Conveying system

Abstract

This transport system includes an unmanned transport vehicle that transports a transport target object using power from a battery. This system comprises: a storage unit that stores map data, and necessary power quantities needed for traveling per area of the map data; a retrieval unit that retrieves a traveling route for the unmanned transport vehicle; a control unit that, if a plurality of traveling routes are retrieved, estimates the respective total necessary power quantities when traveling to a destination with each of the plurality of routes on the basis of the necessary power quantities per area stored in the storage unit, determines an execution route via operation modes including at least a mode for determining the traveling route having the minimum total necessary power quantity as the execution route, and performs control so as to transport the transport target object according to the determined execution route; and a learning unit that calculates power consumption quantities of the battery consumed in each area during traveling, and on the basis of the calculated power consumption quantities, learns the necessary power quantities, among the necessary power quantities per area stored in the storage unit, of the corresponding areas.

Description

【Technical Field】 【0001】 This specification discloses a conveyance system. 【Background Art】 【0002】 Conventionally, in a mobile robot that autonomously moves, a plurality of paths are searched as a movement path from the current position to a reference position, the distance of each path is calculated, and the amount of battery (electric energy amount) required for moving along each path is calculated. Then, a path that can move with the minimum battery amount is selected based on the calculated battery amounts of each path (see, for example, Patent Document 1). The battery amount of each path is calculated based on these distances and gradients by calculating the distance and gradient of each path. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2006-285547 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 The amount of electric energy required for moving along a path varies depending on the environment, the condition of the road surface, and the like. Therefore, even if the amount of electric energy required for moving along a path is calculated simply based on the distance and gradient of the path, sufficient accuracy may not be obtained. 【0005】 The main object of the present disclosure is to provide a conveyance system that can more accurately estimate the necessary amount of electric energy required for moving to a destination and determine an appropriate travel route for an automated guided vehicle. 【Means for Solving the Problems】 【0006】 The present disclosure has taken the following means to achieve the above main object. 【0007】 The conveyance system of the present disclosure is A transport system including an automated guided vehicle that transports objects using battery power, A storage unit that stores map data divided into multiple areas, and the amount of power required for driving in each area of ​​the map data, A search unit that searches for a travel route from the current location of the automated guided vehicle to its destination based on the aforementioned map data, When the search unit finds multiple travel routes, the control unit determines the execution route by an operating mode that includes at least a first mode, which estimates the total power required when traveling to the destination on each of the multiple travel routes based on the power required for each area stored in the memory unit, and determines the travel route with the smallest estimated total power required among the multiple travel routes as the execution route, and controls the automated guided vehicle to transport the object to be transported according to the determined execution route, A learning unit calculates the amount of power consumed by the battery in each area during driving, and learns the amount of power required for the corresponding area from the amount of power required for each area stored in the memory unit based on the calculated amount of power consumed. The gist of it is that it is equipped with the following features. 【0008】 In the transport system of this disclosure, the amount of battery power consumed in each area during travel is calculated, and the amount of power required for the corresponding area is learned from the amount of power required for each area stored in the memory based on the calculated power consumption. This makes it possible to more accurately estimate the amount of power required to travel to the destination in the first mode and to determine an appropriate travel route for the automated guided vehicle. [Brief explanation of the drawing] 【0009】 [Figure 1] This is an external perspective view of multiple cage trolleys 100 arranged in a cage trolley storage area C of a store, etc., and an automated guided vehicle 10 that transports the cage trolleys 100. [Figure 2] This is an external perspective view of the cage trolley 100 and the automated guided vehicle 10. [Figure 3] This is an external perspective view of the automated guided vehicle 10. [Figure 4] It is a side view of the automated guided vehicle 10. [Figure 5] It is a side view of the automated guided vehicle 10. [Figure 6] It is an explanatory diagram showing the state where the automated guided vehicle 10 has dived under the cage cart 100. [Figure 7] It is an explanatory diagram showing the state where the automated guided vehicle 10 is connected to the cage cart 100. [Figure 8] It is a block diagram showing the electrical connection relationship of the conveyance system 1. [Figure 9] It is a flowchart showing an example of the conveyance process. [Figure 10] It is a flowchart showing an example of the conveyance process [Figure 11] It is a flowchart showing an example of the execution route determination process. [Figure 12] It is an explanatory diagram showing an example of the conveyance route in the store. [Figure 13] It is an explanatory diagram showing an example of the required power information 62b. [Figure 14] It is a flowchart showing an example of the operation mode determination process. [Figure 15] It is a flowchart showing an example of the update process. [Figure 16] It is an explanatory diagram showing an example of the operation schedules of the AMR1 and AMR2 in the modified conveyance system. [Figure 17] It is a flowchart showing an example of the switching process. [Figure 18] It is a flowchart showing an example of the operation mode determination process of the first modification. [Figure 19] It is a flowchart showing an example of the operation mode determination process of the second modification. [Figure 20] It is an explanatory diagram showing the relationship between the remaining battery level B and the transportable number nref. 【Embodiments for Carrying out the Invention】 【0010】 Next, embodiments for implementing the present disclosure will be described with reference to the drawings. 【0011】 FIG. 1 is an external perspective view of a plurality of caddie trucks 100 arranged in a caddie truck placement area C such as a store and an autonomous guided vehicle 10 for transporting the caddie trucks 100. FIG. 2 is an external perspective view of the caddie truck 100 and the autonomous guided vehicle 10. FIG. 3 is an external perspective view of the autonomous guided vehicle 10. FIGS. 4 and 5 are side views of the autonomous guided vehicle 10. FIG. 6 is an explanatory view showing a state where the autonomous guided vehicle 10 has dived under the caddie truck 100. FIG. 7 is an explanatory view showing a state where the autonomous guided vehicle 10 is connected to the caddie truck 100. FIG. 8 is a block diagram showing an electrical connection relationship of the transport system 1. 【0012】 As shown in FIG. 1, the transport system 1 of the present embodiment is used in a logistics center, a warehouse, a store, etc. having a plurality of shelves S, and includes one autonomous guided vehicle 10, a charging point 80, and a management device 60 (see FIG. 8) for managing the operation of the autonomous guided vehicle 10. The autonomous guided vehicle 10 is an autonomous mobile robot (AMR) that can be connected to the caddie truck 100 and transported to a designated shelf S. 【0013】 As shown in FIG. 2, for example, the caddie truck 100 has a rectangular and net-like loading part 101 on which luggage can be loaded, and a plurality (for example, four) of casters 110 rotatably attached to the lower surface of the loading part 101. A marker M such as an AR marker, a two-dimensional code, or a barcode for identifying the caddie truck 100 is provided on the loading part 101 of the caddie truck 100. The autonomous guided vehicle 10 recognizes the type of the caddie truck 100 (transport target truck) to be transported and the luggage loaded on its loading part 101 by reading the marker M. Note that the marker M may be attached to the luggage loaded on the loading part 101. 【0014】 As shown in Figure 3, the automated guided vehicle (AGV) 10 of this embodiment has a low-profile, flat, rectangular parallelepiped appearance. The AGV 10 comprises a body 11, a plurality of (e.g., four) wheels 21 rotatably mounted on the bottom surface of the body 11, and a plurality of (e.g., four) drive motors 22 (see Figure 8) that rotate each corresponding wheel 21. In this embodiment, the plurality of wheels 21 are configured as Mecanum wheels, each having a plurality of rollers on the outer circumference of the wheel that are rotatable around an axis inclined at 45 degrees with respect to the wheel's rotation axis. The AGV 10 can move the body 11 in all directions and rotate (such as in tight turns, pivot turns, and gentle turns) by independently controlling the rotation direction and rotation speed of the corresponding wheels 21 with the plurality of drive motors 22. The plurality of wheels 21 may be configured as omniwheels, each having a plurality of rollers that are rotatable around an axis that intersects the wheel's rotation axis in three dimensions. In other words, the multiple wheels 21 can be of any type as long as they can move or rotate the vehicle body 11 in multiple directions. 【0015】 Furthermore, as shown in Figures 4 and 5, the automated guided vehicle 10 is provided with a connecting section 30 on the upper surface of the vehicle body 11, which can be connected to the cage trolley 100 when the vehicle body 11 is tucked under the cage trolley 100. The connecting section 30 has a flat lifting plate 31, connecting pins 32, 33, and 34 that extend upward from the lifting plate 31, and a lifting device 35 that raises and lowers the lifting plate 31. The lifting plate 31 has a width approximately the same as the width of the vehicle body 11, and a width slightly shorter than the width of the vehicle body 11, so as to cover the upper surface of the vehicle body 11. The connecting pin 32 is provided at the front of the lifting plate 31, the connecting pin 33 is provided at the rear of the lifting plate 31, and the connecting pin 34 is provided in the middle section between the front and rear of the lifting plate 31. As shown in Figures 6 and 7, the connecting section 30 is connected when the vehicle body 11 is tucked under the cage trolley 100 and the lifting device 35 raises the lifting plate 31, causing at least one of the connecting pins 32, 33, and 34 to engage with the underside of the loading platform 101 of the cage trolley 100. This connects the automated guided vehicle 10 and the cage trolley 100, allowing the automated guided vehicle 10 to transport (tow) the cage trolley 100. 【0016】 As shown in Figures 3 to 5, contact detection sensors 36 (spring sensors) are provided on both the left and right sides of the lifting plate 31 to detect when the connecting portion 30 (connecting pins 32, 33, 34) comes into contact with (connects) the loading platform 101 of the cage trolley 100. The contact detection sensor 36 has a plate that is biased upward by a spring, with its upper end at approximately the same height as the connecting pins 32, 33, 34 relative to the lifting plate 31. When the connecting pins 32, 33, 34 engage with the loading platform 101 of the cage trolley 100, the plate of the contact detection sensor 36 comes into contact with the loading platform 101, and the spring is compressed as it descends relative to the connecting pins 32, 33, 34. The contact detection sensor 36 detects that the connecting portion 30 has come into contact with (connected) the loading platform 101 of the cage trolley 100 by detecting the state in which the plate has descended relative to the connecting pins 32, 33, 34. 【0017】 Furthermore, as shown in Figure 8, the automated guided vehicle 10 comprises a control unit 40 that controls the entire system, a storage unit 41 that stores various information including map information 41a, a communication unit 42 for communication (wireless communication) with the management device 60, etc., a camera unit 51 as an imaging device, sensor units 52 and 53, and a light-emitting unit 54 that illuminates the front of the vehicle body 11. The camera unit 51 is installed on the front of the vehicle body 11 to recognize the area in front of the vehicle body 11. The sensor units 52 and 53 are installed on the front and rear of the vehicle body 11, respectively, to detect surrounding interference objects. The sensor units 52 and 53 detect surrounding objects and the distance to those objects. In this embodiment, the sensor units 52 and 53 are LiDAR (Light Detection And Ranging) sensors that scan a laser beam around the surroundings, receive the reflected light from each, and measure the time until the reflected light is received to measure distance data for each scanning angle and obtain point cloud data of the surroundings. The light-emitting unit 54 is installed on the front of the vehicle body 11 and illuminates the area in front, making it easier for the camera unit 51 to recognize surrounding objects in dark places. 【0018】 The automated guided vehicle 10 also includes a battery 37 that supplies power to various parts such as the drive motors 22, lifting device 35, control unit 40, memory unit 41, communication unit 42, camera unit 51, sensor units 52, 53, and light-emitting unit 54, as well as a battery level meter 38 that measures the remaining capacity of the battery 37 (battery level B). The battery 37 is a rechargeable secondary battery, for example, a lithium-ion battery is used. The battery level meter 38 includes a current sensor attached to the output terminal of the battery 37 and a voltage sensor attached between the output terminals of the battery 37, and calculates the battery level B as the ratio of the remaining capacity to the maximum capacity of the battery 37 based on the detected values ​​of each sensor. 【0019】 The control unit 40 is configured as a microprocessor centered around a CPU, and in addition to the CPU, it includes a ROM for storing processing programs, a RAM for temporarily storing data, a timing unit, and the like. As shown in Figure 8, the control unit 40 receives inputs such as image signals from the camera unit 51, detection signals from the sensor units 52 and 53, detection signals from the contact detection sensor 36, and detection signals from the battery level meter 38. The control unit 40 outputs control signals to the drive motor 22, control signals to the lifting device 35, and control signals to the light-emitting unit 54. 【0020】 The charging point 80 is equipped with one or more chargers for charging the battery 37. In this embodiment, the charger is a contact-type charging stand having power supply electrodes on its upper surface. When the automated guided vehicle 10 moves to the charging point 80 and rides onto the charging stand, a power receiving electrode (not shown) provided on the bottom of the automated guided vehicle 10 is electrically connected to the power supply electrodes of the charging stand, thereby charging the battery 37. The charging point 80 may also be capable of charging the battery 37 without contact. 【0021】 As shown in Figure 8, the management device 60 comprises a processing unit 61, a storage unit 62, a communication unit 63 for communicating (wireless communication) with the automated guided vehicle 10, and a timing unit 64 for acquiring the current time. Input devices such as a mouse and keyboard, and a display are also connected to the management device 60. The processing unit 61 is configured as a microprocessor centered on a CPU, and in addition to the CPU, it includes a ROM for storing processing programs and RAM for temporarily storing data. The storage unit 62 is a storage device such as an HDD or SSD, and various information such as map information 62a, required power information 62b, and destination information 62c is stored in the storage unit 62. Map information 62a is data that divides the store into multiple areas. Required power information 62b is data that stores the power consumption of the automated guided vehicle 10 when it travels within the store for each area. Destination information 62c is data that stores the correspondence between the type of cargo and its destination. 【0022】 Next, the operation of the transport system 1 of this embodiment, as configured in this way, will be described. In particular, the operation of the automated guided vehicle (AGV) 10 when transporting multiple cage trolleys 100, which are placed in the cage trolley storage area C within the store, one by one to their respective destinations G, as shown in Figure 1, will be described. This operation takes place between the end of business hours and the start of business hours the next day (for example, between 9 p.m. and 5 a.m. the following day). First, the transport process in which the AGV 10 transports the cage trolleys to destination G will be described. Figures 9 and 10 are flowcharts showing an example of the transport process executed by the control unit 40 of the AGV 10. This process is executed when the management device 60 instructs the transport of the cage trolleys 100 (cargo). 【0023】 When this process is started, the control unit 40 first controls the drive motor 22 to move to the cage trolley storage area C (S100). Next, the control unit 40 reads the marker M (see Figure 2) attached to the cage trolley 100 (trolley to be transported) or the cargo loaded on its loading platform 101 using the camera unit 51 located on the front of the vehicle body 11, and recognizes the type of cargo corresponding to the marker M by communicating with the management device 60 (S102). Subsequently, the control unit 40 obtains the destination of the cargo corresponding to the recognized type of cargo and sets the obtained destination as the destination of the trolley to be transported (S104). The acquisition of the destination is performed by communicating with the management device 60 and receiving the destination derived from the destination information 62c based on the recognized type of cargo from the management device 60. Alternatively, the destination may be obtained by storing destination information similar to the destination information 62c stored in the management device 60 in the memory unit 41 of the automated guided vehicle 10, and when the control unit 40 recognizes the type of cargo, it derives the destination of the corresponding cargo from the stored destination information. The control unit 40 then performs an execution route determination process to determine the transport route (execution route) when transporting the cage cart from the cage cart storage area C to the destination G (S106). The execution route determination process is performed by executing the flowchart in Figure 11. 【0024】 When the execution route determination process is started, the control unit 40 searches for a transport route to the destination G (S200). Specifically, the control unit 40 grasps the shape of the surroundings based on point cloud data measured by the sensor units 52, 53 (LiDAR), and recognizes the current location of the vehicle by comparing (matching) the grasped surrounding shape with the map information 41a stored in the memory unit 41. Based on the recognized current location and the specified destination, the control unit 40 searches for a transport route based on the map information 41a. Alternatively, the control unit 40 may recognize the current location and transmit it to the management device 60, and receive a transport route generated by the management device 60 based on the current location. Here, the transport route is the route from the cart storage area C to the destination G, and defines which areas in the map information 41c to travel through and in which direction. Details of the areas will be described later. Next, the control unit 40 determines whether there are multiple transport routes that have been searched (S202). If the control unit 40 determines in S202 that there is only one transport route found, it decides the found transport route to be the execution route (S204) and terminates this process. Then, it proceeds to S108 of the transport process shown in Figure 9. 【0025】 If the control unit 40 determines in S202 that there are multiple transport routes, it determines whether the operating mode is distance-priority mode or power consumption-priority mode (S206). Here, distance-priority mode is an operating mode in which the automated guided vehicle 10 transports the cage trolley 100 to destination G via the shortest route. Power consumption-priority mode is an operating mode in which the cage trolley 100 is transported to destination G via the transport route that minimizes power consumption. Note that the shortest route to destination G is not necessarily the transport route that minimizes power consumption. That is, the amount of power required for the automated guided vehicle 10 to travel along the transport route varies depending on the slope of the road surface and other road surface conditions, so it is possible that taking a detour instead of the shortest route will consume less power than taking the shortest route. If the control unit 40 determines in S206 that the operating mode is power consumption-priority mode, it calculates the power consumption that the battery 37 will consume when traveling to destination G via each of the multiple transport routes that were found. In other words, the control unit 40 sets the transport route (target route) for which power consumption will be calculated from among the multiple transport routes searched in S200 (S208). Next, the control unit 40 acquires the area included in the target route set in S208 (S210). Here, the area is the region between two adjacent points P (points P1, P2, P3, ..., Pj) in the store map information 41a, as shown in Figure 12. Points P are set on the travel path on which the automated guided vehicle 10 travels, and include, for example, points between shelves S or points that may be set as the destination of the cage trolley 100. Then, the control unit 40 acquires the required power W for each area in the direction of travel of the target route from the required power information 62b shown in Figure 13 (S212). Next, the control unit 40 acquires the distance L for each area from the required power information 62b (S214). Subsequently, the control unit 40 calculates the estimated power consumption E of the target route (S216). Specifically, the control unit 40 calculates the product of the required power W and distance L (=W × L) for each area on the target route, and calculates the sum of these (=Σ(W × L)) as the estimated power consumption E. Then, the control unit 40 determines whether or not the estimated power consumption E has been calculated for all transport routes searched in S200 (S218).If the control unit 40 determines in S218 that there is still a transport route for which the estimated power consumption E has not been calculated, it returns to S208 and repeats the process of setting the next transport route as the target route and calculating the estimated power consumption E. On the other hand, if the control unit 40 determines in S218 that the estimated power consumption E for all transport routes has been calculated, it determines the transport route with the lowest estimated power consumption E as the execution route (S220) and terminates this process. Then, the control unit 40 proceeds to S108 of the transport process shown in Figure 9. 【0026】 If the control unit 40 determines in S206 that the operating mode is distance priority mode, it calculates the distance to destination G for the multiple transport routes it has searched. That is, the control unit 40 sets the transport route for which to calculate the distance (target route) from the multiple transport routes searched in S200 (S222). Next, the control unit 40 obtains the areas included in the target route (S224). Subsequently, the control unit 40 obtains the distance L of each area from the required power information 62b shown in Figure 13 (S226). Then, the control unit 40 calculates the sum of the distances L of each area included in the target route as the estimated distance D (=ΣL) (S228). Next, the control unit 40 determines whether or not it has calculated the estimated distance D for all transport routes searched in S200 (S230). If the control unit 40 determines in S230 that there are transport routes for which the estimated distance D has not yet been calculated, it returns to S222 and repeats the process of setting the next transport route as the target route and calculating the estimated distance D. On the other hand, if the control unit 40 determines in S230 that it has calculated the estimated distance D for all transport routes, it determines the transport route with the shortest estimated distance D as the execution route (S232) and terminates this process. Then, the control unit 40 returns to S108 of the transport process shown in Figure 9. 【0027】 Returning to the transport process, the control unit 40 connects to the cage trolley 100 (trolley to be transported) (S108). This process is carried out as follows: First, the control unit 40 recognizes two casters 110 that are below the position where the camera unit 51 recognized the marker M, based on the point cloud data detected by the sensor unit 52. Next, the control unit 40 controls the drive motor 22 so that the body unit 11 slides under the towed trolley between the casters 110. Then, the control unit 40 raises the connecting pins 32, 33, and 34 using the lifting device 35 to engage with the loading platform 101 of the towed trolley, thereby connecting to the towed trolley. Subsequently, the control unit 40 controls the drive motor 22 to start transporting the cage trolley from the trolley storage area C to the destination according to the execution route determined in the execution route determination process (S110). Then, when the control unit 40 starts transporting the cart to be transported, it acquires its own position (S112) and determines whether or not it has arrived at the destination (S114). 【0028】 If the control unit 40 determines in S114 that the destination has not been reached, it determines whether or not the vehicle has entered an area within the execution route based on its own position obtained in S112 (S116). If it determines in S116 that the vehicle has entered an area, the control unit 40 obtains the battery level B of the battery 37 from the battery level meter 38 and sets the obtained battery level B to the entry battery level Bstart (S118). After determining in S116 that the vehicle has not entered an area or after S118, the control unit 40 determines whether or not the vehicle has left the area it is currently traveling through based on its own position obtained in S112 (S120). If it determines in S120 that the vehicle has not left the area, the control unit 40 returns to S112. On the other hand, if it determines in S120 that the vehicle has left the area, the control unit 40 obtains the battery level B from the battery level meter 38 and sets the obtained battery level B to the exit battery level Bend (S122). Next, the control unit 40 calculates the amount of power consumed to travel through the travel area as the battery consumption ΔB (S124). Specifically, the control unit 40 calculates the battery consumption ΔB as the difference between the battery level Bstart at entry and the battery level Bend at exit (=Bstart-Bend). Subsequently, the control unit 40 transmits the travel area information and the battery consumption ΔB in that travel area to the management device 60 (S126). Here, the travel area information includes the area ID that identifies the area and the direction of travel. Then, the processing unit 61 returns to S112. 【0029】 After determining in S114 that the destination has been reached, the control unit 40 stops the vehicle from moving (S128). Next, the control unit 40 controls the lifting device 35 to lower the connecting pins 32, 33, and 34, thereby releasing the connection with the cage trolley 100 (S130). Subsequently, the control unit 40 determines whether or not the planned transport of the cage trolley has been completed (S132). 【0030】 If the control unit 40 determines in S132 that the scheduled transport of the cage cart has not been completed, it obtains the battery level B (S134). Next, the control unit 40 determines whether the battery level B is less than the threshold Blow (S136). Here, the threshold Blow is a threshold for determining when the battery is depleted, and is predetermined as the battery level obtained by adding a margin value to the average amount of power consumed to transport one cage cart 100 from the cage cart storage area C to the destination G. If the control unit 40 determines in S136 that the battery level B is greater than or equal to the threshold Blow, it determines that the next cage cart 100 can be transported and returns to S100. On the other hand, if the control unit 40 determines in S136 that the battery level B is less than the threshold Blow, it determines that the next cage cart 100 cannot be transported and controls the drive motor 22 to move the automated guided vehicle 10 to the charging point 80 (S138). When the automated guided vehicle 10 moves to the charging point 80 and the power supply electrodes of the charger are connected to the power receiving electrodes of the automated guided vehicle 10, charging of the battery 37 begins. Next, the control unit 40 obtains the battery level B (S140). Then, the control unit 40 determines whether the battery level B is equal to or greater than the threshold Bhigh (S142). Here, the threshold Bhigh is a threshold used to determine whether or not the battery 37 has finished charging, and is set to, for example, 80%, 90%, or 100%. If the control unit 40 determines in S142 that the battery level B is less than the threshold Bhigh, it determines that the battery 37 has not yet finished charging and returns to S140. On the other hand, if the control unit 40 determines in S142 that the battery level B is equal to or greater than the threshold Bhigh, it determines that the battery 37 has finished charging and returns to S100 to transport the next cage trolley 100. If the control unit 40 determines in S132 that the planned transport of the cage trolley has been completed, it terminates this process. Here, the operation of the automated guided vehicle 10 when transporting the cage trolley 100 from the cage trolley storage area C to the destination G has been described, but when the automated guided vehicle 10 returns to the cage trolley storage area C, it may also search for a route to the cage trolley storage area C and determine a travel route according to the operating mode, similar to the transport process. 【0031】 Next, we will explain the operation mode determination process for determining the operation mode of the automated guided vehicle 10. Figure 14 is a flowchart showing an example of the execution route determination process performed by the processing unit 61 of the management device 60. 【0032】 When this process is started, the processing unit 61 obtains the current time from the timing unit 64 (S300). Next, the processing unit 61 calculates the remaining time T until the end time (S302). Specifically, the management device 60 calculates the remaining time T from the difference between the end time and the current time obtained in S300. Subsequently, the processing unit 61 determines whether the remaining time T is equal to or greater than a predetermined time Tref (for example, about 30 minutes) (S304). If it is determined in S304 that the remaining time T is equal to or greater than the predetermined time Tref, the processing unit 61 sets the operating mode of the automated guided vehicle 10 to power consumption priority mode (S306). This is because if the remaining time T is equal to or greater than the predetermined time Tref, operating the automated guided vehicle 10 in an operating mode that does not consider the power consumption of the battery 37 may result in frequent battery depletion, which would increase the number of charging cycles and potentially take longer to transport the planned cage carts 100. 【0033】 If the processing unit 61 determines in S304 that the remaining time T is less than a predetermined time Tref, it communicates with the control unit 40 of the automated guided vehicle (AGV) 10 to obtain the battery level B of the AGV 10 (S308). Next, the processing unit 61 determines whether the battery level B is equal to or greater than the threshold Bref (S310). Here, the threshold Bref is predetermined, and is the threshold for the battery level at which the battery 37 in the AGV 10 will not run out, even if the AGV 10 is operated for the remaining time T in an operating mode that does not consider the battery level. If the processing unit 61 determines in S310 that the battery level B is less than the threshold Bref, it sets the operating mode of the AGV 10 to the power consumption priority mode (S306). This is because, even if the remaining time T is shorter than the predetermined time Tref, if the battery level B is less than the threshold Bref, operating the AGV 10 in an operating mode that does not consider the power consumption of the battery 37 may result in the battery running out midway. On the other hand, if the management device 60 determines in S310 that the battery charge B is equal to or greater than the threshold Bref, the management device 60 determines the operating mode of the automated guided vehicle 10 to distance priority mode (S312). This is because, if the remaining time T is shorter than a predetermined time Tref and the battery charge B is equal to or greater than the threshold Bref, the automated guided vehicle 10 can be operated in an operating mode that does not consider the power consumption of the battery 37, and the transport of the cage trolley 100 can be completed before the battery runs out. After S306 or after S312, the management device 60 outputs the determined operating mode to the automated guided vehicle 10 (S314) and terminates this process. 【0034】 Thus, in the transport system 1, if the operating mode is power consumption priority mode, the transport route that minimizes power consumption is determined as the execution route, and if the operating mode is distance priority mode, the transport route that minimizes travel distance is determined as the execution route. Therefore, the cage cart 100 can be transported to destination G using an execution route that takes power consumption and travel distance into consideration. Furthermore, in the transport system 1, if the remaining time T until the end time is less than a predetermined time Tref and the battery level B is equal to or greater than the threshold Bref, the operating mode of the automated guided vehicle 10 is determined to be distance priority mode, otherwise power consumption priority mode is determined. That is, when the remaining time is short and the battery level B is sufficient, the automated guided vehicle 10 transports the cage cart 100 to destination G via the shortest route. Therefore, in situations where there is no risk of battery depletion, the capacity of the battery 37 can be utilized to transport many cage carts 100 in a short time. 【0035】 Next, the update process in which the processing unit 61 of the management device 60 updates the required power information 62b will be explained using Figure 15. This process is repeatedly executed at predetermined intervals (several seconds to several minutes) while the control unit 40 is performing the transport process described above. 【0036】 When this process is started, the management device 60 determines whether or not it has received information about the driving area (area ID, driving direction) and the battery consumption ΔB in that driving area from the control unit 40 (S400). If it is determined in S400 that it has not received information about the driving area and the battery consumption ΔB in that driving area from the control unit 40, the control unit 40 terminates this routine. On the other hand, if it is determined in S400 that it has received information about the driving area and the battery consumption ΔB in that driving area from the control unit 40, the processing unit 61 updates the required power W [% / m] for the corresponding driving direction of the corresponding area ID in the required power information 62b stored in the storage unit 62 (S402). This process is carried out as follows: First, the processing unit 61 adds the value obtained by multiplying the required power W for the corresponding driving direction of the corresponding area ID in the required power information 62b shown in Figure 13 by the number of data n, to the value obtained by dividing the received battery consumption ΔB by the distance L of the corresponding driving area. Then, the processing unit 61 divides the value calculated in this way by the number of data points n plus 1 (=(W×n+(ΔB / L)) / (n+1)) and stores the updated required power W in the required power information 62b of the storage unit 62. As a result, the required power W is updated as the average value of the battery consumption ΔB when the automated guided vehicle 10 has traveled in the travel area up to that point. The required power W may also be calculated by a weighted average that assigns weights to each of the battery consumption ΔB acquired up to that point. In that case, newer battery consumption ΔB may be given a greater weight. Then, the processing unit 61 updates the number of data points n (S404). Specifically, the processing unit 61 sets the updated number of data points n to the value obtained by adding 1 to the number of data points n before the update (=n+1). After S404, the processing unit 61 terminates this process. 【0037】 In this way, the transport system 1 calculates the actual battery consumption ΔB when the automated guided vehicle 10 travels within the travel area and updates the required power information 62b based on the battery consumption ΔB. Therefore, the amount of power required to travel to the destination G can be estimated more accurately. Furthermore, the transport system 1 calculates the actual battery consumption ΔB for each direction of travel when the automated guided vehicle 10 travels within the travel area and updates the required power information 62b based on the calculated battery consumption ΔB. Therefore, even if there is a slope in the travel area, the amount of power required to travel to the destination G can be estimated more accurately using the direction of travel and the required power information 62b. 【0038】 Here, the correspondence between the main elements of this embodiment and the main elements of the present disclosure as described in the claims will be explained. That is, the transport system 1 of this embodiment corresponds to the transport system of the present disclosure, the storage unit 41 or storage unit 62 corresponds to the storage unit, the control unit 40 that executes the execution route determination process S200 corresponds to the search unit, the control unit 40 that executes the transport process S106 to S142 (including the execution route determination process S202 to S232) corresponds to the control unit, and the processing unit 61 that executes the update process corresponds to the learning unit. 【0039】 It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure. 【0040】 For example, in the embodiment described above, the transport system 1 is configured such that one automated guided vehicle (AGV) 10 transports the cage trolley 100 to the destination G. However, in the modified transport system, there may be multiple AGVs 10 (for example, two), and each AGV 10 operates alternately to transport the cage trolley 100 to the destination G. For the sake of explanation, one of the two AGVs 10 will be referred to as AMR1, and the other AGV 10 as AMR2. In the modified transport system, as shown in Figure 16, an operating schedule is set out to determine which of AMR1 and AMR2 AGVs 10 will be operated during which time period. The management device 60 switches which AGV 10 is operating and determines the operating mode of the operating AGV 10 based on the operating schedule and the battery level B of the AGV 10 that is currently operating. The control unit 40 of the automated guided vehicle (AGV) 10 then performs various controls to ensure that one of the AGVs 10 operates to transport the cage trolley 100, in accordance with the instructions of the management device 60. Here, we will first explain the switching process for switching which AGV 10 is in operation. Figure 17 is a flowchart showing an example of the switching process performed by the processing unit 61 of the management device 60. This process is repeated at predetermined intervals. 【0041】 When this switching process is started, the processing unit 61 first determines whether the state of AMR1 is operational or not (S500). If it is determined in S500 that AMR1 is operational, the processing unit 61 obtains the battery level B1 of AMR1 (S502). Next, the processing unit 61 determines whether the battery level B1 is less than the threshold Blow (S504). The threshold Blow was described above. If it is determined in S504 that the battery level B1 is equal to or greater than the threshold Blow, the processing unit 61 obtains the current time from the timing unit 64 (S506). Then, it determines whether a predetermined time (for example, about 2 hours) has elapsed since the previous switching time (S508). Here, the previous switching time is the time when the state was switched from one of AMR1 or AMR2 being operational and the other being charged or in standby to the other being operational and the other being charged or in standby, and is stored in S548, which will be described later. If S508 determines that a predetermined amount of time has not elapsed since the previous switching time, the processing unit 61 determines that the time to switch the still-operating automated guided vehicle 10 has not yet arrived and terminates this process. 【0042】 After determining in S508 that a predetermined time has elapsed since the previous switching time, or after determining in S504 that the battery level B1 is below the threshold Blow, the processing unit 61 determines that it is time to switch the operational automated guided vehicle 10 and determines whether the AMR2 that is not currently operational is in standby mode (S510). Here, standby mode means that the battery 37 has finished charging and is ready to operate immediately. If it is determined in S510 that AMR2 is in standby mode, the processing unit 61 outputs an operation instruction to AMR2 (S512). Upon receiving the operation instruction, the control unit 40 of AMR2 determines the execution route according to the operation mode determined by the management device 60 and performs various controls to start transporting the cage trolley 100. Next, the processing unit 61 outputs a charging instruction to AMR1 (S514). Upon receiving the charging instruction, the control unit 40 of AMR1 controls the drive motor 22 to move to the charging point 80. After arriving at the charging point 80, charging of the AMR1's battery 37 begins. Here, "charging in progress" means that the battery 37 is not yet fully charged and is not immediately operational. Normally, the AMR1's battery 37 is fully charged in a time shorter than the interval between switching operation schedules (for example, about 1 hour) from the start of charging. Then, the processing unit 61 obtains the current time from the timing unit 64 (S546), stores the current time as the switching time in the storage unit 62 (S548), and terminates this process. 【0043】 If the processing unit 61 determines in S510 that the AMR2 that is not currently in operation is not in standby mode (i.e., it is charging), then the processing unit 61 obtains the battery level B2 of the AMR2 (S516). Next, the processing unit 61 determines whether the battery level B2 is equal to or greater than the threshold Bhigh (S518). The threshold Bhigh was described above. If the processing unit 61 determines in S518 that the battery level B2 is less than the threshold Bhigh, then the processing unit 61 determines that the battery 37 in the AMR2 has not finished charging and returns to S516. On the other hand, if the processing unit 61 determines in S518 that the battery level B2 is equal to or greater than the threshold Bhigh, then the processing unit 61 determines that the battery 37 in the AMR2 has finished charging and outputs an operation command to the AMR2 (S520) and a charging command to the AMR1 (S522). Then, the processing unit 61 obtains the current time from the timing unit 64 (S546), stores the current time as the switching time in the storage unit 62 (S548), and terminates this process. 【0044】 If the processing unit 61 determines in S500 that AMR1 is not in operation, it determines that AMR2 is in operation and obtains the battery level B2 of AMR2 (S524). Next, the processing unit 61 determines whether the battery level B2 is less than the threshold Blow (S526). If the processing unit 61 determines in S526 that the battery level B2 is greater than or equal to the threshold Blow, it obtains the current time from the timing unit 64 (S528). Then, the processing unit 61 determines whether a predetermined time (for example, about 2 hours) has elapsed since the previous switching time (S530). If the processing unit 61 determines in S530 that the predetermined time has not elapsed since the previous switching time, it determines that the timing to switch the still-operating automated guided vehicle 10 has not yet arrived and terminates this process. 【0045】 After determining in S530 that a predetermined time has elapsed since the previous switching time, or after determining in S526 that the battery level B2 is below the threshold Blow, the processing unit 61 determines that it is time to switch the operational automated guided vehicle 10 and determines whether the AMR1 that is not currently operational is in standby mode (S532). If it is determined in S532 that AMR1 is in standby mode, the processing unit 61 outputs an operation command to AMR1 (S534). Upon receiving the operation command, the control unit 40 of AMR1 determines the execution route according to the operation mode determined by the management device 60 and performs various controls to start transporting the cage trolley 100. Next, the processing unit 61 outputs a charging command to AMR2 (S536). Upon receiving the charging command, the control unit 40 of AMR2 controls the drive motor 22 to move to the charging point 80. After arriving at the charging point 80, charging of the battery 37 of AMR2 begins. Then, the processing unit 61 obtains the current time from the timing unit 64 (S546), stores the current time as the switching time in the storage unit 62 (S548), and terminates this process. 【0046】 If the processing unit 61 determines in S532 that the AMR1 that is not currently in operation is not in standby mode (i.e., it is charging), it obtains the battery level B1 of AMR1 (S538). Next, the processing unit 61 determines whether the battery level B1 is equal to or greater than the threshold Bhigh (S540). If the processing unit 61 determines in S540 that the battery level B1 is less than the threshold Bhigh, it determines that the battery 37 in AMR1 is not yet fully charged and returns to S538. On the other hand, if the processing unit 61 determines in S540 that the battery level B1 is equal to or greater than the threshold Bhigh, it determines that the battery 37 in AMR1 is fully charged and outputs an operation command to AMR1 (S542) and a charging command to AMR2 (S544). Then, the processing unit 61 obtains the current time from the timing unit 64 (S546), stores the current time as the switching time in the storage unit 62 (S548), and terminates this process. 【0047】 In this modified transport system, while AMR1 is operating, AMR2 charges its battery 37, and once charging is complete, it waits until it is instructed to operate again. Conversely, while AMR2 is operating, AMR1 charges its battery 37, and once charging is complete, it waits until it is instructed to operate again. By operating AMR1 and AMR2 alternately, they can be operated without interfering with each other, or control to avoid mutual interference can be eliminated. Furthermore, if there is only one automated guided vehicle 10, as in the transport system 1 of this embodiment described above, the automated guided vehicle 10 cannot transport the cage trolleys 100 while the battery 37 is charging. In contrast, the modified transport system 1 has two automated guided vehicles 10, and they are operated alternately to transport the cage trolleys 100. More cage trolleys 100 can be transported in a shorter time than with one vehicle. Furthermore, in the modified transport system, even before a predetermined time has elapsed since the previous switchover time, if the battery level of the currently operating automated guided vehicle (AGV) 10 falls below the threshold Blow, the operating AGV 10 is switched. Therefore, even if the currently operating AGV 10 runs out of battery for some reason and cannot operate according to the operating schedule shown in Figure 15, the operating AGV 10 can be switched as needed to continue transporting the cage trolley 100. 【0048】 Next, the process for determining the operating mode of the first modified model, which is performed by the processing unit 61 of the control device 60 in the modified model's transport system, will be explained using Figure 18. This process is repeated at predetermined intervals (for example, several seconds to several minutes). In Figure 18, the same step numbers are used for processes similar to the operating mode determination process shown in Figure 14, and their detailed explanations are omitted to avoid redundancy. 【0049】 When this process is started, the processing unit 61 first obtains the current time from the timing unit 64 (S300). Next, the processing unit 61 determines whether or not the AMR1 is in operation (S600). If it is determined in S600 that the AMR1 is in operation, the processing unit 61 obtains the remaining time T until the end time (S302). Subsequently, the processing unit 61 determines whether or not the remaining time T is less than a predetermined time Tref (for example, about 30 minutes) (S304). If it is determined in S304 that the remaining time T is equal to or greater than the predetermined time Tref, the control unit 40 sets the operating mode of the AMR1 to power consumption priority mode (S610). This is because if the AMR1 were operated for a longer time than the predetermined time Tref in an operating mode that does not consider power consumption, there is a risk of the battery running out midway through. 【0050】 On the other hand, if in S304 the remaining time T is determined to be less than a predetermined time Tref, the processing unit 61 obtains the battery level B1 of AMR1 (S602). Then, the processing unit 61 determines whether the battery level B1 is less than the threshold Bref (S604). The threshold Bref was described above. If in S604 the processing unit 61 determines that the battery level B1 is equal to or greater than the threshold Bref, the processing unit 61 sets the operating mode of AMR1 to distance priority mode (S606). This is because there is no risk of the battery running out even if it is operated in distance priority mode for the remaining time T. If in S604 the processing unit 61 determines that the battery level B1 is less than the threshold Bref, the processing unit 61 determines whether the AMR2, which is not currently operating, is in standby mode (S608). 【0051】 If the processing unit 61 determines in S608 that the AMR2 that is not currently in operation is in standby mode, that is, that charging is complete, the processing unit 61 sets the operating mode of AMR1 to distance priority mode (S606). This is because even if the operating AMR1 runs out of battery power midway, the transport of the cage trolley 100 can be continued by operating AMR2 instead of AMR1. On the other hand, if the processing unit 61 determines in S608 that AMR2 is not in standby mode (is charging), the processing unit 61 sets the operating mode of AMR1 to power consumption priority mode (S610). This is because if AMR1 runs out of battery power, AMR2 cannot be operated. After S606 or after S610, the processing unit 61 outputs the operating mode to AMR1 (S612) and terminates this process. Note that even if the AMR2 that is not currently in operation is charging, if its battery level B2 has recovered to a level that allows it to operate until the end time, the processing unit 61 may set the operating mode of the operating AMR1 to distance priority mode. 【0052】 If S600 determines that AMR1 is not operating (and AMR2 is operating), the processing unit 61 obtains the remaining time T until the end time (S302B). Next, the processing unit 61 determines whether the remaining time T is less than a predetermined time Tref (S304B). If S304B determines that the remaining time T is equal to or greater than the predetermined time Tref, the processing unit 61 sets the operating mode of AMR2 to power consumption priority mode (S622). This is because if AMR2 were operated for a longer time than the predetermined time Tref in an operating mode that does not consider power consumption, there is a risk of the battery running out midway through. 【0053】 If the processing unit 61 determines in S304B that the remaining time T is less than a predetermined time Tref, it obtains the battery level B2 of AMR2 (S614). Then, the processing unit 61 determines whether the battery level B2 is less than the threshold Bref (S616). If the processing unit 61 determines in S616 that the battery level B2 is equal to or greater than the threshold Bref, it sets the operating mode of AMR2 to distance priority mode (S618). This is because there is no risk of the battery running out even if it is operated in distance priority mode for the remaining time T. If the processing unit 61 determines in S616 that the battery level B2 is less than the threshold B2ref, it determines whether the AMR1 that is not currently operating is in standby mode (S620). 【0054】 If S620 determines that the AMR1 that is not currently in operation is in standby mode, that is, that charging is complete, the processing unit 61 sets the operating mode of AMR2 to distance priority mode (S618). This is because even if the operating AMR2 runs out of battery, the transport of the cage trolley 100 can be continued by operating AMR1 instead of AMR2. On the other hand, if S620 determines that AMR1 is not in standby mode (is charging), the processing unit 61 sets the operating mode of AMR2 to power consumption priority mode (S622). This is because if AMR2 runs out of battery, AMR1 cannot be operated. After S618 or after S622, the processing unit 61 outputs the operating mode to AMR2 (S624) and terminates this process. Note that even if the AMR1 that is not currently in operation is charging, if its battery level B1 has recovered to a level that allows it to operate until the end time, the processing unit 61 may set the operating mode of the operating AMR2 to distance priority mode. 【0055】 In the operation mode determination process of the first modified example, even if the remaining time T is low and the battery level B1 of the operating AMR1 is below the threshold Bref, if the state of the non-operating AMR2 is standby, the operation mode of AMR1 is set to distance priority mode. Similarly, even if the remaining time T is low and the battery level B2 of the operating AMR2 is below the threshold Bref, if the state of the non-operating AMR1 is standby, the operation mode of AMR2 is set to distance priority mode. As a result, the capacity of the battery 37 can be fully utilized, and more cage trolleys 100 can be transported to the destination G in a short amount of time. 【0056】 Next, a flowchart of the operation mode determination process for the second modified example will be described using Figures 19 and 20. This process is repeatedly executed at predetermined intervals (several seconds to several minutes) by the processing unit 61 of the management device 60 in the transport system 1 of the embodiment described above. In the embodiment described above, the operation mode of the automated guided vehicle 10 was determined based on the remaining time T and the remaining battery charge B. However, in the operation mode determination process of the second modified example, the processing unit 61 determines the operation mode of the automated guided vehicle 10 based on the remaining number n of cage trolleys 100 remaining in the cage trolley storage area C and the remaining battery charge B of the automated guided vehicle 10. 【0057】 When this process begins, the processing unit 61 of the management device 60 communicates with the control unit 40 of the automated guided vehicle 10 to obtain the battery level B of the automated guided vehicle 10 (S700). Next, the processing unit 61 refers to the storage unit 62 to obtain the remaining number n of cage trolleys 100 remaining in the cage trolley storage area C (S702). The remaining number n is managed as follows: The storage unit 62 has the remaining number n pre-stored as an initial value, with the number of cage trolleys 100 placed in the cage trolley storage area C before the transport process is executed by the control unit 40. When the automated guided vehicle 10 arrives at the destination G, the control unit 40 transmits information to the processing unit 61 indicating that the transport is complete. Each time the processing unit 61 receives this information, it deducts 1 from the remaining number n stored in the storage unit 62 to update the remaining number n. Subsequently, the processing unit 61 obtains the number of transportable trolleys nref (S704). Here, the number of transportable carts nref is, for example, the upper limit of the number of carts 100 that can be transported with the battery level B at the time, assuming that the execution route is determined in distance priority mode when transporting carts 100 from cart storage area C to a destination at an average distance. The processing unit 61 refers to the relationship between the battery level B and the number of transportable carts nref, as shown in Figure 20, and obtains the number of transportable carts nref corresponding to the battery level B obtained in S700. 【0058】 Next, the processing unit 61 determines whether the remaining number n is less than or equal to the number of transportable carts nref (S706). If it is determined in S706 that the remaining number n is greater than the number of transportable carts nref, the processing unit 61 sets the operating mode of the automated guided vehicle 10 to power consumption priority mode (S708). This is because if the operating mode of the automated guided vehicle 10 is set to distance priority mode, there is a risk that the battery will run out while transporting the cage cart 100. 【0059】 If the processing unit 61 determines in S706 that the remaining number n is less than or equal to the number of transportable carts nref, the processing unit 61 decides the operating mode of the automated guided vehicle (AGV) 10 to distance priority mode (S710). This is because even if the operating mode of the AGV 10 is decided to be distance priority mode, there is little risk of the battery running out while transporting the cage cart 100. After S708 or after S710, the processing unit 61 outputs the determined operating mode to the AGV 10 (S712) and terminates this process. 【0060】 In the operation mode determination process of the second modified example, if the remaining number n of cage trolleys 100 remaining in the cage trolley storage area C is less than the number of trolleys that can be transported nref based on the acquired battery level B, the processing unit 61 determines the operation mode of the automated guided vehicle 10 to distance priority mode. Therefore, in situations where there is little risk of battery depletion, the capacity of the battery 37 can be utilized to transport many cage trolleys 100 in a short time. In addition, if it is determined that the remaining number n of cage trolleys 100 is less than the number of trolleys that can be transported nref, and distance priority mode is initially determined, but then the battery level B becomes lower than expected, there may be cases where the remaining cage trolleys 10 cannot be transported to the destination G if the automated guided vehicle 10 continues to operate in distance priority mode. In this case, during the repeated operation mode determination process, if the number of trolleys that can be transported nref corresponding to the battery level B decreases and the remaining number n becomes greater than the number of trolleys that can be transported nref, the processing unit 61 determines the operation mode of the automated guided vehicle 10 to power consumption priority mode. This prevents the battery from running out and allows the cage trolley 100 to be transported to destination G. 【0061】 In the embodiment described above, in the operation mode determination process shown in Figure 14, the processing unit 61 determined the operation mode to be the power consumption priority mode until the remaining time T was less than a predetermined time Tref, and then determined either the power consumption priority mode or the distance priority mode according to the remaining battery level B. However, the processing unit 61 may also determine the operation mode to be the distance priority mode until the remaining time T is less than a predetermined time Tref, or it may determine the operation mode to be one previously selected by the operator. Furthermore, the processing unit 61 may set the operation mode to the power consumption priority mode regardless of the remaining time T. Alternatively, the processing unit 61 may determine the operation mode according to the remaining battery level B regardless of the remaining time T. Thus, any transport system that includes at least a power consumption priority mode as an operation mode for the automated guided vehicle 10 is acceptable. 【0062】 In the embodiment described above, the processing unit 61 is assumed to perform the update process. However, the control unit 40 may also perform the update process. In that case, the control unit 40 should perform the update process and then send the result of the update process to the management device 60. 【0063】 As described above, the transport system of this disclosure learns the required power amount for each area from the required power amount for each area stored in the memory unit based on the calculated power consumption. This makes it possible to more accurately estimate the required power amount for travel to the destination and determine an appropriate travel route for the automated guided vehicle. 【0064】 In the transport system of this disclosure, a direction acquisition unit is provided to acquire the direction of travel of the automated guided vehicle, the required power amount is stored in the storage unit for each area and each direction of travel, the search unit searches for a travel route including the direction of travel from the current position of the automated guided vehicle to the destination, the control unit estimates the total required power amount when traveling to the destination on each of the multiple travel routes based on the required power amount for each area and each direction of travel stored in the storage unit, and the learning unit calculates the amount of power consumed by the battery in each area during travel, and learns the required power amount for the corresponding area and corresponding direction of travel from the required power amount for each area and each direction of travel stored in the storage unit based on the calculated power consumption and the acquired direction of travel. In this way, even if the power consumption differs between the outward and return journeys due to gradients, etc., the total required power consumption can be accurately estimated. 【0065】 Furthermore, in the transport system of this disclosure, the operating modes include a first mode and a second mode in which the travel route with the shortest distance to the destination is determined as the execution route from among the plurality of travel routes, and the control unit may control the automated guided vehicle to transport the transported object by switching between the first mode and the second mode. In this way, an appropriate execution route can be selected depending on the situation. 【0066】 In the transport system of this disclosure, the control unit may select either the first mode or the second mode based on the remaining battery charge and control the automated guided vehicle to transport the object in the selected mode. This allows for the selection of an appropriate execution route according to the remaining battery charge. 【0067】 In a transport system according to the present disclosure, in which either a first mode or a second mode is selected based on the remaining battery charge, the control unit controls the automated guided vehicle (AGV) to transport a plurality of objects by a scheduled time, and when the remaining time until the scheduled time falls below a predetermined time, the control unit may select either the first mode or the second mode based on the remaining battery charge and control the AGV to transport the remaining objects in the selected mode. This allows the battery to perform at its full capacity and transport a plurality of objects more reliably. 【0068】 Alternatively, the control unit may acquire the remaining number of objects to be transported, select either the first mode or the second mode based on the remaining number of objects and the remaining battery charge, and control the automated guided vehicle to transport the remaining objects in the selected mode. By setting the number of objects that can be transported based on the remaining battery charge, the battery's capacity can be utilized to transport multiple objects more reliably. 【0069】 Furthermore, in the transport system of this disclosure, the automated guided vehicles (AGVs) are provided with a charging point where they can be charged, and the control unit controls the AGVs to transport a plurality of objects, and may switch between executing a first control, in which one of the AGVs transports an object while the other AGV is charged or on standby at the charging point, and a second control, in which the other AGV transports an object while the first AGV is charged or on standby at the charging point. In this way, by alternately switching between the AGV transporting an object and the AGV charging or on standby, objects can be transported at all times.Therefore, multiple objects can be transported without the AGVs interfering with each other, and control to avoid interference can be eliminated. 【0070】 In a transport system according to the present disclosure in which multiple automated guided vehicles (AGVs) are controlled, the operating modes include a first mode and a second mode in which the travel route with the shortest distance to the destination among the multiple travel routes is determined as the execution route. The control unit may select either the first mode or the second mode based on the remaining battery level of the controlled AGV that transports the object to be transported and the status of the other AGVs, and control the controlled AGV in the selected mode. In this way, even if the controlled AGV runs out of battery, if the other AGVs are in a state where they can transport the object to be transported, the object to be transported can be transported by the other AGVs. Therefore, even when the remaining battery level of the controlled AGV is low, the controlled AGV can be operated in the second mode, and the object to be transported can be transported in a short time. 【0071】 In this case, the control unit may, when transporting multiple objects by a scheduled time, and the remaining battery level of the controlled automated guided vehicle (AGV) falls below a predetermined level and the remaining time until the scheduled time falls below a predetermined time, select the first mode to control the controlled AGV if the other AGVs are charging, or select the second mode to control the controlled AGV if the other AGVs are in standby mode. In this way, if the other AGVs are in standby mode and switchable, the controlled AGV can be operated in the second mode when its battery level is low and the remaining time is short. On the other hand, if the other AGVs are charging and switchable, the controlled AGV can be operated in the first mode when its battery level is low and the remaining time is short. In this way, the controlled AGV can be controlled in an appropriate operating mode according to the status of the other AGVs. [Industrial applicability] 【0072】 This disclosure can be used in industries such as the manufacturing of automated guided vehicles and transport systems. [Explanation of symbols] 【0073】 1 Transport system, 10 Automated guided vehicle, 11 Body, 21 Wheels, 22 Drive motor, 30 Coupling section, 31 Lifting plate, 32 Coupling pin, 33 Coupling pin, 34 Coupling pin, 35 Lifting device, 36 Contact detection sensor, 37 Battery, 38 Battery level indicator, 40 Control unit, 41 Memory unit, 41a Map information, 41c Map information, 42 Communication unit, 51 Camera unit, 52 Sensor unit, 53 Sensor unit, 54 Light-emitting unit, 60 Management device, 61 Processing unit, 62 Memory unit, 62a Map information, 62b Required power information, 62c Destination information, 63 Communication unit, 64 Timing unit, 80 Charging point, 100 Cage trolley, 101 Loading platform, 110 Casters, Cage trolley storage area, M Marker, P, P1, P2, P3 points, S shelf.

Claims

[Claim 1] A transport system including an automated guided vehicle that transports objects using battery power, A storage unit that stores map data divided into multiple areas, and the amount of power required for driving in each area of ​​the map data, A search unit that searches for a travel route from the current location of the automated guided vehicle to its destination based on the aforementioned map data, When the search unit finds multiple travel routes, the control unit determines the execution route by an operating mode that includes at least a first mode, which estimates the total power required when traveling to the destination on each of the multiple travel routes based on the power required for each area stored in the memory unit, and determines the travel route with the smallest estimated total power required among the multiple travel routes as the execution route, and controls the automated guided vehicle to transport the object to be transported according to the determined execution route, A learning unit calculates the amount of power consumed by the battery in each area during driving, and learns the amount of power required for the corresponding area from the amount of power required for each area stored in the memory unit based on the calculated amount of power consumed. A transport system equipped with the following features. [Claim 2] A transport system according to claim 1, The system includes a direction acquisition unit that acquires the direction of travel of the aforementioned automated guided vehicle, The storage unit stores the required amount of power for each area and each direction of travel. The search unit searches for a travel route including the direction of travel from the current location of the automated guided vehicle to the destination. The control unit estimates the total amount of power required when traveling to the destination via each of the multiple travel routes, based on the amount of power required for each area and each travel direction stored in the memory unit. The learning unit calculates the amount of power consumed by the battery in each area during driving, and learns the amount of power required for each area and driving direction from the amount of power required for each area and driving direction stored in the memory unit, based on the calculated amount of power consumed and the acquired driving direction. Conveyor system. [Claim 3] A transport system according to claim 1 or 2, The aforementioned operating modes include a first mode and a second mode in which the driving route with the shortest distance to the destination among the plurality of driving routes is determined as the execution route. The control unit controls the automated guided vehicle to transport the object to be transported by switching between the first mode and the second mode. Conveyor system. [Claim 4] A transport system according to claim 3, The control unit selects either the first mode or the second mode based on the remaining battery charge, and controls the automated guided vehicle to transport the object in the selected mode. Conveyor system. [Claim 5] A transport system according to claim 4, The control unit controls the automated guided vehicle to transport multiple objects by a scheduled time, and when the remaining time until the scheduled time falls below a predetermined time, it selects either the first mode or the second mode based on the remaining battery level, and controls the automated guided vehicle to transport the remaining objects in the selected mode. Conveyor system. [Claim 6] A transport system according to claim 4, The control unit obtains the remaining number of objects to be transported, selects either the first mode or the second mode based on the remaining number of objects to be transported and the remaining battery level, and controls the automated guided vehicle to transport the remaining objects in the selected mode. Conveyor system. [Claim 7] A transport system according to claim 1 or 2, The aforementioned automated guided vehicle is equipped with a charging point capable of charging, The control unit controls multiple automated guided vehicles (AGVs) to transport multiple objects, and switches between executing a first control, in which one of the AGVs transports an object while the other AGV is charged or on standby at the charging point, and a second control, in which the other AGV transports an object while the first AGV is charged or on standby at the charging point. Conveyor system. [Claim 8] A transport system according to claim 7, The aforementioned operating modes include a first mode and a second mode in which the driving route with the shortest distance to the destination among the plurality of driving routes is determined as the execution route. The control unit selects either the first mode or the second mode based on the remaining battery level of the controlled automated guided vehicle that transports the object to be transported and the status of the other automated guided vehicles, and controls the controlled automated guided vehicle in the selected mode. Conveyor system. [Claim 9] A transport system according to claim 8, The control unit transports multiple objects to be transported by a scheduled time, and when the remaining battery level of the controlled automated guided vehicle (AGV) falls below a predetermined level and the remaining time until the scheduled time falls below a predetermined time, if the status of the other AGVs is charging, it selects the first mode to control the controlled AGV, and if the status of the other AGVs is standby, it selects the second mode to control the controlled AGV. Conveyor system.

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