Operation management system

Abstract

To provide an operation management system capable of efficiently carrying a plurality of articles to one destination in predetermined order by a plurality of moving bodies even under the circumstances that overtaking is restricted.SOLUTION: A system comprises a computer 10 configured to: acquire position information on a plurality of moving bodies carrying articles; set target routes of the respective moving bodies based upon the position information on the respective moving bodies, destinations, and map data; and transmit the target routes corresponding to the respective moving bodies. When specific carrying processing is executed to cause two or more moving bodies differing in carry-out locations of articles to carry the articles, and then carry the articles in predetermined order to a specific destination as one destination which can be reached through the plurality of routes, the computer 10 sets a target route of a specific moving body 90 as a moving body carrying an article to the specific destination G so that the specific moving body 90 takes a target route corresponding to the predetermined order as it approaches the specific destination G.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an operation management system for managing the operation of a mobile body that transports articles.

Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2021-71891 discloses a travel control device that controls the travel of a mobile body and avoids competition between mobile bodies. This travel control device determines the passing order of mobile bodies in a first area through which a plurality of mobile bodies pass, and controls the travel of the mobile bodies based on the passing order.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When there are a plurality of mobile bodies that transport articles and it is desired to carry the articles into a specific destination in a predetermined order, it is necessary to consider not only avoiding collisions between the mobile bodies but also the arrival order of the mobile bodies. From this perspective, there is room for improvement in the above-described travel control device. When one mobile body transports one article in order to achieve a predetermined order, the calculation of the target route is easy, but it takes a long time until all the articles are carried in. In addition, in the transport path, there are cases where overtaking of the mobile body is prohibited or impossible due to safety transport considerations or a small passage width, and it is necessary to consider operational restrictions when managing the operation.

[0005] An object of the present invention is to provide an operation management system that can efficiently carry a plurality of articles to one destination in a predetermined order by a plurality of mobile bodies even in a situation where overtaking is restricted.

Means for Solving the Problems

[0006] The operation management system of the present invention includes a computer that acquires location information of a plurality of mobile bodies that transport goods, sets a target route for each mobile body based on the location information, destination, and map data of each mobile body, and transmits the target route corresponding to each mobile body. When the computer performs a specific transport process in which it transports goods to two or more mobile bodies that have different locations for the goods, and transports the goods to a specific destination which is one destination reachable by multiple routes in a predetermined order, the computer sets the target route for the specific mobile body such that as the specific mobile body that transports goods to the specific destination approaches the specific destination, the route becomes the target route corresponding to the predetermined order. [Effects of the Invention]

[0007] According to the present invention, at locations far from a specific destination, each specific mobile unit efficiently transports goods (for example, to reach the specific destination via the shortest distance), regardless of a predetermined order. On the other hand, when a specific mobile unit approaches the specific destination, its operation is controlled by a target route according to a predetermined order. In other words, each specific mobile unit can travel the shortest route toward the specific destination at the start of transport, and then travels along a target route according to a predetermined order near the specific destination. As a result, even in situations where overtaking is restricted (prohibited or impossible), multiple mobile units can efficiently transport multiple goods to a single destination in a predetermined order. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram illustrating the configuration of the operation management system of this embodiment. [Figure 2] This is a conceptual diagram of the map data of this embodiment. [Figure 3] This is a conceptual diagram illustrating the specific transport process of this embodiment. [Figure 4] This flowchart shows an example of a specific transport process according to this embodiment. [Figure 5] This is a conceptual diagram illustrating the specific transport process of this embodiment. [Modes for carrying out the invention]

[0009] Hereinafter, an operational management system 1, which is one embodiment of the present invention, will be described in detail with reference to the figures. In addition to the embodiments described below, the present invention can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art.

[0010] The operation management system 1 of this embodiment includes a computer 10 that acquires location information of multiple mobile bodies transporting goods, sets a target route for each mobile body based on the location information, destination, and map data of each mobile body, and transmits the target route corresponding to each mobile body. As shown in Figure 1, the computer 10 includes one or more processors 11 and one or more memories 12. The processors 11 execute various processes according to the programs stored in the memory 12. The memory 12 is a storage device located inside and / or outside the computer 10. The computer 10 can also be said to include an electronic control unit (ECU). The operation management system 1 includes a wireless communication device for communicating with each mobile body. The memory 12 stores map data and information on multiple pre-registered mobile bodies, etc.

[0011] The mobile unit is a mobility device capable of performing loading and unloading operations. In this embodiment, the mobile unit is an automated guided vehicle (AGV) 9. The AGV 9 generally takes the form of a forklift. The AGV 9 comprises a base unit 91 having drive wheels and steering wheels (not shown), a liftable fork unit 92 for loading and unloading installed on the base unit 91, a control terminal 93, an antenna 94, a surrounding monitoring device 95, and a receiver 96. The base unit 91 is equipped with a battery (not shown), an electric motor (not shown), and the control terminal 93. The base unit 91 moves forward, backward, left, and right by automatic driving control (or autonomous driving control) of the control terminal 93. All AGVs 9 managed by the operation management system 1 travel under the same travel speed conditions. That is, each AGV 9 travels at the same straight-line speed and turning speed set to the same value for each other.

[0012] The fork section 92 is operated under the control of the control terminal 93. The item is placed on the fork section 92 and transported. For example, the fork section 92 is inserted below the item when lowered downwards, and then lifts the item by rising upwards. The control terminal 93 is composed of a computer. The control terminal 93 controls the base section 91 and the fork section 92 based on the target route and detection results from the surrounding monitoring device 95 received from the computer 10.

[0013] Antenna 94 is for communication with computer 10. Peripheral monitoring device 95 is a device that monitors the area around the automated guided vehicle 9 so that the automated guided vehicle 9 can travel automatically. Peripheral monitoring device 95 is composed of, for example, a camera and LiDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging). If the peripheral monitoring device 95 detects an obstacle on the target route, the control terminal 93 will cause the automated guided vehicle 9 to avoid or stop.

[0014] The receiver 96 is a device for acquiring location information of the autonomous mobile unit (unmanned transport vehicle 9). For example, in the case of transport operations within a warehouse, the receiver 96 receives signals from beacons installed on the ceiling at the four corners of the warehouse. The receiver 96 may also be a GNSS (Global Navigation Satellite System) receiver. The control terminal 93 transmits the location information acquired by the receiver 96 to the computer 10. The computer 10 plans the transport operations of each unmanned transport vehicle 9, namely the execution location and execution time for loading (pickup), transport, and loading.

[0015] The computer 10 is configured to perform a specific transport process. The specific transport process involves transporting goods to two or more automated guided vehicles 9, each with a different origin for the goods, and delivering the goods in a predetermined order to a specific destination, which is a single destination reachable via multiple routes.

[0016] Hereinafter, an automated guided vehicle 9 that transports goods to a specific destination will be referred to as a "specific mobile unit" 90. When the computer 10 performs a specific transport process, it sets the target route of the specific mobile unit 90 so that as the specific mobile unit 90 approaches the specific destination, the route corresponds to a predetermined order. The computer 10 (memory 12) has a predetermined order stored in advance. The computer 10 may set a target route for each specific mobile unit 90 in advance, taking the predetermined order into consideration. Alternatively, the computer 10 may send a change command to a specific mobile unit 90 that has approached within a predetermined distance from the specific destination, to change its current target route to a target route that corresponds to the arrival order in the predetermined order.

[0017] As shown in FIG. 2, in the map data, the entire conveyance route is partitioned into a plurality of passageways (refer to the dashed lines in FIG. 2). In other words, the map data is configured to include a plurality of passageways partitioned according to a predetermined rule or user settings. One passageway may be, for example, a road connecting two intersections, one of the straight roads partitioned at predetermined intervals, or a road connecting two work points. Also, the map data may be composed of a plurality of passageways (virtual passageways) set at a plurality of nodes. The portions other than the passageways in FIG. 2 can be said to be the areas for loading and unloading articles.

[0018] As with the numerical values described on the passageways in FIG. 2, a distance cost is set for each passageway in the map data as a value related to the travel distance. The longer the travel distance on a passageway, the greater the distance cost. The distance cost is also related to the travel time, and the greater the travel time when the moving body travels at a constant speed, the greater it becomes. Usually (for example, other than when executing the specific conveyance process described later), the set distance cost is a common value for each moving body. The computer 10 sets the target route of each moving body based on a predetermined operation rule so that, for example, the total distance cost from the current location (departure location) to the destination is minimized.

[0019] Hereinafter, a passageway that is within a predetermined range from a specific destination and through which a specific moving body 90 is scheduled to pass is referred to as a "target passageway". The predetermined range is set, for example, by the travel distance from the specific destination G or the number of passageways continuously connected from the specific destination G. For example, when the number of passageways within the predetermined range is set to 3, as shown in FIG. 3, the passageway 81 becomes a passageway within the predetermined range. The computer 10 sets, as the target passageway, one or more passageways through which the specific moving body 90 is scheduled to travel among these plurality of passageways 81. The computer 10 may set one passageway as the target passageway from a plurality of target passageway candidates (passageways within the predetermined range and through which travel is scheduled) based on a predetermined setting rule. The predetermined setting rule is set, for example, for "a passageway not in contact with the specific destination G", "the passageway with the largest distance cost", and / or "a passageway through which a plurality of specific moving bodies 90 are scheduled to pass".

[0020] When the computer 10 executes the specific conveyance process, it changes the distance cost of the target passage 8 for at least one specific moving body 90 so that the arrival order of the specific moving body 90 at the specific destination G matches the predetermined order regardless of the travel distance. It can also be said that the computer 10 sets the distance cost of the target passage 8 for each specific moving body 90 regardless of the travel distance so that the arrival order matches the predetermined order.

[0021] Based on the current target route and the map data, the computer 10 sets the passage near the specific destination G where the specific moving body 90 is scheduled to pass as the target passage 8. The computer 10 corrects the distance cost of the target passage 8 from a preset value to a value considering the predetermined order so that the arrival order becomes the predetermined order. The corrected distance cost becomes a virtual value that has nothing to do with the actual distance.

[0022] When there is a common passage 80, which is a passage where a plurality of specific moving bodies 90 are scheduled to pass, among the passages 81 within a predetermined range from the specific destination G, the computer 10 sets at least one common passage 80 as the target passage 8. The computer 10 sets the distance cost of the target passage 8 for the corresponding specific moving body 90 so that the distance cost of the target passage 8 becomes larger for the specific moving body 90 with a later arrival order corresponding to the predetermined order. The distance costs of the target passages 8, which are the common passages 80, are set to be different from each other for each specific moving body 90 according to the predetermined order. For the target passage 8, which is the common passage 80, the later the target arrival order of the specific moving body 90, the larger the distance cost.

[0023] In the example shown in FIG. 3, in the specific conveyance process, the specific moving body 90A is conveying the article 71, and the specific moving body 90B is conveying the article 72. The predetermined order is set such that the article 71 comes first and the article 72 is carried in after the article 71. That is, according to the predetermined order, the specific moving body 90A must arrive at the specific destination G first, and the specific moving body 90B must arrive at the specific destination G later.

[0024] Computer 10 selects a target passage 8 from among the passages 81 within a predetermined range from a specific destination, based on the target routes of specific mobile bodies 90A and 90B calculated using the shortest route. The shortest route is the route in which the sum of the distance costs of the passages constituting the target route is minimized. In this example, the target passage 8 is set as the passage with the highest distance cost among the common passages 80 that both specific mobile bodies 90A and 90B are scheduled to travel through, and which does not touch the specific destination G. Computer 10 makes the distance cost of the target passage 8 for specific mobile body 90B greater than the distance cost of the target passage 8 for specific mobile body 90A.

[0025] Computer 10 recalculates the shortest route for the specific mobile object 90B by correcting the distance cost. Computer 10 increases the distance cost of the target path 8 for the specific mobile object 90B until the calculated arrival order based on each target route matches a predetermined order. For example, if the distance cost of the target path 8 set in the map data is "5", the distance cost of the target path 8 for the specific mobile object 90A is also "5", but the distance cost of the target path 8 for the specific mobile object 90B is calculated and corrected to "60" (units can be set arbitrarily). As a result of the increased distance cost of the target path 8 for the specific mobile object 90B, as shown in Figure 3, the target route for the specific mobile object 90B becomes a detour route different from the actual shortest route, resulting in a later arrival, and thus the arrival order to the specific destination matches a predetermined order.

[0026] To illustrate an example of the flow of the specific transport process, as shown in Figure 4, the computer 10 determines whether there are multiple mobile bodies (specific mobile bodies 90) that are transporting goods to the same destination, based on the acquired or inputted information of each mobile body's current location, destination, goods to be transported, and predetermined order (S1). If there are multiple specific mobile bodies 90 (S1: Yes), the computer 10 sets the target arrival order of the specific mobile bodies 90 to the specific destination based on the goods being transported by each specific mobile body 90 and the predetermined order (S2).

[0027] The computer 10 determines the paths to be used for calculating distance costs for each specific mobile body 90 based on the target route (S3). If distance costs are set for all paths as in this embodiment, all paths constituting the target route are subject to calculation. The computer 10 determines whether or not a common path 80 exists among the paths 81 within a predetermined range from a specific destination (S4). If a common path 80 exists (S4: Yes), the computer 10 sets a target path 8 from the common path 80 and adds a predetermined value to the distance cost of the target path 8 of the specific mobile body 90 (90B) that is later in the predetermined order (S5). As a result, the distance cost of the target path 8 of the specific mobile body 90 (90B) that is later in the predetermined order becomes greater than the distance cost of the target path 8 of the specific mobile body 90 (90A) that is earlier.

[0028] Computer 10 sets (modifies) the target route for each specific mobile body 90 as necessary so that the total distance cost of the route configuration paths is minimized, that is, so that it arrives at the specific destination G by the shortest distance or in the shortest time (S6). Computer 10 calculates the arrival order based on the set target routes and determines whether the arrival order matches a predetermined order (S7). In the example in Figure 3, computer 10 determines whether the scheduled arrival time of specific mobile body 90A is earlier than the scheduled arrival time of specific mobile body 90B (S7). If the arrival order matches a predetermined order (S7: Yes), computer 10 finishes calculating the target route in the specific transport process.

[0029] If the arrival order does not match the predetermined order (S7: No), the computer 10 again adds a predetermined value to the distance cost of the target passage 8 for the specific mobile body 90 that is later in the predetermined order (S5). The computer 10 repeats this process until the arrival order matches the predetermined order. The computer 10 causes the specific mobile body 90 that is relatively later in the predetermined order to detour instead of using the target passage 8, and modifies the distance cost so that the predetermined order is observed. If the predetermined order is not observed even with the detour route, the computer 10 also modifies the distance cost of other passages for the specific mobile body 90 that is later in the predetermined order.

[0030] If there are no specific mobile units 90 (S1: No), the computer 10 does not perform specific transport processing and, as in step S6, sets a target route for each mobile unit so that the total distance cost is minimized (S8). Also, if there is no common passage 80 (S4: No), the computer 10 sets (modifies) the target route for each specific mobile unit 90 as necessary so that the total distance cost of the route configuration passages is minimized (S6). If the arrival order based on the set target routes does not match a predetermined order (S7: No), the computer 10 increases the distance cost of the selected passage (i.e., the target passage) near the specific destination G that the specific mobile unit 90 with the later position in the predetermined order is scheduled to travel. This changes the total distance cost of the shortest route. The computer 10 adds a predetermined value to the distance cost of the target passage that is not a common passage until another target route conforming to the predetermined order is set (S5). These processes can be applied even if there are three or more specific mobile units 90, just as they can when there are two specific mobile units 90.

[0031] For example, as shown in Figure 5, if a specific mobile object 90C transporting the item 73 with the latest order in a predetermined sequence is located in the lower right position of the map data, then in the current target route, there are no common paths between itself and the other specific mobile objects 90A and 90B. In this case, the computer 10 may set a non-common path as the target path (pathway 82 in the figure), increase the distance cost of the target path 82 for the specific mobile object 90C, and prevent the specific mobile object 90C from passing through path 82, thereby ensuring compliance with the predetermined order.

[0032] The computer 10 may set the target route before each specific mobile unit 90 starts its transport operation, or it may be done while at least one specific mobile unit 90 has started its transport operation. The computer 10 can periodically set (correct) the target route for each specific mobile unit 90 in accordance with the movement of the specific mobile units 90.

[0033] According to this embodiment, at locations far from a specific destination G, each specific mobile unit 90 efficiently transports goods (for example, to arrive at the specific destination G in the shortest distance or shortest time), regardless of the predetermined order. On the other hand, when a specific mobile unit approaches the specific destination G, its operation is controlled according to a target route in accordance with the predetermined order. In this way, each specific mobile unit can travel the shortest route toward the specific destination at the start of transport, and travels along a target route in accordance with the predetermined order near the specific destination. As a result, even in situations where overtaking is restricted (prohibited or impossible), multiple mobile units can efficiently transport multiple goods to a single destination in a predetermined order.

[0034] (others) The present invention is not limited to the above embodiments. For example, instead of rerouting a specific mobile body 90 that is later in a predetermined sequence, the computer 10 may temporarily stop it at a point where it does not interfere with the movement of other mobile bodies. In other words, when the computer 10 performs a specific transport process, it may set the target route for each specific mobile body 90 so that the order in which the specific mobile bodies 90 arrive at a specific destination G matches a predetermined sequence, and that the specific mobile bodies that are earlier in the predetermined sequence travel through the target passage 8 with priority. When the computer 10 reroutes a mobile body 90 from the target passage 8, it changes the distance cost, and when setting priority for passage through the target passage 8, it sends a stop command or deceleration command to the specific mobile body 90 with lower priority before it passes through the target passage 8. Alternatively, the computer 10 may delay the arrival of the target specific mobile body 90 at the target passage 8 by having it travel a different route. Thus, in situations where there is a stopping position or where deceleration is possible, the computer 10 may perform a stop process or deceleration process for the target specific mobile body 90 in lieu of or in addition to a rerouting process (changing the distance cost).

[0035] For example, in the example in Figure 3, the computer 10 may stop the specific mobile object 90B in the current passage (a passage that is not an intersection before entering the target passage 8), and then move the specific mobile object 90B toward the target passage 8 after the specific mobile object 90A has passed through the target passage 8. Alternatively, for example, in the example in Figure 5, the computer 10 may stop the specific mobile object 90C in passage 82, and then move the specific mobile object 90C after the specific mobile objects 90A and 90B have arrived at the specific destination G.

[0036] Furthermore, the goods (cargo) transported by the specified mobile unit 90 are not limited to containers or cardboard boxes, for example, but may also be vehicles (automobiles, etc.). The specified mobile unit 90 may also be, for example, an unmanned towing vehicle (also called a towing-type unmanned transport vehicle or an autonomous towing vehicle). The need to transport goods in a predetermined order can arise for any goods. In addition, the functions of the computer 10 may be realized by multiple computers. In other words, the operation management system 1 may be composed of multiple computers. [Explanation of symbols]

[0037] 1... Operation management system, 10... Computer, 8... Target aisle, 9... Automated guided vehicle (mobile object), 90... Specific mobile object.

Claims

1. An operation management system comprising a computer that acquires location information of multiple mobile bodies transporting goods, sets a target route for each mobile body based on the location information, destination, and map data of each mobile body, and transmits the target route corresponding to each mobile body, In the aforementioned map data, multiple pathways are demarcated, Each of the aforementioned passages is assigned a distance cost as a value related to the distance traveled. The computer is configured to set the target route such that the total distance cost from the current location to the destination is minimized. The aforementioned computer, When performing a specific transport process in which goods are transported to two or more of the aforementioned mobile bodies, each with a different departure point for the goods, and the goods are delivered in a predetermined order to a specific destination, which is a single destination reachable by multiple routes, If the passage is located within a predetermined range from the specified destination and is the passage through which the specified mobile body, which is the mobile body that transports goods to the specified destination, is scheduled to travel, then the passage is designated as the target passage. The distance cost of the target passage for at least one of the specified mobile bodies is changed, regardless of the distance traveled, so that the order in which the specified mobile bodies arrive at the specified destination matches the predetermined order. Operation management system.

2. The aforementioned computer, If there is a common passage within a predetermined range from the specified destination that is the passage through which multiple specified moving objects are scheduled to travel, At least one of the common passages is set as the target passage, The distance cost of the target passage for a corresponding specific moving object is set such that the later the arrival order of the specific moving object corresponding to the predetermined order, the greater the distance cost of the target passage. The operation management system according to claim 1.

3. An operation management system comprising a computer that acquires location information of multiple mobile bodies transporting goods, sets a target route for each mobile body based on the location information, destination, and map data of each mobile body, and transmits the target route corresponding to each mobile body, In the aforementioned map data, multiple pathways are demarcated, The aforementioned computer, When performing a specific transport process in which goods are transported to two or more of the aforementioned mobile bodies, each with a different departure point for the goods, and the goods are delivered in a predetermined order to a specific destination, which is a single destination reachable by multiple routes, The target route for each specified mobile is set such that the order in which the specified mobile bodies that transport goods to the specified destination arrive at the specified destination matches the predetermined order, and that the target passages, which are passages within a predetermined range from the specified destination and which the specified mobile bodies are scheduled to travel through, are given priority to travel through in order of their position in the predetermined order. Operation management system.

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