and the transport system 3 including the transport robot 2 is the same as in the above embodiment, so the same components are given the same reference numerals and the description thereof will be omitted.

[0093] As shown in Fig. 16, the transport control system 1 of the first modification causes the transport robot 2 to transport the luggage 30 between the second area A2 and the storage area B1. In the second area A2, a plurality of first areas A1 (for example, three in Fig. 16) are provided side by side in a third direction DR3 intersecting with the first direction DR1. In each of the first areas A1 provided in the second area A2, a plurality of arrangement positions P11 to P15 (for example, five in Fig. 16) are set side by side in the first direction DR1. Here, when describing each of the first areas A1, they are referred to as first areas A11, A12, and A13.

[0094] The three first areas A11, A12, and A13 are set so that the first direction DR1 in which the transport robot 2 moves is parallel to one another. The three first areas A11, A12, and A13 are set in line in a third direction DR3 perpendicular to the first direction DR1. Here, the two directions being "parallel" to one another does not necessarily mean that they are completely parallel to one another, but may deviate from the completely parallel state by a few degrees. The two directions being perpendicular to one another does not necessarily mean that the two directions intersect at an angle of 90 degrees, but may deviate from the crossing angle of 90 degrees by a few degrees.

[0095] When the transport control system 1 causes the transport robot 2 to at least one of transporting luggage 30 into the second area A2 and transporting luggage 30 out of the second area A2, the judgment unit 15 judges whether luggage 30 is placed at all of the multiple placement positions P1 within the second area A2.

[0096] For example, when the determination unit 15 receives carry-in information indicating that the luggage 30 has been placed at the first placement position (placement position P15) for each of the first areas A11 to A13 provided in the second area A2, the determination unit 15 determines that each of the first areas A11 to A13 is in a full state. Then, when the determination unit 15 determines that all of the first areas A11 to A13 provided in the second area A2 are in a full state, the determination unit 15 determines that the second area A2 is in a full state. In other words, when the determination unit 15 determines that at least one of the first areas A11 to A13 is not in a full state, the determination unit 15 determines that the second area A2 is not in a full state. Also, when the determination unit 15 determines that all of the first areas A11 to A13 provided in the second area A2 are in an empty state, the determination unit 15 determines that no luggage 30 has been placed at any of the placement positions P1 in the second area A2.

[0097] 16, when the transport robot 2 drops the luggage 30 at the first placement position (placement position P15) in the first area A13, the transport robot 2 transmits carrying-in information including the position coordinates of the placement position P15 where the luggage 30 was dropped to the transport control system 1. Based on the position information included in the carrying-in information received from the transport robot 2 via the communication unit 11, the determination unit 15 of the transport control system 1 determines that the luggage 30 has been carried into the placement position P15, which is the foremost position in the first area A13, and determines that the first area A13 is full. When the determination unit 15 determines that the first area A13 is full, the transport control unit 16 does not output an instruction to the transport robot 2 to carry in the luggage 30 to the first area A13 based on the determination result of the determination unit 15, but outputs an instruction to the transport robot 2 to carry in the luggage 30 to the first areas A11 and A12 that are not determined to be full. This reduces the possibility that the transport robot 2 will carry in the luggage 30 to the first area A13 that is full, thereby improving transport efficiency.

[0098] In addition, when carrying out the luggage 30 from the second area A2 to the storage area B1, as shown in FIG. 17, when the transport robot 2 holds the luggage 30 at the first arrangement position (arrangement position P11) at the innermost position in the first area A13, the transport robot 2 transmits carry-out information including the position coordinates of the arrangement position P11 at which the luggage 30 is held to the transport control system 1. The determination unit 15 of the transport control system 1 determines that the luggage 30 placed at the innermost arrangement position P11 of the first area A13 has been carried out based on the position information included in the carry-out information received from the transport robot 2 via the communication unit 11, and determines that the first area A13 is in an empty state. When the determination unit 15 determines that the first area A13 is in an empty state, the transport control unit 16 does not output an instruction to carry out the luggage 30 from the first area A13 to the transport robot 2 based on the determination result of the determination unit 15, and outputs an instruction to carry out the luggage 30 from the first areas A11 and A12 that are not determined to be in an empty state to the transport robot 2. This reduces the possibility that the transport robot 2 will go to the empty first area A13 to retrieve the luggage 30, thereby improving transport efficiency.

[0099] In addition, if the worker moves some of the multiple pieces of luggage 30 arranged in the first area A1 out of the first area A1 after the determination unit 15 determines that the first area A1 is full, the determination unit 15 cannot detect that the first area A1 is no longer full. Therefore, the transport control system 1 may have the transport robot 2 perform a confirmation operation to detect, with the detection unit 22, whether or not there is luggage 30 at the first arrangement position (arrangement position P15) of the first area A1 that has been determined to be full.

[0100] For example, in a state where the determination unit 15 determines that the first area A13 is full as shown in FIG. 18, when the transport control system 1 instructs the transport robot 2 to carry in the luggage 30 into the first area A12, the transport control system 1 may output a confirmation instruction to the transport robot 2 to confirm whether the first area A13 is full or not before carrying in the luggage 30 into the first area A12. Here, the transport path RT30 set outside the second area A2 has stop positions SP1 to SP3 set outside the three first areas A11 to A13, respectively. When the transport robot 2 receives an instruction to carry in the luggage 30 into the first area A12 and an instruction to confirm the full state of the first area A13, it first moves to the stop position SP3 set outside the first area A13 and temporarily stops, and uses the detection unit 22 to detect whether the luggage 30 is placed at the first placement position (placement position P15).

[0101] Here, if the luggage 30 is placed at the first placement position (placement position P15) in the first area A13, the transport robot 2 determines that the first area A13 is full, moves to the first area A12, and places the luggage 30 at placement position P1 in the first area A12. On the other hand, if the luggage 30 is not placed at the first placement position (placement position P15) in the first area A13, the transport robot 2 moves into the first area A13, places the luggage 30 at the innermost placement position P1 where no luggage 30 is placed, and transmits carry-in information including the position coordinates of the placement position P1 where the luggage 30 is dropped off to the transport control system 1. At this time, the determination unit 15 of the transport control system 1 identifies the placement position P1 where the transport robot 2 places the luggage 30 based on the position information included in the carry-in information. The judgment unit 15 judges that the first area A13 is full when luggage 30 is placed at the first placement position P15 in the first area A13, and judges that the first area A13 is not full when luggage 30 is placed at the placement positions P11 to P14 in the first area A13.

[0102] Furthermore, if the worker places the luggage 30 at the placement position P1 of the first area A1 after the determination unit 15 determines that the first area A1 is empty, the determination unit 15 cannot detect that the first area A1 is no longer empty. Therefore, the transport control system 1 may have the transport robot 2 perform a confirmation operation to detect with the detection unit 22 that the luggage 30 is not actually placed in the first area A1 that has been determined to be empty.

[0103] For example, in a state where the determination unit 15 has determined that the first area A13 is in an empty state as shown in FIG. 19, when the transport control system 1 instructs the transport robot 2 to carry out the luggage 30 from the first area A12, the transport control system 1 may output a confirmation instruction to the transport robot 2 to confirm whether the first area A13 is in an empty state or not before carrying out the luggage 30 from the first area A12. When the transport robot 2 receives an instruction to carry out the luggage 30 from the first area A12 and an instruction to confirm the empty state of the first area A13, it first moves to a stop position SP3 set outside the first area A13 and stops temporarily, and uses the detection unit 22 to detect whether the luggage 30 is placed at a plurality of placement positions P11 to P15 in the first area A13. Note that when the first area A1 is larger than the detection range of the detection unit 22, the detection unit 22 cannot simultaneously detect that the luggage 30 is not present in the entire first area A1. In this case, the transport robot 2 may detect that no luggage 30 is present in the entire first area A1 by dividing the first area A1 into a plurality of regions, moving sequentially to a position in each of the plurality of regions where the presence or absence of luggage 30 can be detected, and detecting the presence or absence of luggage 30 in each region using the detection unit 22. Note that the transport robot 2 may detect that no luggage 30 is present in the entire first area A1 by detecting the presence or absence of luggage 30 using the detection unit 22 while moving within the first area A1.

[0104] Here, if no luggage 30 is placed at any of the placement positions P11 to P15 in the first area A13, the transport robot 2 determines that the first area A13 is empty, moves to the first area A12, and performs a carry-out operation to carry out the luggage 30 placed at the placement position P1 in the first area A12. On the other hand, if luggage 30 is placed in the first area A13, the transport robot 2 moves into the first area A13, holds the luggage 30 at the forefront, transmits carry-out information including the position coordinates of the placement position P1 where the luggage 30 is held to the transport control system 1, and performs a carry-out operation to carry out the held luggage 30 to the outside. At this time, the determination unit 15 of the transport control system 1 identifies the placement position P1 where the transport robot 2 holds the luggage 30 based on the position information included in the carry-out information. The judgment unit 15 judges that the first area A13 is in an empty state when luggage 30 is held at the second placement position P11 of the first area A13, and judges that the first area A13 is not in an empty state when luggage 30 is held at the placement positions P12 to P15 of the first area A13.

[0105] Furthermore, when the transport control system 1 causes the transport robot 2 to carry in the luggage 30 into the second area A2 and carry out the luggage 30 from the second area A2, priorities may be set for the multiple first areas A1 set in the second area A2. The priority set for each of the multiple first areas A1 represents the order of precedence for carrying out the carry-in operation of carrying in the luggage 30 and the carry-out operation of carrying out the luggage 30. In Figs. 20 and 21, three first areas A11 to A13 are set in the second area A2. The priorities Pr1, Pr2, and Pr3 set for the first areas A11, A12, and A13, respectively, are set so that the priority Pr1 of the first area A11 is the lowest and the priority Pr3 of the first area A13 is the highest (Pr1 <Pr2<Pr3)。

[0106] When the transport robot 2 carries in the luggage 30 to the second area A2, as shown in Fig. 20, it moves to the stop positions SP3, SP2, and SP1 in front of each of the first areas A1 in the order of the first areas A13, A12, and A11. The transport robot 2 detects whether each of the first areas A1 is full or not using the detection unit 22 at each of the stop positions SP3, SP2, and SP1, and when it detects a first area A1 that is not full, it performs a carry-in operation to carry in the luggage 30. If the transport robot 2 cannot detect a first area A1 that is not full even after going around the stop positions SP3, SP2, and SP1, it may move in the order of the stop positions SP3, SP2, and SP1 and repeat the process of detecting a first area A1 that is not full with the detection unit 22 until it detects a first area A1 that is not full.

[0107] When the transport robot 2 carries out the luggage 30 from the second area A2, it moves to the stop positions SP3, SP2, and SP1 in front of each of the first areas A1 in the order of the first areas A13, A12, and A11, as shown in Fig. 21. The transport robot 2 detects whether or not the luggage 30 is placed in each of the first areas A1 using the detection unit 22 at each of the stop positions SP3, SP2, and SP1, and performs the work of carrying out the luggage 30 when the transport robot 2 detects the luggage 30. If the transport robot 2 cannot detect the luggage 30 even after going around the stop positions SP3, SP2, and SP1, it may move to the stop positions SP3, SP2, and SP1 in that order and repeat the process of detecting the presence or absence of the luggage 30 with the detection unit 22 until the luggage 30 is detected.

[0108] (3.2) Variation 2 Next, the transport control system 1 of the modified example 2 will be described with reference to Fig. 22 to Fig. 26. Note that the configuration of the transport control system 1 and the transport system 3 including the transport robot 2 is common to the above embodiment or modified example 1, so the same components are denoted by the same reference numerals and the description thereof will be omitted.

[0109] In the second modification, the packages 30 to be transported include a first package 30A and a second package 30B that have different attributes. The "attributes" of the packages 30 include at least one of the delivery destination, delivery origin, type, size, and weight of the packages 30, and here, a case where the attribute is the delivery destination of the packages 30 will be described as an example.

[0110] The transport control system 1 causes the transport robot 2 to transport the luggage 30 between the second area A2 and the storage area B1. In the second area A2, a plurality of (for example, three in FIG. 22) first areas A1 are arranged side by side in a third direction DR3 intersecting with the first direction DR1. In each of the plurality of first areas A1 arranged in the second area A2, a plurality of (for example, five in FIG. 22) arrangement positions P11 to P15 are set side by side in the first direction DR1. Here, when each of the plurality of first areas A1 is explained, they are written as first areas A11, A12, and A13. In addition, a shipment / receive area C1 is set adjacent to the second area A2 in the third direction DR3, and a loading or unloading operation of the luggage 30 is performed between the truck 40 parked in the shipment / receive area C1 and the shipment / receive area C1.

[0111] Here, the first package 30A and the second package 30B have different delivery destinations, and the truck 40 first moves to the delivery destination of the second package 30B to unload the second package 30B, and then moves to the delivery destination of the first package 30A to unload the first package 30A. In this case, it is preferable to load the first package 30A at the back side of the bed of the truck 40, and load the second package 30B in front of the first package 30A.

[0112] Therefore, the transfer control unit 16 issues a transfer instruction to the transfer robot 2 that carries the first unit 30A into the second area A2 so that the first unit 30A is placed from the first area A13 at one end side in the third direction DR3 (the side closer to the receiving / shipping area C1 in this modified example). Also, the transfer control unit 16 issues a transfer instruction to the transfer robot 2 that carries the second unit 30B into the second area A2 so that the second unit 30B is placed from the first area A11 at the other end side in the third direction DR3 (the side farther from the receiving / shipping area C1 in this modified example).

[0113] As a result, the first luggage 30A is first carried into the first area A13, and when the first area A13 is full, it is carried into the first area A12, and when the first area A12 is full, it is carried into the first area A11. On the other hand, the second luggage 30B is first carried into the first area A11, and when the first area A11 is full, it is carried into the first area A12, and when the first area A12 is full, it is carried into the first area A13. Here, if the number of first luggage 30A and second luggage 30B carried into the second area A2 is the same, only the first luggage 30A is placed in the first area A13, the first luggage 30A and the second luggage 30B are mixed and placed in the first area A12, and only the second luggage 30B is placed in the first area A11.

[0114] When the carrying-in operation of the first unit 30A and the second unit 30B into the second area A2 is completed, a worker or another robot performs an operation of loading the first unit 30A and the second unit 30B arranged in the second area A2 onto the truck 40. At this time, since the first unit 30A is arranged at the arrangement position P1 close to the truck 40 within the second area A2, the first unit 30A can be loaded onto the truck 40 first, and then the second unit 30B can be loaded onto the truck 40, so that the loading operation can be performed efficiently. Therefore, when unloading the units 30 from the truck 40, the first unit 30A can be unloaded after the second unit 30B is unloaded first, so that the operation of unloading the units 30 from the truck 40 can be performed efficiently.

[0115] Incidentally, when the carrying-in operation of the first unit 30A and the second unit 30B into the second area A2 is completed, if there is a placement position P1 in the second area A2 where no unit 30 is placed, the transport control system 1 may cause the transport robot 2 to perform a second alignment operation to align the units 30 in the second area A2. Here, the second alignment operation to be performed by the transport robot 2 will be described with reference to Figs. 23 to 25.

[0116] In the second area A2 shown in FIG. 23, five first areas A11 to A15 are set to be lined up in the third direction DR3. In each of the first areas A11 to A15, a first transport path RT10 is set along the first direction DR1 along which the transport robot 2 can move, and three arrangement positions P1 where the packages 30 can be arranged are set in a line on the first transport path RT10. When distinguishing between the three arrangement positions P1, they are written as arrangement positions P11, P12, and P13 in order from the back side in the first direction DR1. In addition, a shipping / receiving area C1 is set adjacent to the second area A2 in the third direction DR3, and the first areas A15, A14, A13, A12, and A11 are set in a line in the second area A2 in order from the side closest to the shipping / receiving area C1.

[0117] Here, the transfer control unit 16 gives a transfer instruction to the transfer robot 2 that carries the first unit 30A into the second area A2 so that the first unit 30A is placed from the first area A15 at one end side (the side closer to the receiving / shipping area C1) in the third direction DR3. In other words, the transfer robot 2 that carries the first unit 30A into the second area A2 assigns priorities to the first areas A11 to A15 so that the closer to the receiving / shipping area C1 the higher the priority, and performs the carrying-in operation of the first unit 30A according to this priority. In other words, the transfer robot 2 that carries the first unit 30A into the second area A2 places the first unit 30A in the first area A1, which has a higher priority among the first areas A11 to A15, so that the first unit 30A is placed on the side closer to the receiving / shipping area C1.

[0118] The transport control unit 16 also issues a transport instruction to the transport robot 2 that transports the second package 30B into the second area A2 so that the second package 30B is placed from the first area A11 on the other end side in the third direction DR3 (the side farther from the receiving / shipping area C1 in this modified example). In other words, the transport robot 2 that transports the second package 30B into the second area A2 assigns priorities to the first areas A11 to A15 so that the priority is higher the farther from the receiving / shipping area C1, and performs the transport operation of the second package 30B according to these priorities. The transport robot 2 that transports the second package 30B into the second area A2 places the second package 30B in the first area A1, which has a higher priority among the first areas A11 to A15, so that the second package 30B is placed on the side farther from the receiving / shipping area C1.

[0119] As a result, the first package 30A is first carried into the first area A15, and when the first area A15 becomes full, the package is carried into the first area A14, which has the next highest priority. On the other hand, the second package 30B is first carried into the first area A11, and when the first area A11 becomes full, the package is carried into the first area A12, which has the next highest priority.

[0120] Then, when the carrying-in operation of the plurality of packages (the first package 30A and the second package 30B) into the second area A2 is completed, the transport control unit 16 outputs a second alignment instruction from the communication unit 11 to the transport robot 2. Here, the second alignment instruction is a transport instruction to pack and arrange the packages 30 (the first package 30A and the second package 30B) arranged in the second area A2 on one side in the third direction DR3.

[0121] The transport robot 2 that has received the second alignment instruction moves along the second transport path RT20 set in the second area A2 and packs the packages 30 to one side in the third direction DR3. Here, three arrangement positions P1 are set in each of the first areas A11 to A15, and the three arrangement positions P1 are arranged at the same position when viewed from the third direction DR3. As shown in FIG. 24, three second transport paths RT20 are set in the second area A2 along the third direction DR3, and the three arrangement positions P1 of each first area A1 are located on the three second transport paths RT20, respectively. When distinguishing between the three second transport paths RT20, they are denoted as second transport paths RT21, RT22, and RT23 in order from the back side in the first direction DR1.

[0122] As shown in FIG. 25, when the transport robot 2 moves along the second transport path RT21 at the back side in the first direction DR1 (left side in FIG. 25), it passes over the arrangement positions P11 of the first areas A11 to A15, so that the second luggage 30B arranged at the arrangement positions P11 of each first area A1 can be moved to one side. When the transport robot 2 moves along the second transport path RT22 at the center in the first direction DR1, it passes over the arrangement positions P12 of the first areas A11 to A15, so that the second luggage 30B arranged at the arrangement positions P12 of each first area A1 can be moved to one side. Also, when the transport robot 2 moves along the second transport path RT20 at the front side in the first direction DR1 (right side in FIG. 25), it passes over the arrangement positions P13 of each first area A1, so that the luggage 30 arranged at the arrangement positions P13 of each first area A1 can be moved to one side.

[0123] In this way, the transport robot 2 receives the second alignment instruction and rearranges the luggage 30, so that the multiple luggage 30 arranged in the second area A2 can be packed and arranged on one side of the third direction DR3, and the arrangement positions P1 where no luggage 30 is arranged can be gathered on the opposite side of the third direction DR3.

[0124] Therefore, as shown in FIG. 26, the transport control unit 16 can cause the transport robot 2 to transport the packages 30C and 30D to another delivery destination to a placement position P1 where the package 30 is not placed in the second area A2. When the transport control unit 16 transports the packages 30C and 30D to the second area A2, the transport control unit 16 causes the transport robot 2 to move along the first transport path RT10 of each first area A1 and place the package 30 at a placement position P1 where the package 30 is not placed. The delivery destinations of the first package 30A, the second package 30B, the package 30C, and the package 30D are different from each other, and the delivery destination of the package 30C is closer than the delivery destination of the second package 30B, and the delivery destination of the package 30D is closer than the delivery destination of the package 30C. Therefore, the truck 40 moves sequentially to the delivery destination of the package 30D, the delivery destination of the package 30C, the delivery destination of the second package 30B, and the delivery destination of the first package 30A, and unloads the packages at each delivery destination. Therefore, it is preferable to load the package 30C before the second package 30B, and the package 30D before the package 30C on the bed of the truck 40. Therefore, it is preferable to arrange the packages 30 in the second area A2 so that they are lined up in the order of the first package 30A, the second package 30B, the package 30C, and the package 30D from the side closest to the receiving / shipping area C1.

[0125] Here, the transport control unit 16 gives a transport instruction to the transport robot 2 that transports the first package 30C into the second area A2 so that the package 30C is placed from the first area A1, which is closer to one end side (the side closer to the receiving / shipping area C1) in the third direction DR3. In other words, the transport robot 2 that transports the package 30C into the second area A2 assigns priorities to the first areas A11 to A15 so that the closer to the receiving / shipping area C1 the higher the priority, and performs the loading operation of the package 30C according to this priority. In other words, the transport robot 2 that transports the package 30C into the second area A2 places the package 30C in the first area A1, which has a higher priority among the first areas A11 to A15, so that the package 30C is placed closer to the receiving / shipping area C1 than the package 30D.

[0126] The transport control unit 16 also issues a transport instruction to the transport robot 2 that transports the second package 30D into the second area A2 so that the second package 30B is placed from the first area A11 on the other end side in the third direction DR3 (the side farther from the receiving / shipping area C1 in this modified example). In other words, the transport robot 2 that transports the package 30D into the second area A2 assigns priorities to the first areas A11 to A15 so that the priority is higher the farther from the receiving / shipping area C1, and performs the loading operation of the package 30D according to these priorities. The transport robot 2 that transports the package 30D into the second area A2 places the package 30D in the first area A1, which has a higher priority among the first areas A11 to A15, so that the package 30D is placed farther from the receiving / shipping area C1 than the package 30C.

[0127] As a result, in the second area A2, the packages 30 are arranged in the order of the first package 30A, the second package 30B, the package 30C, and the package 30D, starting from the package closest to the shipping / receiving area C1. This allows the package 30 arranged in the second area A2 to be loaded onto the truck 40, and the package 30 to be unloaded from the truck 40 at the delivery destination, to be carried out efficiently.

[0128] (3.3) Other Modifications In the above embodiment and variants 1 and 2, the transport robot 2 takes in and out luggage 30 in the first area A1 on a first-in, first-out basis, but the transport robot 2 may take in and out luggage 30 in the first area A1 on a last-in, first-out basis (LIFO).

[0129] When the transport robot 2 carries the luggage 30 into the first area A1, the transport robot 2 moves along the first transport path RT10 in the first area A1, moves to the innermost arrangement position P1 among the multiple arrangement positions P1 where no luggage 30 is placed, and unloads the luggage 30. When the transport robot 2 carries the luggage 30 out of the first area A1, the transport robot 2 moves along the first transport path RT10 in the first area A1, moves to the innermost arrangement position P1 of the luggage 30, and holds the luggage 30 at that position. After that, the transport robot 2 moves in the first direction DR1 on the first transport path RT10 and carries the luggage 30 out of the first area A1. In this case, the luggage 30 placed at the foremost arrangement position P1 (first arrangement position P15) among the multiple arrangement positions P1 is carried out last.

[0130] In other words, when multiple pieces of luggage 30 placed at multiple placement positions P1 are removed from the first area A1 by moving them in the first direction DR1, when the communication unit 11 receives removal information from the transport robot 2 indicating that the luggage 30 located at the first placement position (placement position P15) has been removed, the judgment unit 15 determines that the first area A1 is empty.

[0131] (summary) As described above, the transport control system (1) of the first embodiment includes a communication unit (11), a determination unit (15), and a transport control unit (16). The communication unit (11) communicates with a transport robot (2) capable of transporting a package (30). The determination unit (15) determines whether or not the first area (A1) is full, that is, all of the placement positions (P1) have packages (30) placed therein. In the first area (A1), a first transport path (RT10) is set in which the transport robot (2) can enter along a first direction (DR1), and a plurality of placement positions (P1) at which the packages (30) can be placed are set side by side on the first transport path (RT10). The transport control unit (16) gives a transport instruction to the transport robot (2) to transport the package (30) via the communication unit (11). The transport control unit (16) determines whether or not the luggage (30) can be carried into the first area (A1) based on the result of the determination of the full state by the determination unit (15). When the communication unit (11) receives carry-in information from the transport robot (2) indicating that the transport robot (2) has unloaded the luggage (30) at the first arrangement position (P15), the determination unit (15) determines that the first area (A1) is full. The first arrangement position (P15) is the arrangement position that the transport robot (2) passes through first among the multiple arrangement positions (P1) when it enters the first area (A1) along the first transport path (RT10).

[0132] According to this aspect, the transport control unit (16) does not instruct the transport robot (2) to carry in the luggage (30) into the first area (A1) that is determined to be full, thereby reducing the possibility of the transport robot (2) performing unnecessary transport work, and improving transport efficiency. Also, there is no need to install a camera or sensor in the first area (A1) to detect the full state of the first area (A1), and it is easy to respond to changes in the position of the first area (A1).

[0133] In the second aspect of the transport control system (1) in the first aspect, when the judgment unit (15) judges that the first area (A1) is full and the transport control unit (16) outputs a transport instruction to the transport robot (2) to instruct the transport robot (2) to remove the luggage (30) from the first area (A1), the judgment unit (15) judges that the first area (A1) is not full.

[0134] According to this aspect, it is possible to determine that the first area (A1) is no longer in a full state without installing a camera, a sensor, or the like in the first area (A1).

[0135] In the transport control system (1) of the third aspect, in the first or second aspect, the determination unit (15) further determines whether or not the first area (A1) is in an empty state in which no luggage (30) is placed at any of the multiple placement positions (P1). The transport control unit (16) determines whether or not to carry out the luggage (30) from the first area (A1) based on the result of the determination of the empty state by the determination unit (15).

[0136] According to this embodiment, the transport control unit (16) does not instruct the transport robot (2) to remove the luggage (30) from the first area (A1) that is determined to be empty, thereby reducing the possibility of the transport robot (2) performing unnecessary transport work, and improving the transport efficiency.

[0137] In the transport control system (1) of the fourth aspect, in the third aspect, when a plurality of packages (30) arranged at a plurality of placement positions (P1) are moved in a second direction (DR2) opposite to the first direction (DR1) to be removed from the first area (A1), when the communication unit (11) receives removal information from the transport robot (2) indicating that the package (30) at the second placement position (P11) has been removed, the judgment unit (15) judges that the first area (A1) is empty. The second placement position (P11) is the first placement position in the first direction (DR1) among the plurality of placement positions (P1).

[0138] According to this aspect, it is possible to determine that the first area (A1) is full without installing a camera, a sensor, or the like in the first area (A1).

[0139] In the fifth aspect of the transport control system (1), in the third aspect, when multiple pieces of luggage (30) placed at multiple placement positions (P1) are removed from the first area (A1) by moving them in a first direction (DR1), when the communication unit (11) receives removal information from the transport robot (2) that the luggage (30) located at the first placement position (P15) has been removed, the judgment unit (15) judges that the first area (A1) is empty.

[0140] According to this aspect, it is possible to determine that the first area (A1) is in an unloaded state without installing a camera, a sensor, or the like in the first area (A1).

[0141] In the sixth aspect of the transport control system (1) in any of the third to fifth aspects, when the judgment unit (15) judges that the first area (A1) is empty and the transport control unit (16) outputs a loading instruction to the transport robot (2) to instruct the transport robot (2) to load the luggage (30) into the first area (A1), the judgment unit (15) judges that the first area (A1) is not empty.

[0142] According to this aspect, it is possible to determine that the first area (A1) is no longer in an unladen state without installing a camera, a sensor, or the like in the first area (A1).

[0143] In the seventh aspect of the transport control system (1) in any one of the first to sixth aspects, when the determination unit (15) determines that the first area (A1) is full and the communication unit (11) receives vacancy information from the transport robot (2), the transport control unit (16) causes the communication unit (11) to output a first alignment instruction to the transport robot (2). The vacancy information is information indicating that no luggage (30) is placed in at least one of the multiple placement positions (P1) in the first area (A1). The first alignment instruction is a transport instruction to pack and arrange the luggage (30) placed in the first area (A1) in a first direction (DR1).

[0144] According to this embodiment, the luggage (30) placed in the first area (A1) is packed in the first direction (DR1), so that the placement space in the first area (A1) can be effectively utilized.

[0145] In the transport control system (1) of the eighth aspect, in the seventh aspect, the transport robot (2) has a detection unit (22) that detects surrounding objects and is capable of moving through a gap (210) between the luggage (30) placed in the first area (A1) and the moving surface (200). When the detection unit (22) detects that the luggage (30) is not placed at least one of the multiple placement positions (P1) while the transport robot (2) moves along the first transport path (RT10) set in the first area (A1), the transport robot (2) transmits vacancy information to the communication unit (11).

[0146] According to this embodiment, while the transport robot (2) moves along the first transport path (RT10), it is possible to detect the placement position (P1) where no package (30) is placed.

[0147] In the transport control system (1) of the ninth aspect, in the seventh aspect, the transport robot (2) has a detection unit (22) that detects surrounding objects. When the detection unit (22) detects that no baggage (30) is placed at at least one of the multiple placement positions (P1) when the transport robot (2) is at an observation position (WP1) off the first transport path (RT10), the transport robot (2) transmits vacancy information to the communication unit (11).

[0148] According to this embodiment, the transfer robot (2) stopped or moving at the observation position (WP1) can detect the placement position (P1) where no baggage (30) is placed.

[0149] In the transport control system (1) of the tenth aspect, in any one of the first to ninth aspects, the determination unit (15) determines whether or not luggage (30) is placed at all of a plurality of placement positions (P1) in the second area (A2). In the second area (A2), a plurality of first areas (A1) are provided side by side in a third direction (DR3) intersecting the first direction (DR1).

[0150] According to this aspect, the conveying efficiency can be improved.

[0151] In the transport control system (1) of the eleventh aspect, in the tenth aspect, the luggage (30) includes a first luggage (30A) and a second luggage (30B) having different attributes. The transport control unit (16) issues a transport instruction to the transport robot (2) that carries the first luggage (30A) into the second area (A2) so that the first luggage (30A) is placed from the first area (A1) at one end side in the third direction (DR3). The transport control unit (16) issues a transport instruction to the transport robot (2) that carries the second luggage (30B) into the second area (A2) so that the second luggage (30B) is placed from the first area (A1) at the other end side in the third direction (DR3).

[0152] According to this embodiment, the arrangement space of the second area (A2) can be efficiently utilized.

[0153] In the transport control system (1) of the twelfth aspect, in the eleventh aspect, the transport control unit (16) outputs a second alignment instruction from the communication unit (11) to the transport robot (2) after the transport operation of the plurality of packages (30) to the second area (A2) is completed. The second alignment instruction is a transport instruction to pack and arrange the packages (30) arranged in the second area (A2) on one side in the third direction (DR3).

[0154] According to this embodiment, the arrangement space of the second area (A2) can be efficiently utilized.

[0155] The transport system (3) of the 13th aspect includes the transport control system (1) of any one of the first to 12th aspects, and a transport robot (2) that transports luggage (30) in response to a transport instruction given by the transport control system (1).

[0156] According to this aspect, the conveying efficiency can be improved.

[0157] The transport control method of the fourteenth aspect includes a determination process and a transport control process. In the determination process, it is determined whether or not the first area (A1) is in a full state in which luggage (30) is placed at all of the multiple placement positions (P1). In the first area (A1), a first transport path (RT10) is set into which a transport robot (2) capable of transporting luggage (30) can enter along a predetermined first direction (DR1). In the first area (A1), multiple placement positions (P1) at which luggage (30) can be placed are set side by side on the first transport path (RT10). In the transport control process, an instruction to transport the luggage (30) is given to the transport robot (2). In the transport control process, it is determined whether or not the luggage (30) can be carried into the first area (A1) based on the result of the determination of the full state by the determination process. In the determination process, when carry-in information indicating that the transport robot (2) has unloaded the package (30) at the first arrangement position (P15) is received from the transport robot (2), it is determined that the first area (A1) is full. The first arrangement position (P15) is the arrangement position that the transport robot (2) passes through first among the multiple arrangement positions (P1) when it enters the first area (A1) along the first transport path (RT10).

[0158] According to this aspect, the conveying efficiency can be improved.

[0159] A program according to a fifteenth aspect is a program for causing a computer system to execute the transport control method according to the fourteenth aspect.

[0160] According to this aspect, the conveying efficiency can be improved.

[0161] Not limited to the above aspects, various configurations (including modified examples) of the transport control system (1) according to the above embodiment can be embodied as a transport control method, a (computer) program, or a non-transitory recording medium having a program recorded thereon, etc.

[0162] The configurations according to the second to twelfth aspects are not essential for the transport control system (1) and may be omitted as appropriate. [Explanation of symbols]

[0163] 1. Transport control system 2. Transport robot 3. Transport System 11 Communications Department 15 Judgment Department 16 Transport control section 22 Detection unit 30 Luggage 30A First Baggage 30B 2nd baggage 200 Moving Surface A1 1st Area A2 Area 2 DR1 1st direction DR2 2nd direction DR3 3rd direction P1 location P11 2nd placement position P15 1st placement position RT10 First conveyor path WP1 Observation position

Claims

1. A communication unit that communicates with a transport robot capable of transporting luggage; a determination unit that determines whether a first area is full and the luggage is placed in all of the placement positions, the first area having a first transport path along a first direction into which the transport robot can enter and a plurality of placement positions on the first transport path in which the luggage is placed; and a transport control unit that issues a transport instruction to the transport robot via the communication unit, The transport control unit determines whether or not the luggage can be carried into the first area based on a result of the determination of the full state by the determination unit, when the communication unit receives from the transport robot carry-in information indicating that the transport robot has unloaded the cargo at a first placement position which the transport robot passes first when it enters the first area along the first transport path among the plurality of placement positions, the determination unit determines that the first area is in the full state, when the determination unit determines that the first area is in the full state and the communication unit receives from the transport robot vacancy information indicating that the luggage is not placed in at least one of the plurality of placement positions in the first area, the transport control unit causes the communication unit to output to the transport robot a first alignment instruction to pack and place the luggage placed in the first area in the first direction. Transport control system.

2. the transport robot has a detection unit that detects surrounding objects and is capable of moving through a gap between the luggage arranged in the first area and a moving surface; when the detection unit detects that the luggage is not placed at at least one of the plurality of placement positions while the transport robot moves on the first transport path set in the first area, the transport robot transmits the vacancy information to the communication unit. The transport control system according to claim 1 .

3. the transport robot has a detection unit that detects surrounding objects, when the detection unit detects that the luggage is not placed at at least one of the plurality of placement positions at an observation position where the transport robot is off the first transport path, the transport robot transmits the vacancy information to the communication unit. The transport control system according to claim 1 .

4. A communication unit that communicates with a transport robot capable of transporting luggage; a determination unit that determines whether a first area is full and the luggage is placed in all of the placement positions, the first area having a first transport path along a first direction into which the transport robot can enter and a plurality of placement positions on the first transport path in which the luggage is placed; and a transport control unit that issues a transport instruction to the transport robot via the communication unit, The transport control unit determines whether or not the luggage can be carried into the first area based on a result of the determination of the full state by the determination unit, when the communication unit receives from the transport robot carry-in information indicating that the transport robot has unloaded the cargo at a first placement position which the transport robot passes first when it enters the first area along the first transport path among the plurality of placement positions, the determination unit determines that the first area is in the full state, the determination unit determines whether the luggage is placed at all of the plurality of placement positions within a second area in which a plurality of the first areas are arranged side by side in a third direction intersecting the first direction; The packages include a first package and a second package having different attributes, the transport control unit issues a transport instruction to the transport robot that carries the first unit into the second area so that the first unit is placed from the first area on one end side in the third direction; the transport control unit issues a transport instruction to the transport robot that carries the second unit into the second area so that the second unit is placed from the first area on the other end side in the third direction; the transport control unit outputs, to the transport robot from the communication unit, a second alignment instruction to arrange the luggage arranged in the second area on one side in the third direction after the transport operation of the plurality of luggage to the second area is completed. Transport control system.

5. When the determination unit determines that the first area is in the full state and the transport control unit outputs a transport instruction to the transport robot to instruct the transport robot to remove the luggage from the first area, the determination unit determines that the first area is not in the full state. The transport control system according to any one of claims 1 to 4.

6. The determination unit further determines whether or not the first area is in an empty state in which no luggage is placed at any of the plurality of placement positions, The transport control unit determines whether or not the luggage can be carried out from the first area based on a result of the determination of the empty state by the determination unit. The transport control system according to claim 4.

7. In the case where the multiple pieces of luggage placed at the multiple placement positions are removed from the first area by moving them in a second direction opposite to the first direction, when the communication unit receives removal information from the transport robot indicating that the luggage located at the second placement position which is the head of the multiple placement positions in the first direction has been removed, the judgment unit judges that the first area is in the empty state. The transport control system according to claim 6.

8. In the case where the multiple pieces of luggage placed at the multiple placement positions are removed from the first area by moving them in the first direction, when the communication unit receives removal information from the transport robot indicating that the luggage at the first placement position has been removed, the determination unit determines that the first area is in the empty state. The transport control system according to claim 6.

9. When the determination unit determines that the first area is in the empty state, and the transport control unit outputs a loading instruction to the transport robot to instruct the transport robot to load the luggage into the first area, the determination unit determines that the first area is not in the empty state. The transport control system according to any one of claims 6 to 8.

10. A transport control system according to any one of claims 1 to 9, The transport robot transports the luggage based on the transport instruction from the transport control system. Conveying system.

11. A first transport path is set along a first direction into which a transport robot capable of transporting luggage can enter, and a plurality of placement positions in which the luggage can be placed are set in a line on the first transport path within a first area, comprising a judgment process for determining whether the first area is full and the luggage has been placed in all of the plurality of placement positions; A transport control process for giving an instruction to transport the luggage to the transport robot, In the transport control process, it is determined whether or not the luggage can be carried into the first area based on a result of the determination process of the full state, In the determination process, when carry-in information indicating that the transport robot has unloaded the cargo at a first arrangement position that the transport robot passes first when the transport robot enters the first area along the first transport path is received from the transport robot, the first area is determined to be in the full state, When the determination process determines that the first area is in the full state, and vacancy information indicating that the luggage is not placed in at least one of the plurality of placement positions in the first area is received from the transport robot, the transport control process outputs a first alignment instruction to the transport robot to pack and place the luggage placed in the first area in the first direction. Transport control method.

12. A first transport path is set along a first direction into which a transport robot capable of transporting luggage can enter, and a plurality of placement positions in which the luggage can be placed are set in a line on the first transport path within a first area, comprising a judgment process for determining whether the first area is full and the luggage has been placed in all of the plurality of placement positions; A transport control process for giving an instruction to transport the luggage to the transport robot, In the transport control process, it is determined whether or not the luggage can be carried into the first area based on a result of the determination process of the full state, In the determination process, when carry-in information indicating that the transport robot has unloaded the cargo at a first arrangement position that the transport robot passes first when the transport robot enters the first area along the first transport path is received from the transport robot, the first area is determined to be in the full state, In the determination process, it is determined whether or not the luggage is placed at all of the plurality of placement positions in a second area in which a plurality of the first areas are arranged side by side in a third direction intersecting the first direction, The packages include a first package and a second package having different attributes, In the transport control process, a transport instruction is given to the transport robot that carries the first item into the second area so that the first item is placed in the first area from one end side in the third direction; a transport instruction is given to the transport robot that carries the second unit into the second area so that the second unit is placed from the first area on the other end side in the third direction; outputting, to the transport robot, a second alignment instruction to align the luggage arranged in the second area to one side in the third direction after the transport operation of the luggage to the second area is completed; Transport control method.

13. A computer system comprising: To execute the transport control method according to claim 11 or 12, program.

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