Logistics simulation system

Abstract

To provide a physical distribution simulation system capable of performing simulation under an environment close to an actual operation.SOLUTION: A physical distribution simulation system 1 is a system which allows a testee H to work and move in a virtual space R while allowing an un-manned carrier 12 to travel in the virtual space R of a physical distribution facility 100. The physical distribution simulation system 1 includes: a computer 50 for at least controlling the virtual space R; a head mount display 60 for outputting the virtual space R; and an input device 70 for receiving an input from the testee H. The computer 50 controls the travel of the un-manned carrier 12 in the virtual space R on the basis of the input of the input device 70.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a logistics simulation system.

Background Art

[0002] As a technology related to a logistics simulation system, Patent Document 1 discloses a technology for simulating operations such as warehousing, shipping, or replenishment using designed warehouse facilities and work flow lines based on work positions (such as shelf addresses) provided by a host controller.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a logistics simulation system as described above, for example, it is desirable to be able to perform a simulation in an environment close to actual operation in order to reliably discover and counter unexpected events during advance planning.

[0005] Therefore, an object of the present invention is to provide a logistics simulation system capable of performing a simulation in an environment close to actual operation.

Means for Solving the Problems

[0006] The logistics simulation system according to the present invention is a logistics simulation system in which an unmanned carrier is caused to travel in a virtual space while an experiencer can work and move in the virtual space, and includes a controller that at least controls the virtual space, an output unit that outputs the virtual space, and an input unit that receives an input from the experiencer. The controller controls the travel of the unmanned carrier in the virtual space based on the input of the input unit.

[0007] This logistics simulation system allows users to experience firsthand how user input affects the operation of automated guided vehicles (AGVs). This enables simulations to be conducted in an environment close to actual operation. As a result, the simulation results can be effectively used, for example, to examine the capacity aspects of logistics facilities.

[0008] In the logistics simulation system according to the present invention, the input unit receives input to cause a user to work in a virtual space, and the controller causes the user to work in the virtual space in response to the input from the input unit, and may also perform at least one of decelerating or stopping the automated guided vehicle (AGV) in the virtual space if the user interferes with the AGV in the virtual space. In this case, it is possible to simulate, through experience, how much the user's work affects the movement of the AGV.

[0009] In the logistics simulation system according to the present invention, the input unit receives input regarding the evaluation of an automated guided vehicle (AGV) in a virtual space, and the controller may change the driving state of the AGV in the virtual space according to the input unit. In this case, the driving state of the AGV according to the evaluation of the user can be determined by simulation in an environment close to actual operation.

[0010] The logistics simulation system according to the present invention may include a virtual space generation unit that generates a virtual space. In the logistics simulation system according to the present invention, the controller may generate a driving area in the virtual space where an automated guided vehicle (AGV) can travel. By displaying the driving area in the virtual space, the user can easily determine the area in which they can move within the virtual space.

[0011] In the logistics simulation system according to the present invention, the controller may output at least one of the driving speed and transport capacity of the automated guided vehicle (AGV) in the virtual space via an output unit. In this case, it becomes possible for the user to easily recognize the driving speed and transport capacity of the AGV as they experience it.

[0012] In the logistics simulation system according to the present invention, the output unit may include a display unit that displays a visual field image of the user within the virtual space. In this case, simulation in an environment close to actual operation becomes possible through the user's visual experience.

[0013] In the logistics simulation system according to the present invention, the controller may display the travel speed of the automated guided vehicle (AGV) superimposed on the AGV on the display unit. In this case, the user can easily visually recognize the travel speed of the AGV as they experience it.

[0014] In the logistics simulation system according to the present invention, the control unit may display the detection range of the interference detection sensor of the automated guided vehicle (AGV) around the AGV on the display unit. In this case, the user can easily visually recognize the area that interferes with the AGV in the virtual space.

[0015] In the logistics simulation system according to the present invention, the controller may generate a driving area in a virtual space where an automated guided vehicle (AGV) can travel, and the display unit may overlay the driving layout and direction of the driving area. In this case, the user can easily visually recognize the location and direction in which the AGV travels within the virtual space.

[0016] In the logistics simulation system according to the present invention, the controller may switch the display of the travel layout and travel direction on the display unit to the display of a code provided on the floor surface in accordance with the input of the input unit. In actual sites, codes (such as two-dimensional codes) are provided on the floor surface, so an environment close to actual operation can be reproduced.

[0017] In the logistics simulation system according to the present invention, the display unit may be a head-mounted display or a projector. In this case, it is possible to display the viewer's field of view image in the virtual space using the head-mounted display or projector.

[0018] In the logistics simulation system according to the present invention, the controller may display information regarding the position and orientation of the participant in the virtual space on its display unit. In this case, it becomes easier for the participant to recognize their own position and orientation in the virtual space.

[0019] The logistics simulation system according to the present invention may include a log output unit that outputs at least a log regarding the transport capacity of an automated guided vehicle (AGV) in a virtual space. In this case, the impact on transport capacity caused by the participant can be recognized through the log.

[0020] In the logistics simulation system according to the present invention, the output unit includes a warning sound output unit that outputs a warning sound, and the controller may output different warning sounds from the warning sound output unit depending on the speed of the automated guided vehicle (AGV) when the AGV and the participant approach each other in the virtual space. In this case, the participant can perceive the approach of the AGV and the degree of danger in the virtual space through their hearing.

[0021] The logistics simulation system according to the present invention is a logistics simulation system in which at least a first experiencer and a second experiencer can work and move in a virtual space. The input unit includes a first input unit that receives an input for causing the first experiencer to work in the virtual space, and a second input unit that receives an input for causing the second experiencer to work in the virtual space. The controller causes the first experiencer to work in the virtual space according to the input of the first input unit, and when the first experiencer in the virtual space interferes with the automated guided vehicle, at least one of deceleration and stop of the automated guided vehicle in the virtual space is executed. The controller causes the second experiencer to work in the virtual space according to the input of the second input unit, and when the second experiencer in the virtual space interferes with the automated guided vehicle, at least one of deceleration and stop of the automated guided vehicle in the virtual space may be executed. In this case, simulation in an environment closer to actual operation becomes possible.

Effect of the Invention

[0022] According to the present invention, it is possible to provide a logistics simulation system capable of simulation in an environment close to actual operation.

Brief Description of the Drawings

[0023] <� [Figure 1] FIG. 1(a) is a block diagram showing a schematic configuration of a logistics simulation system according to an embodiment. FIG. 1(b) is a schematic diagram showing an example of use of a logistics simulation system according to an embodiment. [Figure 2] FIG. 2 is a schematic plan view showing a part of a logistics facility to be simulated. [Figure 3] FIG. 3 is a diagram showing an example of display of a virtual space. [Figure 4] FIG. 4 is a diagram showing an example of display of the position and direction of an experiencer in a virtual space. [Figure 5] FIG. 5(a) is a plan view showing the detection range of an interference detection sensor. FIG. 5(b) is a diagram showing an example of display of the detection range of an interference detection sensor in a virtual space. [Figure 6]Figure 6 shows an example of displaying the travel speed of an automated guided vehicle (AGV) in a virtual space. [Figure 7] Figure 7 shows an example of displaying the driving layout and direction of travel in a virtual space. [Figure 8] Figure 8 shows an example of a two-dimensional code being displayed on the floor surface in a virtual space. [Figure 9] Figure 9 shows an example of a log regarding the transport capacity of an automated guided vehicle (AGV) in a virtual space. [Modes for carrying out the invention]

[0024] An embodiment will be described below with reference to the drawings. In the description of the drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant descriptions are omitted.

[0025] As shown in Figures 1(a), 1(b), and 2, the logistics simulation system 1 is a simulation system for a logistics facility 100 that utilizes VR (Virtual Reality) technology. For example, the logistics simulation system 1 can be used to examine the capabilities of automated guided vehicles (AGVs) 2 that operate within the logistics facility 100. As shown in Figures 2 and 3, the logistics simulation system 1 is a simulation system in which an AGV 12, which is a virtual object corresponding to the AGV 2, operates within the virtual space R of the logistics facility 100, while a participant H (see Figure 1(b)), such as a worker, can perform tasks and move around within the virtual space R.

[0026] As shown in Figure 2, the logistics facility 100 that is the subject of the simulation in this embodiment is an automated warehouse and comprises an automated guided vehicle (AGV) 2, a travel path 3 on which the AGV 2 travels, a worker's passageway 4 on which the AGV 2 travels, walls 5 that divide the facility, a conveyor 6 for transporting goods, a fixed station 7 on which goods are placed, and a processing device 8 for performing various processing. The AGV 2 is a transport trolley that travels autonomously on the floor surface 9 and transports goods from the source to the destination. An AGV (Automatic Guided Vehicle) is used as the AGV 2.

[0027] The automated guided vehicle (AGV) 2 travels along the travel path 3. The AGV 2 has a lifter that is provided to be able to move up and down and to transfer items. The AGV 2 is not particularly limited to AGVs, and may be, for example, an overhead vehicle or a tracked trolley. The AGV 2 is equipped with an interference detection sensor for detecting interference with objects such as people. The interference detection sensor has a first to third detection range as the detection range in which such interference can be detected. The first detection range is the area that extends in the vicinity around the AGV 2, the second detection range is the area that extends outside the first detection range (away from the AGV 2), and the third detection range is the area that extends outside the second detection range. If the AGV 2 detects an object within the first detection range using the sensor, it will make an emergency stop. If the AGV 2 detects an object within the second detection range using the sensor, it will decelerate and then stop. The automated guided vehicle 2 slows down when it detects an object within the third detection range using its sensors.

[0028] The travel path 3 is the route of the automated guided vehicle 2 set on the floor surface 9. The travel path 3 may consist of, for example, a two-dimensional code, magnetic tape (magnetic marker), laser reflector, floor track, ceiling track, or rail. The size, shape, and weight of the items are not particularly limited, and any object can be used as an item.

[0029] As shown in Figures 1(a) and 1(b), the logistics simulation system 1 comprises a computer 50, a head-mounted display 60, and an input device 70. The computer 50 may consist of a personal computer having a ROM (Read Only Memory) for storing programs, a RAM (Random Access Memory) for temporarily storing data, a storage medium such as an HDD (Hard Disk Drive), a CPU (Central Processing Unit), and communication circuits such as a wireless LAN.

[0030] Computer 50 includes software, for example, a program stored in ROM that is loaded onto RAM and executed by the CPU. Computer 50 may also be configured as hardware, such as electronic circuits. Computer 50 may consist of one device or multiple devices. If it consists of multiple devices, these are connected via a communication network such as the Internet or an intranet to logically construct a single computer 50. Computer 50 has a monitor capable of displaying various types of information.

[0031] Computer 50 generates a virtual space R of the logistics facility 100. The method for generating the virtual space R is not particularly limited, and various known methods can be used. For example, computer 50 may generate the virtual space R based on images of the logistics facility 100 taken by a 360° camera. Alternatively, computer 50 may generate the virtual space R based on 3D CAD data of the logistics facility 100. The virtual space R includes various virtual objects corresponding to the structures and equipment of the logistics facility 100. Computer 50 projects the participant H into the virtual space R. Computer 50 controls the virtual space R.

[0032] The head-mounted display 60 is a wearable device that is attached to the head of the user H so as to cover the user H's eyes. The head-mounted display 60 outputs a virtual space R to the user H wearing it. Specifically, the head-mounted display 60 receives information about the virtual space R from the computer 50 and displays the user H's field of view image within the virtual space R (i.e., the situation obtained through the user H's actual vision of their avatar in the virtual space R). The head-mounted display 60 outputs a warning sound. The head-mounted display 60 is not particularly limited, and various types of head-mounted displays may be used. The head-mounted display 60 may be either a goggle type or a glasses type.

[0033] The head-mounted display 60 here employs an inside-out method, and acquires user information (for example, information on user H's posture, position, movement, gestures, voice, biometric data, gaze, and orientation) based on the detection results of various sensors mounted on the head-mounted display 60 itself. In other words, the head-mounted display 60 has the function of receiving various inputs (user information) from the user H wearing it. The head-mounted display 60 outputs the received inputs to the computer 50.

[0034] The input device 70 is a terminal that receives various inputs from the participant H. The input device 70 is, for example, a device held by the participant H. The input device 70 outputs the received input to the computer 50. The input device 70 is not particularly limited, and various types of devices may be used.

[0035] When using such a logistics simulation system 1, participant H, for example, puts on a head-mounted display 60 and grasps an input device 70 in a designated indoor area 80, and starts the simulation. A computer 50 generates a virtual space R, participant H is projected into the virtual space R, and participant H's field of view image in the virtual space R is displayed on the head-mounted display 60. As a result, participant H becomes immersed in the virtual space R and experiences the logistics facility 100 in the virtual space R.

[0036] In this embodiment, the computer 50 controls the movement of the automated guided vehicle 12 within the virtual space R based on various inputs received by at least one of the head-mounted display 60 and the input device 70. This will be explained in detail below.

[0037] The head-mounted display 60 and input device 70 can receive work inputs (hereinafter also simply referred to as "work inputs") from the user H, which will perform tasks in the virtual space R. The tasks performed here are in line with actual operations carried out at the logistics facility 100. Tasks in line with actual operations include walking along the worker's passageway 4 beside the travel route 3, with or without a handcart. Tasks in line with actual operations include traversing the travel route 3 along the worker's passageway 4, with or without a handcart. Tasks in line with actual operations include, for example, taking actions related to loading products into the processing device 8 around the travel route 3.

[0038] The computer 50 has participant H perform a task in the virtual space R in response to the received task input. The computer 50 determines whether participant H, who is performing the task in the virtual space R, interferes with the automated guided vehicle 12. If the computer 50 determines that participant H interferes with the automated guided vehicle 12 in the virtual space R, it performs at least one of the following actions: decelerate the automated guided vehicle 12 in the virtual space R or stop it.

[0039] As an example, when participant H, wearing a head-mounted display 60 and holding an input device 70, takes actions simulating actual work in an indoor area 80, work input is received by at least one of the head-mounted display 60 and the input device 70, and in response, participant H performs the work in the virtual space R in accordance with the actual work. At this time, the computer 50 determines whether participant H, who is performing the work, is within the first to third detection ranges 21 to 23 (see Figure 5(b)) of the moving automated guided vehicle 12 in the virtual space R.

[0040] If the computer 50 determines that there is a very high probability of interference between the participant H and the automated guided vehicle (AGV) 12 when the participant H's position is within the first detection range 21 of the AGV 12 in the virtual space R, it will make an emergency stop of the AGV 12. If the computer 50 determines that there is a high probability of interference between the participant H and the AGV 12 when the participant H's position is within the second detection range 22 of the virtual space R, it will slow down the AGV 12 and then stop it. If the computer 50 determines that there is a possibility of interference between the participant H and the AGV 12 when the participant H's position is within the third detection range 23 of the virtual space R, it will slow down the AGV 12. When the computer 50 detects interference in the AGV 12 within the virtual space R, it stores the detection location and participant information of participant H at the time of detection. Based on this storage, it becomes possible to understand the locations and situations in which the capabilities of the AGV 12 will be reduced.

[0041] Furthermore, the input device 70 can receive evaluation input from participant H regarding the evaluation of the automated guided vehicle 12 in the virtual space R. For example, the evaluation input is the safety level of the automated guided vehicle 12. The computer 50 changes the driving state of the automated guided vehicle 12 in the virtual space R according to the evaluation input regarding the evaluation of the automated guided vehicle 12. The driving state is not particularly limited, but could be, for example, driving speed, driving acceleration, driving conditions, etc.

[0042] For example, in the virtual space R, if participant H experiences the movement of the automated guided vehicle (AGV) 12 and evaluates that the AGV 12's speed is too high and the safety level is low, they operate the input device 70 to input that the safety level of the AGV 12 is low. As a result, the computer 50 slows down the AGV 12 in the virtual space R. Alternatively, if participant H experiences the movement of the AGV 12 in the virtual space R and evaluates that the AGV 12's speed is too low and the safety level is too high, they operate the input device 70 to input that the safety level of the AGV 12 is high. As a result, the computer 50 accelerates the AGV 12 in the virtual space R.

[0043] As shown in Figure 4, the computer 50 displays information regarding the position and orientation of the participant H in the virtual space R on the head-mounted display 60. For example, as shown in the figure, the computer 50 displays the position where participant H is standing in the virtual space R on the floor surface 19 as, for example, a circle P on the head-mounted display 60. For example, the computer 50 displays the orientation of participant H in the virtual space R on the floor surface 19 as, for example, an arrow A on the head-mounted display 60.

[0044] As shown in Figures 5(a) and 5(b), the computer 50 displays the first to third detection ranges 21 to 23, which are the detection ranges of the interference detection sensors mounted on the automated guided vehicle (AGV) 12, around the AGV 12 in the virtual space R on the head-mounted display 60. The computer 50 expands and contracts the displayed third detection range 23 according to the speed of the AGV 12. For example, the computer 50 deforms the displayed third detection range 23 so that it expands outward as the speed of the AGV 12 increases. The computer 50 also expands and contracts the width of the displayed first to third detection ranges 21 to 23 to match the width of the item 41 being transported by the AGV 12.

[0045] The computer 50 outputs the travel speed of the automated guided vehicle 12 in the virtual space R via the head-mounted display 60. In this embodiment, as shown in Figure 6, the computer 50 displays the travel speed of the automated guided vehicle 12 superimposed on the automated guided vehicle 12 on the head-mounted display 60.

[0046] As shown in Figure 7, the computer 50 generates a virtual object, which is a travel path 13, in the virtual space R, corresponding to the travel path 3. The travel path 13 is the travel area in the virtual space R where the automated guided vehicle 12 can travel. The travel path 13 includes a travel layout 13X that extends along the floor surface 19, and a travel direction 13Y that is the one direction in which the automated guided vehicle 12 can travel on the travel layout 13X. The computer 50 displays the travel layout 13X and the travel direction 13Y superimposed on the head-mounted display 60.

[0047] As shown in Figure 8, the computer 50 switches the display of the travel layout 13X (see Figure 7) and travel direction 13Y (see Figure 7) on the head-mounted display 60 to the display of multiple two-dimensional codes (codes) 31 in response to input from the user H via the input device 70. For example, the user H can switch the display of the travel layout 13X and travel direction 13Y and the display of the two-dimensional codes 31 on the head-mounted display 60 by operating the input device 70. The multiple two-dimensional codes 31 are virtual objects that constitute the travel path 3 and are placed on the floor surface 19.

[0048] As shown in Figure 9, the computer 50 outputs a log LG on its monitor regarding the transport capacity of multiple automated guided vehicles (AGVs) 12 in the virtual space R. The transport capacity of the AGVs 12 includes the utilization rate (time rate) for each of the multiple operating conditions. Examples of these operating conditions include idling, loading and moving, loading, unloading, waiting to unload, and charging. The transport capacity of the AGVs 12 also includes the deceleration distance, stopping time, number of transported packages, and transport completion rate of the AGVs 12.

[0049] When the automated guided vehicle 12 and the participant H approach each other in the virtual space R, the computer 50 outputs different warning sounds from the head-mounted display 60 depending on the speed of the automated guided vehicle 12.

[0050] In summary, the logistics simulation system 1 allows for a sensory simulation of how input from participant H affects the operation and, consequently, the transport capacity of the automated guided vehicle 2. In other words, it becomes possible to simulate the logistics facility 100 in an environment close to actual operation. The operation of the logistics system is simulated while reflecting participant H's sensations as parameters, and various capabilities of the logistics facility 100 can be determined. By using VR technology to simulate in an environment similar to the actual site of the logistics facility 100, unexpected events that may occur during actual operation (such as insufficient transport capacity requiring additional vehicles) can be detected early, and countermeasures can be taken during the pre-planning stage. As a result, the results of the simulation can be effectively utilized, for example, in examining the capabilities of the logistics facility 100.

[0051] In the logistics simulation system 1, an avatar, H, is placed in a virtual space R, which is a model that allows for the examination of transport capacity. The computer 50 performs tasks in the virtual space R that are in line with actual operations, in response to input from the head-mounted display 60 and input device 70. If H enters or approaches the travel path 13 of the automated guided vehicle 12, or otherwise interferes with the automated guided vehicle 12 in the virtual space R, the automated guided vehicle 12 detects this and initiates deceleration and / or stopping under conditions similar to those of the actual vehicle. Then, when the condition is released, the automated guided vehicle 12 recovers from the deceleration and / or stopping state and continues transporting.

[0052] This allows for a sensory simulation of how much the work of participant H at the logistics facility 100 affects the operation of the automated guided vehicle (AGV) 2. The extent to which the interference between participant H and AGV 2 affects the transport capacity can be quantified (by acquiring data on changes in transport capacity) and judged. For example, the impact on transport capacity can be judged when a worker crosses the travel path 3 while AGV 2 is in motion, or when a worker stops and performs work near or within the travel path 3. In addition to verifying the operation of AGV 2 when it is running normally, it is possible to verify the equipment operation when interference between participant H and AGV 2 is detected, and to acquire the transport capacity value when an abnormality occurs, and to verify its impact.

[0053] In the logistics simulation system 1, the input device 70 receives input regarding the evaluation of the automated guided vehicle (AGV) 12 in the virtual space R. The computer 50 changes the driving state of the AGV 12 in the virtual space R according to the input from the input device 70. In this case, it is possible to determine the driving state of the AGV 2 according to the evaluation of participant H through simulation in an environment close to actual operation. It is possible to determine the safe speed of the AGV 2 based on subjective experience and quantify its transport capacity at that safe speed. It is possible to derive a safety value that maximizes the capabilities of the AGV 2.

[0054] In the logistics simulation system 1, the computer 50 generates a virtual space R. In the logistics simulation system 1, the computer 50 generates a travel path 13 that an automated guided vehicle 12 can travel on within the virtual space R. In this way, the computer 50 makes it possible to generate the virtual space R and the travel path 13. By displaying the travel path 13 within the virtual space R, the participant H can easily determine the area in which they can move within the virtual space R. Generally, since no intrusion prevention fences or the like are installed between the travel path 3 and the worker passageway 4 in the logistics facility 100, this effect of easily determining the area in which the participant H can move within the virtual space R is particularly effective.

[0055] In the logistics simulation system 1, the computer 50 outputs the travel speed of the automated guided vehicle 12 in the virtual space R via the head-mounted display 60. In this case, it becomes easy for the participant H to recognize the travel speed of the automated guided vehicle 12 as they experience it.

[0056] In the logistics simulation system 1, the head-mounted display 60 displays the field of view of the user H within the virtual space R. In this case, the simulation can be conducted in an environment close to actual operation, based on the user H's visual experience.

[0057] In the logistics simulation system 1, the computer 50 displays the travel speed of the automated guided vehicle 12 on the head-mounted display 60, overlaid on the automated guided vehicle 12 itself. In this case, the user H can easily perceive the travel speed of the automated guided vehicle 12 as they experience it.

[0058] In the logistics simulation system 1, the computer 50 displays the first to third detection ranges 21 to 23 of the interference detection sensors of the automated guided vehicle (AGV) 12 around the AGV 12 on the head-mounted display 60. In this case, the user H can easily visually recognize the area in the virtual space R that interferes with the AGV 12.

[0059] In the logistics simulation system 1, the computer 50 displays the travel layout 13X and travel direction 13Y of the travel route 13 on the head-mounted display 60. In this case, the participant H can easily recognize in advance the location and direction in which the automated guided vehicle 12 will travel within the virtual space R.

[0060] In the logistics simulation system 1, the computer 50 switches the display of the travel layout 13X and travel direction 13Y on the head-mounted display 60 to the display of the two-dimensional code 31 provided on the floor surface 19, according to the input from the input device 70. In an actual site, a code (two-dimensional code, etc.) is provided on the floor surface 9, so an environment close to actual operation can be reproduced.

[0061] The logistics simulation system 1 is equipped with a head-mounted display 60. This makes it possible to display the field of view image of the user H in the virtual space R using the head-mounted display 60.

[0062] In the logistics simulation system 1, the computer 50 displays information regarding the position and orientation of the participant H in the virtual space R on the head-mounted display 60. In this case, it becomes easier for the participant H to recognize their own position and orientation in the virtual space R.

[0063] The logistics simulation system 1, with its computer 50, outputs at least a log regarding the transport capacity of the automated guided vehicle 12 in the virtual space R. In this case, the impact on transport capacity caused by participant H can be recognized through the log.

[0064] In the logistics simulation system 1, the head-mounted display 60 is configured to output warning sounds. When the automated guided vehicle 12 and the participant H approach each other in the virtual space R, the computer 50 outputs different warning sounds from the head-mounted display 60 depending on the speed of the automated guided vehicle 12. In this case, participant H can perceive the approach and degree of danger of the automated guided vehicle 12 in the virtual space R through their hearing.

[0065] In the above configuration, the computer 50 comprises a controller, a virtual space generation unit, and a log output unit. The head-mounted display 60 comprises an output unit, a display unit, an input unit, and a warning sound output unit. The input device 70 comprises an input unit.

[0066] Although embodiments have been described above, one aspect of the present invention is not limited to the above-described embodiments.

[0067] In the above embodiment, the travel speed of the automated guided vehicle 12 in the virtual space R was output by the head-mounted display 60. However, instead of or in addition to the travel speed, the transport capacity may also be output by the head-mounted display 60. For example, the computer 50 may display the number of items transported per unit time by the conveyor 6 as the transport capacity superimposed on the virtual object corresponding to the conveyor 6 on the head-mounted display 60. In this case, it becomes easy for the user H to recognize the transport capacity they are experiencing.

[0068] The above embodiment includes a head-mounted display 60 as an output unit for outputting the virtual space R, but the output unit is not particularly limited. The output unit may be a projector, other environment-installed equipment, or a handheld device using a smartphone or tablet. The projector may be capable of projection mapping.

[0069] In the above embodiment, one participant H is projected into the virtual space R, but the embodiment is not limited to this, and multiple participants H may be projected into the virtual space R. That is, the above embodiment may be a logistics simulation system in which at least a first participant and a second participant can work and move within the virtual space R. The input unit may include a first input unit that receives input to cause the first participant to work within the virtual space R, and a second input unit that receives input to cause the second participant to work within the virtual space R. The controller may cause the first participant to work within the virtual space R in response to the input of the first input unit, and may also perform at least one of decelerating or stopping the automated guided vehicle 12 within the virtual space R if the first participant interferes with the automated guided vehicle 12 within the virtual space R. The controller may cause the second participant to work within the virtual space R in response to the input of the second input unit, and may also perform at least one of decelerating or stopping the automated guided vehicle 12 within the virtual space if the second participant interferes with the automated guided vehicle 12 within the virtual space R. In this case, it becomes possible to simulate an environment that is closer to actual operation.

[0070] In the above embodiment, other sensors may be installed in the indoor area 80 as input units, and participant information (for example, information regarding participant H's posture, position, movement, gestures, voice, biometric data, gaze, and orientation) may be acquired by these sensors. In the above embodiment, a two-dimensional code 31 can be displayed on the floor surface 19 in the virtual space R, but other codes may be displayed instead of the two-dimensional code 31. In the above embodiment, the input device 70 may be omitted. In the above embodiment, the travel speed of the automated guided vehicle 12 is displayed superimposed on the automated guided vehicle 12 in the head-mounted display 60, but the travel speed may be displayed without superimposing it on the automated guided vehicle 12.

[0071] In the above embodiment, the input device 70 may receive input regarding the evaluation of the distance between the worker passage object, which is a virtual object corresponding to the worker passage 4 in the virtual space R, and the travel path 13 of the automated guided vehicle 12. The computer 50 may change the position of the travel path 13 of the automated guided vehicle 12 relative to the worker passage object in the virtual space R according to the input from the input device 70. In this case, the participant H can intuitively determine the distance between the worker passage 4 and the travel path 3 of the automated guided vehicle 2 that can be judged to be safe to walk, reflect this in the layout of the logistics facility 100, and quantify the transport capacity of the automated guided vehicle 2.

[0072] Each component in the above embodiments or modifications can be arbitrarily applied to each component in other embodiments or modifications. Some components in the above embodiments or modifications can be omitted as appropriate without departing from the spirit of one aspect of the present invention. The present invention is not limited to the above embodiments, and various modifications are possible without departing from the spirit of the invention. [Explanation of symbols]

[0073] 1...Logistics simulation system, 2,12...Automated guided vehicle, 13...Travel route (travel area), 13X...Travel layout, 13Y...Travel direction, 19...Floor surface, 21~23...1st~3rd detection range (detection range), 31...2D code (code), 50...Computer (controller, virtual space generation unit, log output unit), 60...Head-mounted display (output unit, input unit, display unit, warning sound output unit), 70...Input device (input unit), 100...Logistics facility, H...Participant, R...Virtual space.

Claims

1. A logistics simulation system in which an automated guided vehicle is driven in a virtual space, and a participant can perform tasks and move around in the said virtual space, The virtual space includes at least a controller that controls the virtual space, An output unit that outputs the aforementioned virtual space, It comprises an input unit that receives input from the aforementioned participant, The input unit receives input related to the evaluation of the automated guided vehicle in the virtual space, The controller changes the driving state of the automated guided vehicle in the virtual space according to the input of the input unit. The input for the aforementioned evaluation is the input for the safety level of the automated guided vehicle, A logistics simulation system in which the controller slows down the automated guided vehicle (AGV) in the virtual space as a result of inputting via the input unit that the AGV's safety level is low, and accelerates the AGV in the virtual space as a result of inputting via the input unit that the AGV's safety level is high.

2. The input unit receives input that causes the user to perform tasks within the virtual space. The aforementioned controller, A logistics simulation system according to claim 1, wherein the system has the participant perform tasks in the virtual space in response to input from the input unit, and when the participant interferes with the automated guided vehicle in the virtual space, the system performs at least one of decelerating or stopping the automated guided vehicle in the virtual space.

3. The logistics simulation system according to claim 1 or 2, comprising a virtual space generation unit that generates the virtual space.

4. The logistics simulation system according to claim 1 or 2, wherein the controller generates a driving area in the virtual space on which the automated guided vehicle can travel.

5. The logistics simulation system according to claim 1 or 2, wherein the controller causes the output unit to output at least one of the driving speed and transport capacity of the automated guided vehicle in the virtual space.

6. The logistics simulation system according to claim 1 or 2, wherein the output unit includes a display unit that displays the view image of the user in the virtual space.

7. The logistics simulation system according to claim 6, wherein the controller displays the travel speed of the automated guided vehicle on the display unit overlaid on the automated guided vehicle.

8. The logistics simulation system according to claim 6, wherein the controller displays the detection range of the interference detection sensor of the automated guided vehicle around the automated guided vehicle on the display unit.

9. The aforementioned controller, A driving area is generated within the virtual space in which the automated guided vehicle can travel. The logistics simulation system according to claim 6, wherein the display unit overlays and displays the driving layout and driving direction of the driving area.

10. The logistics simulation system according to claim 9, wherein the controller switches the display of the travel layout and the travel direction on the display unit to the display of a code provided on the floor surface in accordance with the input of the input unit.

11. The logistics simulation system according to claim 6, wherein the display unit is a head-mounted display or a projector.

12. The logistics simulation system according to claim 6, wherein the controller displays information regarding the position and orientation of the participant in the virtual space on the display unit.

13. The logistics simulation system according to claim 1 or 2, further comprising a log output unit that outputs at least a log relating to the transport capacity of the automated guided vehicle in the virtual space.

14. The output unit includes a warning sound output unit that outputs a warning sound, The logistics simulation system according to claim 1 or 2, wherein the controller outputs different warning sounds from the warning sound output unit according to the speed of the automated guided vehicle when the automated guided vehicle and the participant approach each other in the virtual space.

15. A logistics simulation system in which at least a first participant and a second participant can work and move within the virtual space, The input unit includes a first input unit that receives input to cause the first participant to work in the virtual space, and a second input unit that receives input to cause the second participant to work in the virtual space. The aforementioned controller, In response to the input of the first input unit, the system causes the first participant to perform tasks in the virtual space, and when the first participant interferes with the automated guided vehicle in the virtual space, the system performs at least one of the following actions: deceleration or stopping of the automated guided vehicle in the virtual space. The logistics simulation system according to claim 1, wherein the system causes the second participant to perform tasks in the virtual space in response to the input of the second input unit, and when the second participant interferes with the automated guided vehicle in the virtual space, the system performs at least one of decelerating or stopping the automated guided vehicle in the virtual space.

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