Conveyance system, control device, conveyance method, and program

Abstract

To provide a transport system that smoothly transports a wide variety of articles.SOLUTION: A transport system includes a first transport robot, a second transport robot, a generation device, and a control device. The first transport robot and the second transport robot transport an article. The generation device generates position information of the first transfer robot and position information of the second transfer robot. The control device transmits control information for transporting the article by the first transport robot and the second transport robot to the first transport robot and the second transport robot based on the position information of the first transport robot and the position information of the second transport robot.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] At production sites such as factories, it is essential to move parts, materials, and other items. The movement of goods is also necessary in logistics warehouses. Automated Guided Vehicles (AGVs) are used to move these goods.

[0003] When moving goods in a factory, the destination of the goods is predetermined, and the types of goods (materials) handled are not so large. Therefore, the transport robot only needs to transport a limited number of goods along a set route.

[0004] Due to the above circumstances, factories and the like often use transport robots that move by relying on magnetic tape or QR codes (registered trademark) attached to the floor. Alternatively, in recent years, transport robots that estimate their own position and move to a destination using what is called SLAM (Simultaneous Localization and Mapping) are also being used.

[0005] Patent Document 1 discloses a robot that transports an object by placing it on two robots, and Patent Document 2 discloses a robot that transports an object together with a cart on which it is placed. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-099524 [Patent Document 2] Japanese Patent Application Laid-Open No. 2009-006415 Summary of the Invention [Problem to be solved by the invention]

[0007] The transport robots using magnetic tapes and SLAM-type transport robots described above are suitable for transporting goods in factories and the like, but are not suitable for shipping goods in logistics warehouses and the like.

[0008] In logistics warehouses, the delivery destination of goods varies depending on the shipper (client), making it difficult to use transport robots that use magnetic tape or QR codes (registered trademark), which do not allow for flexible route changes. In other words, to meet the shipper's requests, it is necessary to frequently reattach magnetic tape, etc., which is not practical. In addition, QR codes (registered trademarks) attached to the floor become dirty with the movement of carts, etc., and over time, it becomes difficult for transport robots to read the QR codes (registered trademarks). Alternatively, in rental warehouses, attaching magnetic tape, etc. to floors, etc. is sometimes prohibited.

[0009] Unlike factories, the environment surrounding transport robots in logistics warehouses often changes frequently. For example, obstacles may be placed in the aisles, blocking the path of the transport robot. As a result, existing transport robots are often not suitable for transporting goods in logistics warehouses.

[0010] In factories, etc., the items that a transport robot will handle are predetermined, and a transport method that suits the item can be selected. For example, a method that is appropriate for the item can be selected from a method in which the transport robot acts as a cart and the item is placed on the robot for transport, a method in which the transport robot pulls a cart with a towing device for transport, or a method in which the cart is lifted up for transport. Alternatively, in large factories, etc., items may be transported by belt conveyors.

[0011] However, because logistics warehouses handle goods delivered to consumers through e-commerce and goods traded between individuals at auctions and other venues, the types of goods that transport robots handle are enormous, and it is not possible to predict their shapes, etc. Therefore, with cart-type robots, it is necessary to prepare many robots for each size of item.

[0012] In logistics warehouses, items (luggage) are often carried into the warehouse on carts, and robots that place items on carts require workers to transfer the luggage. Towing robots require workers to connect the towing device to the transport robot. Furthermore, while transporting items using a loading robot that lifts up the cart or a conveyor belt is suitable for large factories, it is not suitable for logistics warehouses, especially small ones.

[0013] As such, unlike factories, logistics warehouses have different circumstances in that packages are brought in on carts and the carts and packaging styles differ depending on the shipper (client). For this reason, there are many problems with using existing transport robots to transport goods in logistics warehouses.

[0014] The problems caused by the circumstances of such logistics warehouses cannot be resolved by applying the techniques disclosed in Patent Documents 1 and 2.

[0015] Patent Document 1 discloses a technology in which a slave robot operates in coordination with a master robot to transport an object. However, the robot disclosed in Patent Document 1 does not take into account the surrounding environment when it operates. As a result, obstacles and the like present around the delivery robot cannot be detected, which can lead to problems such as the robot colliding with obstacles and the like.

[0016] Patent Document 2 discloses a transport robot that grasps a handle of a cart and pushes the cart. The robot disclosed in this document is capable of transporting goods by controlling the cart so that a predetermined point and a reference point of the robot are on the same trajectory. Furthermore, although the robot is equipped with an obstacle sensor, the robot's movement path is not determined based on obstacle information obtained from the sensor, so there is a possibility that the robot may become stuck if an obstacle is present on the path.

[0017] A primary object of the present invention is to provide a conveying system, a control device, a conveying method, and a program that contribute to the smooth conveyance of a wide variety of articles. [Means for solving the problem]

[0018] According to a first aspect of the present invention, there is provided a transport system including first and second transport robots that transport items, a generating device that generates position information of the first transport robot and position information of the second transport robot, and a control device that transmits control information to the first and second transport robots for transporting the items by the first and second transport robots based on the position information of the first transport robot and the position information of the second transport robot.

[0019] According to a second aspect of the present invention, there is provided a control device connected to first and second transport robots that transport items and to a generation device that generates position information for the first transport robot and position information for the second transport robot, and that transmits control information to the first and second transport robots for transporting the items by the first and second transport robots based on the position information of the first transport robot and the position information of the second transport robot.

[0020] According to a third aspect of the present invention, there is provided a transport method in a transport system including first and second transport robots that transport items, the method including: generating position information of the first transport robot and position information of the second transport robot; and transmitting control information to the first and second transport robots for transporting the items by the first and second transport robots based on the position information of the first transport robot and the position information of the second transport robot.

[0021] According to a fourth aspect of the present invention, there is provided a program for causing a computer mounted on a control device connected to first and second transport robots that transport items and a generation device that generates position information for the first transport robot and position information for the second transport robot to execute a process of transmitting control information for transporting the items by the first and second transport robots to the first and second transport robots based on the position information of the first transport robot and the position information of the second transport robot. [Effects of the Invention]

[0022] According to each aspect of the present invention, a conveying system, a control device, a conveying method, and a program are provided that contribute to the smooth conveying of a wide variety of items. Note that the present invention may achieve other effects instead of or in addition to the effect of the present invention. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a diagram for explaining an outline of an embodiment. [Figure 2] FIG. 2 is a sequence diagram illustrating an example of the operation of the transport system according to the embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of a schematic configuration of the transport system according to the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a processing configuration of a transfer robot according to the first embodiment. [Figure 5]FIG. 5 is a diagram illustrating an example of a processing configuration of the location information managing device according to the first embodiment. [Figure 6] FIG. 6 is a diagram showing an example of information associating the identifiers of the camera devices with the areas photographed by the camera devices. [Figure 7] FIG. 7 is a diagram for explaining the operation of the object position information generating unit. [Figure 8] FIG. 8 is a diagram illustrating an example of object position information transmitted from the position information managing device. [Figure 9] FIG. 9 is a diagram illustrating an example of a processing configuration of the transportation planning device according to the first embodiment. [Figure 10] FIG. 10 is a diagram showing an example of a screen displayed by the transportation plan information generating unit. [Figure 11] FIG. 11 is a diagram illustrating an example of a processing configuration (processing module) of the control device according to the first embodiment. [Figure 12] FIG. 12 is a diagram illustrating an example of a field configuration. [Figure 13] FIG. 13 is a diagram illustrating an example of field configuration information. [Figure 14] FIG. 14 is a diagram illustrating an example of link configuration information. [Figure 15] FIG. 15 is a diagram illustrating an example of field management information. [Figure 16] FIG. 16 is a diagram illustrating an example of the robot management information. [Figure 17] FIG. 17 is a diagram for explaining recalculation by the route calculation unit. [Figure 18] FIG. 18 is a diagram for explaining recalculation by the route calculation unit. [Figure 19] FIG. 19 is a sequence diagram illustrating an example of the operation of the transfer system according to the first embodiment. [Figure 20] FIG. 20 is a diagram illustrating an example of a hardware configuration of the control device. DETAILED DESCRIPTION OF THE INVENTION

[0024] First, an overview of one embodiment will be described. Note that the reference numerals in the drawings are given to each element for convenience as an example to facilitate understanding, and the description of this overview is not intended to be limiting. Note that in this specification and drawings, elements that can be similarly described may be given the same reference numerals, thereby avoiding redundant explanation.

[0025] A transport system according to one embodiment includes a first transport robot 101, a second transport robot 102, a generation device 103, and a control device 104 (see FIG. 1). The first transport robot 101 and the second transport robot 102 transport objects. The generation device 103 generates position information of the first transport robot 101 and position information of the second transport robot 102. The control device 104 transmits control information to the first transport robot 101 and the second transport robot 102, based on the position information of the first transport robot 101 and the position information of the second transport robot 102, for transporting objects by the first transport robot 101 and the second transport robot 102.

[0026] The operation of the transport system according to the embodiment is summarized in Fig. 2. The generation device 103 generates position information of the first transport robot 101 and position information of the second transport robot 102 (step S1). The control device 104 transmits control information for transporting the item by the first transport robot 101 and the second transport robot 102 to the first transport robot 101 and the second transport robot 102 based on the position information (step S2). The first transport robot 101 and the second transport robot 102 transport the item based on the received control information (step S3).

[0027] In the above-described transport system, two transport robots move (transport) an item in cooperation with each other. Therefore, the system can be adapted to a wide variety of items brought into a logistics warehouse or the like. For example, by moving with an item sandwiched between the two transport robots, the two transport robots can transport the item regardless of its shape. Furthermore, the control device 104 can control the two transport robots taking into consideration not only the status of the two transport robots but also the surrounding environment, etc. Therefore, for example, even if an obstacle is present around the transport robot (on the path of the transport robot), the control device 104 can execute control to avoid the obstacle.

[0028] Specific embodiments will be described in more detail below with reference to the drawings.

[0029] [First embodiment] The first embodiment will be described in more detail with reference to the drawings.

[0030] Fig. 3 is a diagram showing an example of a schematic configuration of a transport system according to the first embodiment. Referring to Fig. 3, the transport system includes a plurality of transport robots 10-1 to 10-4, a plurality of camera devices 20-1 to 20-3, a position information management device 30, a transport planning device 40, and a control device 50.

[0031] In the following description, unless there is a particular reason to distinguish between the transport robots 10-1 to 10-4, they will simply be referred to as "transport robot 10." Other configurations will be similarly referred to. The configuration shown in Fig. 3 is an example and is not intended to limit the number of transport robots 10, etc. included in the transport system.

[0032] The transport robot 10 is a cooperative transport robot that transports an item 60 in cooperation with other robots. Specifically, the transport robots 10 sandwich the item 60 from opposite directions and move while keeping the item 60 sandwiched, thereby transporting the item 60. The transport robot 10 is configured to be able to communicate with a control device 50, and moves based on control commands (control information) from the control device 50.

[0033] The article 60 is fixed to a wheeled cart, so when the two transport robots 10 move with the article 60 lightly sandwiched between them, the article 60 also moves.

[0034] The transport robot 10 can move independently and is paired with any transport robot 10 to transport an item 60. For example, in the example of FIG. 3, the transport robot 10-1 and the transport robot 10-2 are paired, and the transport robot 10-3 and the transport robot 10-4 are paired. However, the transport robot 10-1 and the transport robot 10-3 may also be paired to transport the item 60. In the following description, a pair consisting of two transport robots 10 will be referred to as a transport robot pair.

[0035] A transport robot 10 that is not transporting an item 60 (a transport robot 10 that is not paired with another transport robot 10) waits at a predetermined position in the field. Although Fig. 3 illustrates a transport robot pair that is transporting an item 60, there are also transport robots 10 that are waiting at predetermined positions in the field that are not shown in Fig. 3.

[0036] The camera device 20 is a device that captures images within the field. The camera device 20 includes, for example, a depth camera, a stereo camera, etc. A depth camera is a camera that can capture a depth image in which each pixel value of the image indicates the distance from the camera to the object. A stereo camera is a camera that can measure the depth direction (height direction) of an object by using two cameras to capture images of the object from multiple different directions.

[0037] The camera devices 20 are installed on the ceiling, pillars, etc. Each camera device 20 is arranged so that the image data captured by all the camera devices 20 can be combined to provide a bird's-eye view of the field.

[0038] Each camera device 20 is connected to a position information management device 30. The camera devices 20 capture images of the field at predetermined intervals (predetermined sampling periods) and transmit the image data to the position information management device 30. The camera devices 20 capture images of the situation in the field in real time and transmit image data including the situation to the position information management device 30.

[0039] The position information management device 30 is a device that manages the positions of objects in a field (for example, a factory or a logistics warehouse). The position information management device 30 identifies objects located in the field based on image data received from the camera device 20 and generates position information for the objects. For example, in the example of FIG. 3, the position information management device 30 generates position information for the transport robot 10-1 and position information for the transport robot 10-2.

[0040] The position information management device 30 identifies objects in the field (for example, the transport robot 10, the object 60, and other obstacles placed in the field) by analyzing image data acquired from the camera device 20, which includes a depth camera, etc. In the present disclosure, objects that do not exist in the initial state of the field are treated as "obstacles."

[0041] The position information managing device 30 generates position information about an object in the field. The position information managing device 30 calculates the position (absolute position) of the object in a three-dimensional coordinate system (X-axis, Y-axis, Z-axis) with an arbitrary point in the field (for example, an entrance / exit) as the origin. The position information managing device 30 transmits the calculated position information of the object (hereinafter referred to as object position information) to the control device 50.

[0042] The transport planning device 40 is a device that generates item transport plan information, including information regarding the origin and destination of an item 60 to be transported by a transport robot pair. Specifically, the transport planning device 40 provides an operation screen (GUI; Graphical User Interface) for an operator to identify the item 60 to be transported and input the origin and destination of the item 60. The transport planning device 40 generates item transport plan information based on the information input through the GUI. The transport planning device 40 transmits the generated item transport plan information to the control device 50.

[0043] The control device 50 controls the transport robots 10 using the object position information acquired from the position information management device 30 and the item transport plan information acquired from the transport planning device 40. When the control device 50 acquires the transport plan information, it selects two transport robots 10 from the transport robots 10 waiting in the field. The control device 50 instructs the two selected transport robots 10 to head toward the transport origin described in the transport plan information. Specifically, the control device 50 transmits control commands (control information) to the two transport robots 10, and remotely controls these robots to head toward the transport origin.

[0044] Each of the two transport robots 10 moves based on a control command from the control device 50, and when it detects contact with the item 60 using a contact sensor or the like, it transmits a "notification that the item has been pinched" to the control device 50. Note that, depending on the control method of the control device 50, it is not necessary for the transport robot 10 to transmit the notification that the item has been pinched. For example, the control device 50 may determine that the two transport robots 10 have pinched an object (item 60) after a predetermined time (e.g., 30 seconds) has elapsed since each of the two transport robots 10 moved to a predetermined position. In other words, the control device 50 may transmit a control command (control information) after the predetermined time has elapsed.

[0045] When the control device 50 receives the above-mentioned item pinch notification from each transport robot 10, it transmits a control command to each of the two transport robots 10, and remotely controls the transport robot pair to move to the destination described in the item transport plan. At this time, the control device 50 performs the above-mentioned remote control so that the transport robot pair moves to the destination while still pinching the item 60. For example, the control device 50 transmits a control command (control information) so that the two opposing transport robots 10 move while maintaining the distance between them.

[0046] Next, each device included in the transport system will be described in detail.

[0047] 4 is a diagram showing an example of a processing configuration (processing module) of the transfer robot 10 according to the first embodiment. Referring to FIG. 4, the transfer robot 10 includes a communication control unit 201, an actuator control unit 202, and an entrapment detection unit 203.

[0048] The communication control unit 201 is a means for controlling communication with the control device 50. The communication control unit 201 communicates with the control device 50 using a wireless communication means such as a network used in a specific area, such as a wireless LAN (Local Area Network), LTE (Long Term Evolution), or local 5G.

[0049] The actuator control unit 202 is a means for controlling actuators constituted by motors and the like based on control commands (control information) received from the control device 50. For example, the control device 50 transmits control commands including motor rotation start, motor rotation speed, motor rotation stop, etc. to the transfer robot 10. The actuator control unit 202 controls the motors and the like in accordance with the control commands.

[0050] The pinch detection unit 203 is a means for detecting that an item 60 has been pinched between the paired transport robot 10 and another transport robot 10. The transport robot 10 has a "contact sensor" installed on the surface that pinches the item. The pinch detection unit 203 monitors the output of the contact sensor and determines whether the sensor has detected contact with an object. When contact with an object (item 60) is detected, the pinch detection unit 203 transmits an "item pinch completion notification" to the control device 50 via the communication control unit 201.

[0051] 5 is a diagram showing an example of a processing configuration (processing module) of the location information managing device 30 according to the first embodiment. Referring to FIG. 5, the location information managing device 30 includes a communication control unit 301, an object location information generating unit 302, and a storage unit 303.

[0052] The communication control unit 301 is a means for controlling communication with other devices (for example, the camera device 20, the control device 50) connected by wire (for example, LAN, optical fiber, etc.) or wirelessly.

[0053] The object position information generating unit 302 is a unit that generates the object position information described above. The object position information generating unit 302 generates the object position information based on the image data acquired from the camera device 20.

[0054] The camera device 20 transmits image data together with its own identifier (ID) to the location information management device 30. The camera device 20 that is the sender of the image data is identified from the identifier of the camera device 20. Since the camera device 20 is fixed to the ceiling or the like, the camera device 20 continuously transmits image data of a predetermined area within the field to the location information management device 30.

[0055] The object position information generating unit 302 detects objects, for example, by the following method. The storage unit 303 stores information that associates the identifiers of the camera devices 20 with the areas photographed by each camera device 20 (see FIG. 6). By referencing the correspondence information, the object position information generating unit 302 can determine which area in the field the acquired image data corresponds to.

[0056] The storage unit 303 also stores initial image data of the area captured by each camera device 20. The initial image data is image data that does not include any objects that do not exist in the field in the initial state. The object position information generation unit 302 compares the acquired image data with the corresponding initial image data, and if there is a difference, determines that the image data includes the object to be detected. Note that objects that the object position information generation unit 302 detects include the transport robot 10, the item 60, obstacles placed in the aisles of the field, etc.

[0057] For example, the storage unit 303 stores an initial image such as that shown on the left side of FIG. 7. The image shown on the right side of FIG. 7 is an image acquired from the camera device 20. The object position information generation unit 302 calculates the difference between the two image data and detects the object included in the acquired image on the right. If the initial state in the field changes, the initial image data stored in the storage unit 303 is updated. For example, if the layout of a factory or the like changes, the initial image data is updated.

[0058] Note that the method of object discrimination by the object position information generation unit 302 is not limited to the method using the above-mentioned initial image data. For example, the object position information generation unit 302 may calculate the coordinates of an object (obstacle) and detect the presence of an object on a passage (link) based on the coordinates of the object and normal coordinate information of the field.

[0059] When an object is detected, the object position information generation unit 302 approximates the object to, for example, a rectangular shape and calculates the coordinates of its four points. Specifically, the object position information generation unit 302 calculates the relative coordinates (X coordinate, Y coordinate) of the object with respect to the absolute coordinates of a reference point in the image data (for example, the bottom left of the image) based on the number of pixels from the reference point to the object. In doing so, the object position information generation unit 302 calculates the relative coordinates of the object based on information (such as the resolution of the image sensor) of the camera device 20 that acquired the image data.

[0060] The absolute coordinates of the reference point of the acquired image data are known in advance. The object position information generation unit 302 calculates the absolute coordinates (X, Y coordinates) of the object within the field by adding the calculated relative coordinates of the object to the absolute coordinates of the reference point. Furthermore, if the image data is captured by a depth camera, the object position information generation unit 302 reads out pixel values ​​corresponding to the calculated X and Y coordinates to obtain the Z coordinate (height) of the object.

[0061] The object position information generating unit 302 performs this process for each of the four corners of the object, thereby calculating the absolute positions of the four points that make up the object.

[0062] Next, the object position information generation unit 302 determines the type of object included in the acquired image. The object position information generation unit 302 calculates the size of the detected object from the absolute coordinates of the above four points. The object position information generation unit 302 may determine the type of object based on the calculated size. For example, since the size of the transfer robot 10 is known in advance, if the size of the object matches the size of the transfer robot 10, the object position information generation unit 302 determines that the detected object is the transfer robot 10. On the other hand, if the size of the detected object does not match the size of the transfer robot 10, the object position information generation unit 302 determines that the detected object is an obstacle.

[0063] Note that the method of determining whether an object is a transport robot based on its size is merely an example, and other methods can also be used. For example, a marker with an identification function, such as a QR code (registered trademark) or an AR (Augmented Reality) marker, may be attached to the transport robot 10, and the object position information generation unit 302 may read the marker to detect the transport robot 10. In the first embodiment, a marker is attached to the transport robot 10, and it is assumed that a detected object is the transport robot 10 and that the transport robot 10 can be identified. Alternatively, the object position information generation unit 302 may transmit a specific signal or message to the transport robot 10, and the transport robot 10 may respond with an identification number upon receiving the signal, thereby identifying the transport robot 10. In other words, the object position information generation unit 302 can identify the transport robot 10 based on a signal or message from the transport robot 10, even if identification information (e.g., letters or patterns) is not attached to the outside of the transport robot 10.

[0064] The object position information generating unit 302 may determine that an object sandwiched between two transport robots 10 is an article 60.

[0065] The object position information generating unit 302 transmits the type of the detected object (transport robot 10, obstacle, etc.) and its absolute position to the control device 50. The absolute position of the object may be the absolute coordinates of the four points that make up the object calculated above, or the absolute coordinates of one point that represents the object (for example, the center of the object).

[0066] 8 is a diagram showing an example of object position information transmitted from the position information management device 30. Note that, as shown in FIG. 8, when multiple objects are detected from image data, the object position information relating to these objects may be transmitted collectively to the control device 50. In this manner, the position information management device 30 generates position information of objects including the transport robot 10, and transmits the generated position information to the control device 50.

[0067] 9 is a diagram showing an example of a processing configuration (processing module) of the transport planning device 40 according to the first embodiment. Referring to FIG. 9, the transport planning device 40 includes a communication control unit 401, a transport plan information generation unit 402, a display unit 403, and a storage unit 404.

[0068] The communication control unit 401 is a means for controlling communication with other devices, similar to the communication control unit 301 of the location information managing device 30.

[0069] The transportation plan information generation unit 402 is a means for generating the above-mentioned item transportation plan information. The transportation plan information generation unit 402 identifies the item 60 to be transported by the worker, and generates information related to a GUI for inputting the origin and destination of the item 60. The transportation plan information generation unit 402 passes the generated GUI information to the display unit 403. The display unit 403 displays the GUI information on a liquid crystal display or the like. Alternatively, the transportation plan information generation unit 402 may generate information for displaying a GUI on a terminal used by the worker, and transmit the generated information to the terminal.

[0070] The transport plan information generation unit 402 displays, for example, a screen as shown in Fig. 10. The transport plan information generation unit 402 transmits information input by the worker according to the screen as shown in Fig. 10 to the control device 50. Specifically, the transport plan information generation unit 402 associates information identifying the item 60 to be transported (for example, item name, serial number, etc.), the location where the item 60 is placed (transport origin), and the transport destination of the item 60, and transmits this to the control device 50 as item transport plan information.

[0071] 10 , when the transport destination and the like are exchanged between the transport planning device 40 and the control device 50 using names in a field, the absolute coordinates for the names in the field are shared between the transport planning device 40 and the control device 50. Alternatively, the transport plan information generation unit 402 may convert the names in the field input by the operator into absolute coordinates in the field, and transmit the converted absolute coordinates to the control device 50.

[0072] 11 is a diagram showing an example of a processing configuration (processing module) of the control device 50 according to the first embodiment. Referring to FIG. 11, the control device 50 includes a communication control unit 501, a field information management unit 502, a robot selection unit 503, a path calculation unit 504, a robot control unit 505, and a storage unit 506.

[0073] The communication control unit 501 controls communication with other devices, similar to the communication control unit 401 of the transportation planning device 40. The communication control unit 501 acquires object position information from the position information management device 30, and when acquiring item transportation plan information from the transportation planning device 40, stores this information in the storage unit 506.

[0074] The field information management unit 502 is a means for managing map information, link information, and the like of a field.

[0075] Field configuration information indicating the configuration of the field is stored in the storage unit 506. In the present disclosure, the start point, end point, branch point, etc. of a passageway that the transport robot 10 can travel are considered as nodes. The field configuration information defines the absolute coordinates of the node.

[0076] For example, assume that the field configuration is as shown in Fig. 12. In this case, the absolute coordinates of node N1 and node N2 are defined by the field configuration information (see Fig. 13).

[0077] Link information indicating the connection relationships between nodes is stored in the storage unit 506. For example, in the example of Fig. 12, link information such as that shown in Fig. 14 is stored.

[0078] Field management information for managing the current state of the field is stored in the storage unit 506. The field management information includes, for each link, the distance between the links, the presence or absence of the transport robot 10, and the presence or absence of obstacles.

[0079] FIG. 15 is a diagram showing an example of field management information. As shown in FIG. 15, if a transport robot 10 is present on a passage indicated by a link, the absolute coordinates of the transport robot 10 are written in the transport robot field. Similarly, if an obstacle is present on the passage, the absolute coordinates of the obstacle are written in the obstacle field. Note that the initial values ​​of the transport robot field and the obstacle field are "no transport robot" and "no obstacle." Furthermore, since the field configuration is predetermined, the distance between the nodes that make up each link can also be calculated in advance. The distance between the nodes is calculated before the system is put into operation and written to the field management information.

[0080] The field information management unit 502 updates the field management information based on the object position information received from the position information management device 30. Specifically, the field information management unit 502 identifies the type of object (transport robot, obstacle) included in the acquired object position information. The field information management unit 502 references the field configuration information and link configuration information stored in the storage unit 506 and identifies the link on which the identified object exists. The field information management unit 502 updates the transport robot field and obstacle field corresponding to the identified link based on the type of the identified object (transport robot, obstacle) and its absolute coordinates.

[0081] For example, in the example of FIG. 12, if an obstacle is placed on the link consisting of node N2 and node N6, the absolute coordinates of the obstacle are set in the obstacle field of the link.

[0082] The field information management unit 502 updates the field management information each time it acquires object position information from the position information management device 30. Therefore, by referring to the field management information, it is possible to grasp the current situation within the field. If an obstacle is placed within the field, the presence of the obstacle can be immediately identified by referring to the field management information. In addition, the position of the transport robot 10 operating within the field can also be identified from the field management information.

[0083] The field information management unit 502 updates the current position field of the robot management information, which will be described later, based on the absolute coordinates of the transfer robot 10 read from the object position information.

[0084] The robot selection unit 503 is a means for selecting the transport robot 10 that will transport the item 60. Specifically, when the robot selection unit 503 acquires item transport plan information from the transport planning device 40, it selects the transport robot 10 that will transport the item 60 described in the information. The robot selection unit 503 selects two transport robots 10 from among the multiple transport robots 10 waiting in the waiting area.

[0085] The robot selection unit 503 may select two transport robots 10 based on any criteria. For example, the robot selection unit 503 may select the transport robot 10 closest to the transport origin described in the transport plan information, or may select the transport robot 10 in order of shortest operating time. Alternatively, if the remaining battery charge can be obtained from the transport robot 10, the robot selection unit 503 may select the robot in order of the remaining battery charge. Alternatively, the robot selection unit 503 may select a transport robot 10 with special specifications according to the item 60. For example, if the item 60 is extremely heavy, a transport robot 10 for transporting heavy items may be selected, and if the item 60 is light, a transport robot 10 for transporting light items may be selected.

[0086] The robot selection unit 503 notifies the selected transport robot 10 (transport robot pair) to the path calculation unit 504 and the robot control unit 505. The robot selection unit 503 also reflects information about the selected transport robot 10 in robot management information. Details of the robot management information will be described later.

[0087] The route calculation unit 504 is a means for calculating a route for the transport robot pair to transport the item 60 from the transport source to the transport destination based on the item transport plan information generated by the transport planning device 40. For example, if the item transport plan information lists "area A" as the transport source and "area D" as the transport destination, a route from the bottom left to the middle right of FIG. 12 is calculated. The storage unit 506 stores the relationship between each area and its corresponding node in association with each other. For example, information that area B corresponds to node N4 is stored in the storage unit 506.

[0088] The route calculation unit 504 calculates a route for transporting the item 60 from the source to the destination using a route search algorithm such as the Dijkstra algorithm or the Bellman-Ford algorithm. For example, in the above example, a route passing through nodes N1, N2, N3, N8, and N9 or a route passing through nodes N1, N2, N6, N7, and N8 is calculated.

[0089] The route calculation unit 504 refers to field management information when calculating the route. For example, the route calculation unit 504 calculates the transport route by treating the distance between nodes as the cost of the link. In this case, the route calculation unit 504 determines that a link with an obstacle is impassable, and calculates the transport route by treating the cost of the link as infinity. Note that the route calculation unit 504 does not include in the cost any link where the transport robot 10 is located. This is because the transport robot 10 moves over time.

[0090] The route calculation unit 504 manages the calculated route in association with the transport robot 10 that uses the route. Specifically, the route calculation unit 504 updates the robot management information stored in the storage unit 506.

[0091] Fig. 16 is a diagram showing an example of robot management information. Referring to Fig. 16, the identifier of the transport robot 10, the state of each robot (transporting, waiting), information on the paired transport robot 10, the current position, and information on the route used by the transport robot 10 are managed in association with each other.

[0092] The identifier of the transport robot 10 can be any ID (Identifier), such as a MAC (Media Access Control) address or name (transport robot No. 1, No. 2) assigned to each transport robot 10. Of the information shown in FIG. 16, the status field is updated by the robot control unit 505. The field related to the paired robot is updated by the robot selection unit 503. The current position field is updated by the field information management unit 502. The transport path field is updated by the path calculation unit 504.

[0093] The robot control unit 505 is a means for controlling the transport robot 10. The robot control unit 505 transmits control information to each transport robot 10 for transporting the item 60 by the transport robot pair based on the position information of the transport robot 10 and the position information of other transport robots 10 that are paired with the transport robot 10. That is, the robot control unit 505 controls the transport robot 10 by transmitting control commands (control information) to the transport robot 10. When sending control commands to the transport robot 10, the robot control unit 505 may transmit all control commands at once so that the transport robot pair can move from the source to the destination, or may transmit the control commands in order depending on the positions of the transport robot pair, etc.

[0094] The robot control unit 505 needs information about the orientation of the transport robot 10 when controlling the transport robot 10. In this case, a gyro sensor or the like may be attached to the transport robot 10, and the robot control unit 505 may acquire information about the orientation from the transport robot 10. Alternatively, the orientation of the transport robot 10 when arranging it in the waiting area may be determined in advance, and the orientation of the transport robot 10 may be estimated based on a control command sent from the robot control unit 505 to the transport robot 10.

[0095] When the robot control unit 505 receives a notification of robot selection from the robot selection unit 503, it controls the selected transport robot 10 to move to the transport origin described in the item transport plan. Note that the control regarding this initial movement can be the same as the control when the transport robot 10 moves from the transport origin to the transport destination, which will be described later, and therefore details thereof will be omitted.

[0096] When the transfer robot 10 moves to the origin, the robot control unit 505 checks whether the item 60 has been placed at the origin. Any method can be used for this check. For example, when an operator places the item 60 at the origin, the operator may press a button connected to the control device 50 to perform the check. Alternatively, a sensor (infrared sensor, camera, weight sensor, etc.) may be installed in the area that will be the origin, and the item 60 may be checked using the sensor. In other words, the robot control unit 505 may recognize that the item 60 has been placed at the origin based on the output of the sensor.

[0097] The robot control unit 505 may confirm whether the item 60 placed at the origin of transfer is the item 60 input in the item transfer plan information. For example, consider a case where a camera is installed near the origin of transfer and a marker (such as an AR marker) is attached to the item 60 to identify the item 60. In this case, the robot control unit 505 may refer to information associating the marker with the item 60 and confirm that the item 60 placed at the origin of transfer matches the item 60 input in the item transfer plan information.

[0098] Alternatively, the robot control unit 505 may determine that the item 60 placed by the worker at the transport source is the item 60 described in the item transport plan information, and may omit the above confirmation. In other words, the robot control unit 505 may trust the worker and omit checking the item 60.

[0099] When the item 60 is placed at the transfer source, the robot control unit 505 transmits a control command to the transfer robots 10, thereby controlling the two transfer robots 10 to sandwich the item 60. Specifically, the robot control unit 505 moves the two transfer robots 10 so that they face each other across the item 60, and moves the robots so that the distance between them becomes narrower.

[0100] When each of the two transport robots 10 has successfully sandwiched the item 60, it notifies the control device 50 of the completion of item clamping. When the robot control unit 505 receives the above-mentioned notifications from each of the two transport robots 10, it starts transport by the two transport robots 10. Specifically, the robot control unit 505 generates a control command to move the transport robot pair that has sandwiched the item 60 along the route calculated as the transport route of the transport robot pair, and transmits the control command to each transport robot 10.

[0101] The control of the two transfer robots 10 by the robot control unit 505 can be realized according to the description in the following reference 1. The details of the mechanism of the transfer robot 10 are also described in this reference.

[0102] <Reference 1> Taichi Kumagai, Shinya Yasuda, Yuji Yoshida, "Prototype of a Cooperative Transportation System Using Wireless Remote Control of Multiple Robots", Institute of Electronics, Information and Communication Engineers, IEICE Technical Report PRM2018-121 CNR2018-44, 2019-02

[0103] The robot control unit 505 treats one of the two transport robots 10 as a "leading transport robot" and the other as a "following transport robot." Then, the robot control unit 505 acquires the current position of the leading transport robot 10 among the transport robots 10 described in the robot management information. Next, the robot control unit 505 determines the position where the leading transport robot 10 will arrive.

[0104] When the transport robot pair is moved in a straight line, the robot control unit 505 calculates the time and speed for rotating the motor of each transport robot 10 according to the distance between the current position of the leading transport robot 10 and the calculated destination position. At this time, the robot control unit 505 generates a control command so that the motor rotation speed of each transport robot 10 is the same.

[0105] When rotating the transport robot pair, the robot control unit 505 uses a circular motion model in which the robot draws a curve due to the speed difference between the left and right wheels. Specifically, the robot control unit 505 calculates input velocities for the left and right wheels to travel from the current position to the destination position on a circular trajectory based on the destination position and the position and orientation of the robot. For the leading transport robot 10, the robot control unit 505 uses the calculated input velocities as they are and generates a control command to be sent to the leading transport robot 10 based on the calculated input velocities. On the other hand, for the trailing transport robot 10, the robot control unit 505 calculates a forward / backward speed correction value based on the inter-robot distance (the distance between the plates between which each transport robot holds the item 60) and an offset correction value for the left and right wheels based on the rotation angle. The robot control unit 505 generates a control command to be sent to the trailing transport robot 10 based on these correction values ​​(speed correction value, offset correction value).

[0106] When the transport robot pair arrives at the destination, the robot control unit 505 controls the transport robot pair to place the item 60 at the destination. Specifically, the robot control unit 505 controls the two transport robots 10 to increase the distance between them, thereby completing the transport of the item 60.

[0107] The basic control of the robot control unit 505 is as described above.

[0108] The control by the robot control unit 505 is performed when there are no other transport robots 10 in the field and no obstacles are placed on the transport path during transport. However, in an actual field, there are cases where other transport robots 10 are using their own transport path, and there are also cases where obstacles are placed on the initially calculated transport path.

[0109] The robot control unit 505 controls the two transport robots 10 so that the article 60 is transported correctly to the destination even in the above-mentioned situation.

[0110] The robot control unit 505 refers to the latest field management information and robot management information and determines whether or not it is necessary to recalculate the transfer route for the transfer robot 10 during transfer. Specifically, the robot control unit 505 refers to the latest field management information and determines whether or not an object (obstacle or transfer robot pair) exists on the link that constitutes the transfer route of the transfer robot pair during transfer. If it is determined that an object exists as a result of the determination, the robot control unit 505 instructs the route calculation unit 504 to recalculate the transfer route with the current position of the transfer robot pair as the start node and the transfer destination as the end node.

[0111] The route calculation unit 504 recalculates the transport route in response to the instruction. At this time, since the latest link management information contains the absolute coordinates of the object (obstacle or transport robot pair) in the obstacle field of the link included in the previously calculated transport route, the route calculation unit 504 calculates the transport route to the destination while avoiding the link containing the object. The recalculated transport route is reflected in the transport route field of the robot management information. The robot control unit 505 controls the two transport robots 10 based on the reflected transport route.

[0112] For example, consider a case where the initially calculated transport route is nodes N1, N2, N3, N8, and N9, as shown by the solid line in FIG. 17. In this case, the robot control unit 505 controls the transport robot pair to follow the route. However, there is a case where an object (an obstacle is shown as an example in FIG. 17) is placed between nodes N3 and N8 while the transport robot pair is moving between nodes N1 and N2. In this case, the robot control unit 505 recognizes the presence of the object from the latest field management information and instructs the route calculation unit 504 to recalculate the transport route. As a result, a route as shown by the dotted line in FIG. 17 is recalculated. In this way, when an object (obstacle, transport robot 10) is present on the calculated route, the control device 50 calculates (recalculates) the route for transporting the item 60, taking into account the presence of the object.

[0113] Alternatively, the control device 50 may change the control depending on the type of object placed on the field. For example, if the object present on the field is an "obstacle," the control device 50 recalculates the route as described above. On the other hand, if the object present on the field is a "transport robot pair," the control device 50 may recalculate the route depending on the distance between the transport robot pair.

[0114] An obstacle placed on the transport route may not be moved in a short time. Therefore, when the robot control unit 505 detects that an obstacle has been placed on the transport route, it instructs the route calculation unit 504 to recalculate the transport route. On the other hand, even if the transport robot 10 is present on the transport route, it is expected that the robot will move in a short time, so it may not become an obstacle (an obstacle blocking the path) to the transport robot pair during transport.

[0115] Therefore, if there is another transport robot pair on the transport route, and the distance between the two transport robot pairs is short, the robot control unit 505 instructs the route calculation unit 504 to recalculate the transport route. Specifically, the robot control unit 505 refers to the latest field management information, and if a transport robot 10 exists on the transport route of the transport robot pair currently transporting, calculates the distance between the current position of the transport robot pair currently transporting and the transport robot 10 present on the transport route. The robot control unit 505 performs threshold processing on the distance, and instructs the route calculation unit 504 to recalculate the transport route depending on the result.

[0116] Once the transport route is recalculated and reflected in the transport route field of the robot management information, the robot control unit 505 controls the transport robot pair to move along the latest transport route.

[0117] For example, as shown in Figure 18, consider the case where two transport robot pairs are transporting an item 60 from area A to area D. At this time, the transport robot pair is moving between nodes N1 and N2. Assume that another transport robot pair is also transporting an item. In this case, if the other transport robot pair is moving between nodes N3 and N8, the distance between the two transport robot pairs is short, so the transport route is recalculated. On the other hand, if the other transport robot pair is moving between nodes N8 and N9, the distance between the two transport robot pairs is long, so the transport route is not recalculated.

[0118] Next, a description will be given of the operation of the transfer system according to the first embodiment. Fig. 19 is a sequence diagram showing an example of the operation of the transfer system according to the first embodiment.

[0119] The camera device 20 transmits captured image data to the position information managing device 30 (step S01).

[0120] The position information managing device 30 analyzes the acquired image data and attempts to detect the object. If an object is detected in the field, the position information managing device 30 generates object position information (step S02). The position information managing device 30 transmits the generated object position information to the control device 50 (step S03).

[0121] The camera device 20 and the position information management device 30 repeat the operations of steps S01 to S03 at predetermined intervals, which allows the control device 50 to grasp the situation within the field in real time.

[0122] When the control device 50 acquires the object position information, it updates the field management information (step S04).

[0123] The control device 50 receives the item transportation plan information from the transportation planning device 40 (step S05).

[0124] The control device 50 selects the transport robot 10 that will transport the article 60 (step S06).

[0125] The control device 50 calculates the transport route of the transport robot pair based on the above-mentioned item transport plan information (step S07).

[0126] The control device 50 generates a control command and transmits it to the transport robot pair so that the transport robot pair moves along the calculated transport path (step S08).

[0127] Each of the transfer robots 10 receives the control command and executes the control command (steps S09 and S10). After executing the control command, the transfer robot 10 transmits an acknowledgement (ACK).

[0128] The control device 50 and the transport robot pair repeat the above steps S08 to S09 to transport the article 60 to the destination.

[0129] As described above, in the transport system according to the first embodiment, the control device 50 transmits control information to the two transport robots 10 for transporting the article 60 between them. At that time, the control device 50 calculates a route for transporting the article 60 based on position information of objects (transport robots 10, obstacles) present in the field, and transmits control information to the transport robots 10 for transporting the article 60 along the calculated route. That is, in the transport system according to the first embodiment, position information of the transport robots 10 and the like is generated, and the transport robot 10 is controlled based on the position information. Therefore, magnetic tape and the like are not required, and the transport robot 10 can be controlled even in an environment (a complex environment) in which SLAM does not function.

[0130] Furthermore, in the first embodiment, two transport robots cooperate to transport the item 60, eliminating the need for a worker to transfer the item 60 and enabling the system to handle a wide variety of shapes of the item 60. That is, two transport robots 10 are paired and move by sandwiching the item 60 between them, allowing the item 60 to be moved regardless of the shape of the item 60. Even if the item 60 is placed on a cart, the pair of transport robots 10 can move the cart and the item 60 together, eliminating the need for a worker to transfer the item 60. Furthermore, since two transport robots cooperate to transport (carry) the item 60, there is no need to attach a towing device or the like to the item 60 or the cart.

[0131] The control device 50 can be implemented as a cloud server on a network (for example, the Internet, a wireless communication network such as LTE), and realizes cooperative control of the transport robots 10 while overlooking the entire field. Furthermore, since the transport robots 10 are centrally controlled by the control device 50, sensors (expensive sensors) that monitor the periphery of the transport robot 10 are not required, and the price of the transport robot 10 can be reduced.

[0132] In addition, the transportation instructions for the item 60 are generated by the transportation planning device 40, and the user can input location information such as the destination through the device, making it possible to transport the item 60 in an intuitive, easy-to-understand, and efficient manner.

[0133] Next, the hardware of each device constituting the transport system will be described. Fig. 20 is a diagram showing an example of the hardware configuration of the control device 50.

[0134] The control device 50 can be configured by an information processing device (so-called computer), and has the configuration exemplified in Fig. 20. For example, the control device 50 includes a processor 311, a memory 312, an input / output interface 313, and a communication interface 314. The components such as the processor 311 are connected by an internal bus or the like, and are configured to be able to communicate with each other.

[0135] However, the configuration shown in Fig. 20 is not intended to limit the hardware configuration of the control device 50. The control device 50 may include hardware not shown, and may not include the input / output interface 313 as necessary. Furthermore, the number of processors 311 and the like included in the control device 50 is not intended to be limited to the example shown in Fig. 20, and for example, the control device 50 may include multiple processors 311.

[0136] The processor 311 is a programmable device such as a central processing unit (CPU), a micro processing unit (MPU), or a digital signal processor (DSP). Alternatively, the processor 311 may be a device such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC). The processor 311 executes various programs including an operating system (OS).

[0137] The memory 312 is a random access memory (RAM), a read only memory (ROM), a hard disk drive (HDD), a solid state drive (SSD), etc. The memory 312 stores an OS program, application programs, and various data.

[0138] The input / output interface 313 is an interface for a display device and an input device (not shown). The display device is, for example, a liquid crystal display. The input device is, for example, a device that accepts user operations such as a keyboard or a mouse.

[0139] The communication interface 314 is a circuit, module, etc. that communicates with other devices. For example, the communication interface 314 includes a NIC (Network Interface Card), a wireless communication circuit, etc.

[0140] The functions of the control device 50 are realized by various processing modules. The processing modules are realized, for example, by the processor 311 executing a program stored in the memory 312. The program can be recorded on a computer-readable storage medium. The storage medium can be a non-transitory medium such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. That is, the present invention can also be embodied as a computer program product. The program can be downloaded via a network or updated using a storage medium storing the program. The processing modules can also be realized by semiconductor chips.

[0141] The position information management device 30, the transportation planning device 40, etc. can also be configured by an information processing device similar to the control device 50, and their basic hardware configurations are no different from that of the control device 50, so a description thereof will be omitted.

[0142] [Variations] It should be noted that the configuration, operation, etc. of the transport system described in the above embodiment are merely examples and are not intended to limit the configuration, etc. of the system. For example, the function of the position information management device 30 may be realized by the control device 50. For example, the position information management device 30 may execute processing related to determining the position of an object, and the control device 50 may determine the type of the object.

[0143] Alternatively, the position information management device 30 may be installed inside the field, and the control device 50 may be implemented on a server on a network. That is, the transportation system disclosed in the present application may be realized as an edge cloud system.

[0144] In the above embodiment, when calculating the transport path of a transport robot pair, the transport paths of other transport robot pairs are not taken into consideration, but the transport path may be calculated taking the transport paths of other transport robot pairs into consideration. In this case, the path calculation unit 504 may calculate the path by setting the cost of links used by other transport robot pairs (links scheduled to be used) to infinity.

[0145] Alternatively, the route calculation unit 504 may count the number of links used as a transport route by a transport robot pair for each link, and calculate the transport route using the counted value as the congestion level of the link. The route calculation unit 504 may also treat the congestion level as the cost of the link and calculate the transport route so as to avoid links with high congestion levels.

[0146] In the above embodiment, a case where a camera capable of detecting the height of an object (for example, a depth camera) is used has been described, but if it is not necessary to detect the height of an object, a normal camera may be used. Alternatively, an infrared sensor or a distance sensor may be used as a sensor for detecting the position of an object.

[0147] If a QR code (registered trademark) can be attached to the item 60, the code may contain identification information of the item 60, and the transfer robot 10 may read the information. In this case, the transfer robot 10 may compare the read identification information with the identification information of the item 60 that the control device 50 has instructed the transfer robot 10 to transfer, and may decide whether to transfer the item 60 based on the result of the comparison.

[0148] By installing an item transport program in the storage unit of a computer, the computer can function as the control device 50. Furthermore, by having the computer execute the item transport program, the computer can execute an item transport method.

[0149] In addition, although the sequence diagrams used in the above description show multiple steps (processes) in order, the execution order of the steps in the embodiments is not limited to the order shown. In each embodiment, the order of the steps shown in the diagrams can be changed to the extent that the content is not affected, such as by executing each process in parallel.

[0150] From the above explanation, it is clear that the present invention has industrial applicability, and the present invention is suitably applicable to the transportation of goods in factories, logistics warehouses, etc.

[0151] Some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes. [Appendix 1] First and second transport robots (10) for transporting articles; a generating device (30, 103) that generates position information of the first transport robot (10) and position information of the second transport robot (10); a control device (50, 104) that transmits control information to the first and second transport robots (10) for transporting the article by the first and second transport robots (10) based on position information of the first transport robot (10) and position information of the second transport robot (10); a conveying system including: [Appendix 2] a transport planning device (40) that generates transport plan information including information regarding the transport origin and the transport destination of the items transported by the first and second transport robots (10); The transport system described in Appendix 1, wherein the control device (50, 104) identifies a route for the first and second transport robots (10) to transport the item from the source to the destination based on the generated item transport plan information. [Appendix 3] The transport system according to claim 1 or 2, wherein the control device (50, 104) identifies a route for transporting the item based on position information of an obstacle in a field to transport the item, and transmits control information for transporting the item along the identified route to the first and second transport robots (10). [Appendix 4] The conveying system according to claim 3, wherein, if the obstacle is present on the identified route, the control device (50, 104) calculates a route for conveying the item taking the obstacle into consideration. [Appendix 5] The transport system described in Appendix 4, wherein, when a third transport robot (10) different from the first and second transport robots (10) is present on the identified route, the control device (50, 104) determines whether or not to recalculate the identified route depending on the distance between the first and second transport robots (10) and the third transport robot (10). [Appendix 6] 6. The transport system according to claim 1, wherein the control device (50, 104) transmits control information for the first and second transport robots (10) to sandwich and transport the article. [Appendix 7] connected to a generating device (30, 103) that generates position information of a first transport robot (10) and position information of a second transport robot (10) that transports an article; A control device (50, 104) that transmits control information to the first and second transport robots (10) for transporting the item by the first and second transport robots (10) based on position information of the first transport robot (10) and position information of the second transport robot (10). [Appendix 8] connected to a transport planning device (40) that generates transport plan information including information regarding the transport origin and the transport destination of the items transported by the first and second transport robots (10); A control device (50, 104) according to Appendix 7, which determines a route for the first and second transport robots (10) to transport the item from the source to the destination based on the generated item transport plan information. [Appendix 9] The control device (50, 104) according to appendix 7 or 8, which identifies a route for transporting the item based on position information of an obstacle in a field to transport the item, and transmits control information for transporting the item along the identified route to the first and second transport robots (10). [Appendix 10] 10. The control device (50, 104) according to claim 9, wherein, if the obstacle is present on the identified route, a route for transporting the item is calculated taking the obstacle into consideration. [Appendix 11] A control device (50, 104) according to Appendix 10, which, when a third transport robot (10) different from the first and second transport robots (10) is present on the identified route, determines whether or not to recalculate the identified route depending on the distance between the pair of the first and second transport robots (10) and the third transport robot (10). [Appendix 12] 12. The control device (50, 104) according to any one of appendices 7 to 11, wherein the control device (50, 104) transmits control information for the first and second transport robots (10) to sandwich and transport the article. [Appendix 13] A transport system including first and second transport robots (10) for transporting an article, generating position information of the first transfer robot (10) and position information of the second transfer robot (10); transmitting control information to the first and second transport robots (10) for transporting the article by the first and second transport robots (10) based on position information of the first transport robot (10) and position information of the second transport robot (10); A transportation method comprising: [Appendix 14] generating transportation plan information including information on the origin and destination of the items to be transported by the first and second transport robots (10); specifying a route for the first and second transport robots (10) to transport the item from the source to the destination based on the generated item transport plan information; 14. The method of claim 13, further comprising: [Appendix 15] determining a route for transporting the item based on position information of an obstacle in a field where the item is to be transported; transmitting control information for transporting the article along the specified route to the first and second transport robots (10); 15. The method of claim 13 or 14, further comprising: [Appendix 16] A conveying method as described in Appendix 15, wherein the step of specifying a route calculates a route for conveying the item taking into account the obstacle if the obstacle is present on the specified route. [Appendix 17] The transport method described in Appendix 16, wherein the step of identifying the route determines whether or not to recalculate the identified route depending on the distance between the pair of the first and second transport robots (10) and the third transport robot (10) if a third transport robot (10) different from the first and second transport robots (10) is present on the identified route. [Appendix 18] 18. The transport method according to any one of appendices 13 to 17, wherein the step of transmitting control information transmits control information for the first and second transport robots (10) to sandwich and transport the item. [Appendix 19] First and second transport robots (10) for transporting articles; a generating device (30, 103) that generates position information of the first transport robot (10) and position information of the second transport robot (10); and a computer (311) mounted on a control device (50, 104) connected to the generating device (30, 103), A program that executes a process of transmitting control information to the first and second transport robots (10) for transporting the item by the first and second transport robots (10) based on position information of the first transport robot (10) and position information of the second transport robot (10).

[0152] The disclosures of the above-cited prior art documents are incorporated herein by reference. Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments. It will be understood by those skilled in the art that these embodiments are merely examples and that various modifications are possible without departing from the scope and spirit of the present invention.

[0153] This application claims priority based on Japanese Patent Application No. 2019-153964, filed on August 26, 2019, the disclosure of which is incorporated herein by reference in its entirety. [Explanation of symbols]

[0154] 10, 10-1 to 10-4 Transport robot 20, 20-1 to 20-3 Camera equipment 30 Location information management device 40 Transportation planning device 50, 104 Control device 60, 60-1, 60-2 Goods 101 First Transport Robot 102 Second Transport Robot 103 Generator 201, 301, 401, 501 Communication control unit 202 Actuator control section 203 Entrapment detection unit 302 Object position information generation unit 303, 404, 506 Storage section 311 processor 312 memory 313 Input / Output Interface 314 Communication Interface 402 Transportation plan information generation unit 403 Display section 502 Field Information Management Department 503 Robot Selection Section 504 Route Calculation Unit 505 Robot Control Unit

Claims

1. an acquisition means for acquiring location information of a first moving body and location information of a second moving body; a control means for transmitting control information to the first moving body and the second moving body, in accordance with position information of the first moving body and position information of the second moving body, for sandwiching and transporting an article between the first moving body and the second moving body; a moving body selecting means for selecting the first moving body and the second moving body for transporting the article based on a predetermined criterion; an identification means for identifying whether an object detected by a sensor is the first moving body or the second moving body according to the sizes of the first moving body and the second moving body; a conveying system including:

2. the acquisition means acquires item transportation plan information including information regarding the origin or destination of the item; a specifying unit that specifies a route for the first moving body and the second moving body to transport the item in accordance with the item transportation plan information; 2. The conveying system according to claim 1, wherein the control means transmits control information to the first moving body for sandwiching the article between the first moving body and the second moving body and conveying the article on the route.

3. The transportation system according to claim 2 , wherein the specifying means specifies the route for transporting the item further depending on position information of an obstacle in a field where the item is to be transported.

4. 4. The conveying system according to claim 3, wherein the control means determines whether or not to recalculate the identified route depending on the distance between a third moving body present on the identified route and the first moving body and the second moving body.

5. 5. The conveyance system according to claim 1, further comprising a moving body selection means for selecting the first moving body and the second moving body that will convey the item in accordance with information relating to operating hours of the moving bodies.

6. 5. The conveyance system according to claim 1, further comprising a moving body selecting means for selecting the first moving body or the second moving body for conveying the article in accordance with a weight of the article.

7. an acquisition means for acquiring location information of a first moving body and location information of a second moving body; a control means for transmitting control information to the first moving body and the second moving body, in accordance with position information of the first moving body and position information of the second moving body, for sandwiching and transporting an article between the first moving body and the second moving body; a moving body selecting means for selecting the first moving body and the second moving body for transporting the article based on a predetermined criterion; an identification means for identifying whether an object detected by a sensor is the first moving body or the second moving body according to the sizes of the first moving body and the second moving body; a control device including:

8. the acquisition means acquires item transportation plan information including information regarding the origin or destination of the item; a specifying unit that specifies a route for the first moving body and the second moving body to transport the item in accordance with the item transportation plan information; 8. The control device according to claim 7, wherein the control means transmits to the first moving body control information for sandwiching the article between the first moving body and the second moving body and transporting the article on the route.

9. The control device according to claim 8 , wherein the specifying means specifies the route for transporting the item further depending on position information of an obstacle in a field to which the item is to be transported.

10. 10. The control device according to claim 9, wherein the control means determines whether to recalculate the identified route depending on the distance between a third moving body on the identified route and the first moving body and the second moving body.

11. 11. The control device according to claim 7, further comprising: a moving body selection means for selecting the first moving body and the second moving body that transport the article in accordance with information relating to operating hours of the moving bodies.

12. 11. The control device according to claim 7, further comprising: a moving body selecting means for selecting the first moving body or the second moving body for transporting the article in accordance with a weight of the article.

13. Obtaining location information of a first moving body and location information of a second moving body; transmitting control information to the first moving body and the second moving body for sandwiching and transporting an article between the first moving body and the second moving body according to position information of the first moving body and position information of the second moving body; selecting the first moving body and the second moving body that transport the article based on a predetermined criterion; Identifying whether the object detected by the sensor is the first moving body or the second moving body according to the sizes of the first moving body and the second moving body; A transport method performed by a transport system, comprising:

14. The acquiring includes acquiring item transportation plan information including information regarding the source or destination of the item; The method further includes specifying a route for the first moving body and the second moving body to transport the item in accordance with the item transportation plan information; The conveying method according to claim 13, wherein the transmitting step includes transmitting control information to the first moving body for sandwiching the item between the first moving body and the second moving body and conveying the item along the route.

15. The transportation method according to claim 14 , wherein the specifying step includes specifying the route for transporting the item further depending on position information of an obstacle in a field in which the item is transported.

16. The transportation method according to claim 15, further comprising determining whether or not to recalculate the identified route depending on the distance between a third moving body present on the identified route and the first moving body and the second moving body.

17. The conveying method according to claim 13 , further comprising selecting the first moving body and the second moving body that convey the item in accordance with information relating to operating hours of the moving bodies.

18. The conveying method according to claim 13 , further comprising selecting the first moving body and the second moving body that convey the item in accordance with a weight of the item.

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