Mobile operation management device

Abstract

To provide a practical moving object operation management device.SOLUTION: The invention relates to a moving object operation management device for managing operation of moving objects T that move in a passage PL provided in an area 10 and perform work at a specific place. When the work of a certain moving object hinders the movement of another moving object in the passage, the device sets exclusive sections E such that an exclusive section Es of one moving object Ts of the two moving objects is adjacent to an exclusive section En of the other moving object Tn thereof. When the movement of one moving object along the shortest path (solid line) to a next destination is hindered by the exclusive section of the other moving object, the device selectively issues: (A) a first operation instruction to move the one moving object to the next destination along a path (broken line) bypassing the exclusive section of the other moving object; and (B) a second operation instruction to move the one moving object to the next destination along the shortest path after the exclusive section of the other moving object is lifted; by comparing the time the one moving object arrives at the next destination in the cases of following these instructions.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an apparatus for managing the operation of a plurality of moving bodies that move along passages provided in a region and perform work at specific locations.

Background Art

[0002] As a system for managing the operation of a plurality of moving bodies, there is a technology as described in the following patent document. This technology relates to ground support work using moving bodies at an airport, and in this support work, the travel route of each of the plurality of moving bodies is set so as not to interfere with other moving bodies.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technology described in the above patent document is a technology for relatively freely setting a travel route in a region where no passage is set. In order to manage the operation of a moving body in a region where a passage for the moving body to travel is set in advance, it is not a suitable technology. If the operation of the moving body can be appropriately managed in a region where a passage is set in advance, the practicality of the moving body operation management apparatus is considered to be enhanced. The present invention has been made in view of such circumstances, and an object thereof is to provide a highly practical moving body operation management apparatus.

Means for Solving the Problems

[0005] In order to solve the above problems, the moving body operation management apparatus of the present invention is a moving body operation management apparatus that manages the operation of a plurality of moving bodies that move along passages provided in a region and perform work at specific locations, When the work performed by one mobile object obstructs the movement of another mobile object along its path, the section containing the location where the work is being performed is designated as an exclusive section. When the exclusive access section for one of two moving bodies and the exclusive access section for the other body are adjacent to each other, and the shortest path for one of the moving bodies to its next destination is obstructed by the exclusive access section of the other body, A first operational instruction to move one of the aforementioned to the next destination via a route that bypasses the exclusive section for the other, A second operational instruction to move the aforementioned one to the next destination via the shortest route after the exclusive section for the aforementioned other is released, It is configured to selectively issue signals by comparing the arrival times to one of the subsequent destinations if those instructions are followed, The second operational instruction mentioned above is, When the movement of the other to its next destination via the shortest path is obstructed by an exclusive section for the one, the instruction is to move the one to a nearby refuge space, and after the exclusive section for that one is released, the other can pass through the released exclusive section and proceed to its next destination via the shortest path, and then move to its next destination via the shortest path. 、 If there is no nearby evacuation space, The aforementioned first operational instruction, A third operational instruction, which replaces the second operational instruction, is to have one of the vehicles wait within the exclusive zone for that vehicle, to have the other vehicle move to the next destination by bypassing the exclusive zone for that vehicle, and after that move, to have the vehicle move to the next destination via the shortest route. It is configured to selectively issue signals by comparing the arrival times to one of the subsequent destinations if those instructions are followed. It is characterized by the following: [Effects of the Invention]

[0006] In simple terms, the mobile vehicle operation management device of the present invention allows the travel route to be determined based on which option—traveling via a detour route or traveling via the shortest route after the other task is completed—will arrive at the next destination faster. Therefore, even when adjacent mutually exclusive sections exist, rapid operation of the mobile vehicle becomes possible. (Aspects of the Invention)

[0007] The present invention is a mobile vehicle operation management device that manages the operation of multiple mobile vehicles that move along a passage provided within a region and perform work at a specific location. When the work performed by one mobile object obstructs the movement of another mobile object along its path, the section containing the location where the work is being performed is designated as an exclusive section. When the exclusive access section for one of two moving bodies and the exclusive access section for the other body are adjacent to each other, and the shortest path for one of the moving bodies to its next destination is obstructed by the exclusive access section of the other body, A first operational instruction to move one of the aforementioned to the next destination via a route that bypasses the exclusive section for the other, A second operational instruction to move the aforementioned one to the next destination via the shortest route after the exclusive section for the aforementioned other is released, It is assumed that the system is configured to selectively issue messages by comparing the arrival times at one of the subsequent destinations if those instructions are followed.

[0008] The mobile objects to be managed by the mobile object operation management device of the present invention (hereinafter sometimes simply referred to as the "management device") are not particularly limited and can include a variety of objects such as vehicles, heavy machinery, transport equipment, drones, etc. Furthermore, the present invention can be applied to mobile objects that move around in various areas such as warehouses, offices, and cities. Specifically, for example, it can be applied to vehicles that move around a partitioned city to transport people and goods, or to transport vehicles that load and unload goods into and out of warehouses. The tasks performed by the mobile objects are also not particularly limited and may vary considerably depending on the mobile object.

[0009] While the passageways through which moving objects travel may be such that objects cannot pass each other, it is desirable, in consideration of ease of operation management and smooth movement of the objects, to allow objects to pass each other by permitting movement on only one side, either the right or left side, relative to the direction of movement.

[0010] "An operation by one mobile object obstructs the movement of another mobile object in a passage" means, for example, that an operation by one mobile object blocks a passage, or extends into a passage, and that operation interferes with another mobile object. Simply put, an operation that establishes an exclusive section can be considered an operation that occupies a passage.

[0011] The mobile vehicle may be one that moves automatically, i.e., is autonomously driven, or it may be driven by a person. If the mobile vehicle is autonomously driven, it should be driven automatically based on instructions from the control device. If the mobile vehicle is driven by a person, the instructions from the control device should be displayed on a screen so that the driver can recognize them, for example.

[0012] The control device sets an exclusive access zone for a mobile object if its operation obstructs the movement of another mobile object along its path. Simply put, for example, the exclusive access zone should be set when the operation begins. Then, when the operation is completed, or when the mobile object is ready to move to its next destination after completing the operation, the exclusive access zone should be released.

[0013] The basic concept of the present invention is, simply put, that when two mobile bodies are working in adjacent locations and one of the two mobile bodies has finished its work while the other is still working, the first mobile body is given a choice: to move via a detour that bypasses the other, or to wait for the other to finish its work and then move via the shortest route. The instruction issued to the mobile body when the former is selected is the first operation instruction, and the instruction issued to the mobile body when the latter is selected is the second operation instruction. These first and second operation instructions should be issued to the mobile body when the work in its own exclusive section is completed. If the movement of one mobile body to its next destination via the shortest route is not obstructed by the exclusive section of the other mobile body, then a command should be issued to the mobile body to move to its next destination via the shortest route.

[0014] When a second operational instruction is issued in accordance with the basic concepts described above, there are two types of instructions for the actions of one of the moving objects: for example, "an instruction to have one object wait in an exclusive zone for that object," i.e., a "waiting instruction," and "an instruction to have one object move to a nearby evacuation space," i.e., an "evacuation instruction." In this invention, the second operational instruction is an "evacuation instruction," but the following explanation will cover each of these two instructions.

[0015] If the second operational instruction is a waiting instruction, that instruction means that one of the two moving objects will wait within the exclusive zone for that object, and the other of the two moving objects will move toward the next destination without passing through the exclusive zone for the other object, and then move toward the next destination via the shortest route.

[0016] When the second operation instruction, which is the standby instruction, is issued to one of the two moving bodies, for the other of the two moving bodies, the management device may, for example, issue an instruction to move the other to the next destination along the shortest path if the movement along the shortest path to the next destination of the other is not blocked by the exclusive area for the one. Also, for example, when the movement along the shortest path of the other to the next destination is blocked by the exclusive area for the one, the management device may issue an instruction to move the other around the exclusive area for the one and then to the next destination. The latter becomes an effective instruction in a situation where the movement along the shortest path of one and the movement along the shortest path of the other inhibit each other, that is, in a situation where a deadlock has occurred.

[0017] When the second operation instruction is an evacuation instruction, the second operation instruction is an instruction to evacuate one to a nearby evacuation space when the movement along the shortest path of the other of the two moving bodies to the next destination is blocked by the exclusive area for one of the two moving bodies, and after the exclusive area for that one is released and the other passes through the released exclusive area and heads to the next destination along the shortest path, to move the one to the next destination along the shortest path. This second operation instruction also becomes an effective instruction in a situation where a deadlock has occurred between the two moving bodies. Incidentally, the evacuation space is a space where a moving body can stay without inhibiting the movement of other moving bodies along the passage.

[0018] When there is no evacuation space, the management device may, for example, compare the arrival times at the next destination of the one when following the first operation instruction and a third operation instruction that is an instruction replacing the second operation instruction and that makes one of the two moving bodies wait within the exclusive area for that one, makes the other of the two moving bodies move around the exclusive area for the one and then to the next destination, and after that movement, makes the one move to the next destination along the shortest path, and selectively issue the instructions. An instruction for which such a selection is made also becomes an effective instruction in a situation where a deadlock has occurred between the two moving bodies.

[0019] The selection between the first operation instruction and the second operation instruction is made by comparing the arrival times of one of the two moving objects at the next destination when following those instructions. More specifically, it is made by comparing the arrival time at the destination when moving to the next destination via a detour route (hereinafter sometimes referred to as the "first arrival time") with the arrival time at the destination when moving to the next destination via the shortest route after waiting or taking refuge (hereinafter sometimes referred to as the "second arrival time").

[0020] The first arrival time and the second arrival time may be calculated, for example, by the Dijkstra's algorithm or the like in graph theory. Specifically, a graph is created by setting nodes (vertices) at various key points such as the branch points of the passage, and at each of the workplaces (exclusive areas) and the next destinations for both of the two moving objects, and edges (links) connecting those nodes according to the passage. Then, the shortest route for moving can be selected and calculated from the routes between the workplace of one moving object and the next destination. Incidentally, the calculation of the first arrival time may be performed using a graph obtained by deleting the edge connecting the workplaces of each of the two moving objects, and the calculation of the second arrival time may be performed by adding the time for waiting or taking refuge to the time required for moving via the shortest route. In other words, the calculation of the second arrival time may be performed by estimating the end time of the work in the exclusive area for the other of the two moving objects and taking that time into account.

[0021] In the selection of either the first operation instruction or the second operation instruction, in principle, the instruction with the earlier of the first arrival time and the second arrival time should be selected. Note that it is not always necessary to follow the principle. For example, factors such as traffic congestion, the state of the passage, and fuel consumption may be considered, and a margin time may be added to or subtracted from one of the first arrival time and the second arrival time, and the first arrival time and the second arrival time after adding or subtracting the margin time may be compared, and the instruction with the earlier time may be selected.

[0022] Furthermore, within the domain, there may be other moving bodies besides the two mentioned above (hereinafter sometimes referred to as a "third moving body"), and if we call this third moving body a third moving body, it is conceivable that this third moving body may obstruct the movement of one of the two moving bodies to its next destination. However, in order to make the concept of the present invention easier to understand, this specification will not consider such obstruction of movement by a third moving body and will proceed with the explanation accordingly.

[0023] The mobile vehicle operation management system is not limited in its hardware configuration; for example, it may include a computer and a communication device. The computer's memory area may be configured to store, for example, a map of the routes the vehicles travel, the current location of each vehicle, and the work schedule of each vehicle. [Brief explanation of the drawing]

[0024] [Figure 1] This diagram shows the vehicle warehouse, which is the area in which the vehicle transporter, a mobile object subject to management by the mobile object operation management system of the embodiment, moves. [Figure 2] This is a diagram showing a vehicle transport machine. [Figure 3] This diagram illustrates how operations performed by a vehicle transporter obstruct the movement of other vehicle transporters in their respective pathways, and how this obstruction leads to the establishment of an exclusive access zone. [Figure 4] This is a flowchart of the operation instruction processing performed by the mobile vehicle operation management device of the embodiment, taking into account exclusive zones. [Figure 5] This diagram explains the second type of operational instruction: the standby instruction and the evacuation instruction. [Modes for carrying out the invention]

[0025] Hereinafter, the mobile vehicle operation management device of the embodiment will be described in detail with reference to the drawings as an embodiment for carrying out the present invention. In addition to the embodiments described below, the present invention can be carried out in various forms by making various changes and improvements based on the knowledge of those skilled in the art, starting with the embodiments described in the section [Embodiments of the Invention] above. [Examples]

[0026] [A] Vehicle warehouse The mobile operation management device of this embodiment is a transporter operation management device (hereinafter sometimes simply referred to as a "management device") that manages the operation of a vehicle transporter (hereinafter sometimes simply referred to as a "transporter") as a mobile object. As shown in Figure 1, the transporter T moves, that is, travels, within the area of ​​the warehouse 10. As will be explained in detail later, the transporter T brings a vehicle C, which is the transported object, into the warehouse 10, stores the transported vehicle C in a storage compartment S, and also retrieves the vehicle C stored in the storage compartment S and transports the vehicle C out of the warehouse 10.

[0027] Each storage compartment S has a length and width that is just enough to store one vehicle C. Within the warehouse 10, there are several storage blocks B, each consisting of four storage compartments S arranged lengthwise in a storage row L, arranged widthwise in multiple rows. Within the warehouse 10, passages P are provided around each storage block B, through which conveyors T travel. More specifically, there are lateral passages PL extending laterally, facing the ends of the storage rows L, and vertical passages PV connecting these lateral passages PL. Hereafter, the lateral passages PL and vertical passages PV may be collectively referred to as passages P.

[0028] In the diagram, an exit GO for loading vehicle C is provided at the left end of warehouse 10, and although not shown in the diagram, an entrance GI for loading vehicle C is provided at the right end. The control device 12 consists of a computer 14 and a communication device 16, and is installed in a control room 18 attached to warehouse 10.

[0029] [B] Vehicle transporter The transporter T, as shown in Figure 2(a) (plan view) and Figure 2(b) (side view), consists of an automatically moving towing vehicle 20 and a carrier 22 towed by the towing vehicle 20. The towing vehicle 20 and the carrier 22 are rotatable relative to each other around a hinge 24. The towing vehicle 20 has front wheels 26 and rear wheels 28, with the front wheels 26 being steering wheels and the rear wheels 28 being drive wheels. The towing vehicle 20 has a built-in automatic driving controller for automatic driving. The towing vehicle 20 also has a unit device 30 attached to its upper surface, which integrates a camera for monitoring the surroundings for automatic driving, a beacon receiver for acquiring its own position, and a communication device for communicating with the management device 12. Automatic driving is performed by a general method, so a detailed explanation is omitted here. The carrier 22 has a platform 32 that can be raised and lowered, and this raising and lowering is performed by the automatic driving controller. The carrier 22 also has wheels 34 at the end furthest from the towing vehicle 20.

[0030] As shown in Figures 2(a) and (b), the conveyor T can transport vehicle C by inserting the carrier 22 under the vehicle body from the rear side and raising the base plate 32 to lift the vehicle C. Although not shown in the figures, it is also possible to transport vehicle C by inserting the carrier 22 under the vehicle body from the front side and raising the base plate 32 to lift the vehicle C. In other words, the conveyor T can access vehicle C from either the front or the rear side.

[0031] [C] Functions of the conveyor operation management system As explained earlier, the mobile vehicle operation management device 12 is primarily composed of a computer 14, which includes a CPU and storage devices such as ROM, RAM, and a hard disk. The management device 12 has an inventory management function that creates inventory data indicating which vehicles C are currently stored in which storage compartment S within the warehouse 10. The management device 12 also receives input and output data from an external source, indicating when and which vehicles C will be brought into the warehouse 10, and when and which vehicles C will be removed from the warehouse 10. Based on this input and output data, the management device 12 has a work planning function that creates a work plan for the storage / retrieval of vehicles C by the conveyor T. A detailed explanation of the inventory data and work plan is omitted, but they are stored in the storage device of the computer 14.

[0032] Furthermore, the management device 12 has a work assignment function that, based on the above inventory data and incoming / outgoing data, identifies the storage area S where incoming vehicles C are stored or outgoing vehicles C are stored at the appropriate time, and determines which conveyor T should perform the task of storing or retrieving the vehicles C from storage area S. In addition, the management device 12 knows which conveyor T is currently moving within the warehouse 10, whether transporting vehicles C or not, or at which location it is performing storage or retrieval work, and the assignment of storage or retrieval work is made based on this knowledge. The management device 12 has a function to issue operational instructions to the transporter T to which it has been assigned a task, such as issuing operational instructions specifying which vehicle C to transport into the warehouse 10, which passage P to take to which storage section S, and which passage P to take to store the vehicle C in that storage section S, or operational instructions specifying which vehicle C to take out of storage section S and which passage P to take to transport it out of the warehouse 10. In short, it has a function to issue operational instructions that include the next destination of each transporter T.

[0033] [D] Obstruction of vehicle storage / retrieval operations and passageway movement by vehicle transport equipment. Inside the warehouse 10, there is a storage row L consisting of four storage compartments S. The retrieval of vehicles C from storage compartments S and the storage of vehicles C into storage compartments S are performed, for example, as shown in Figure 3(a), by a conveyor T entering the storage row L from a lateral passage PL facing the end of the storage row L, and then moving from the storage row L back to the lateral passage PL. The passage P is left-hand traffic and has enough width for conveyor T to pass each other. However, because the conveyor T is long regardless of whether it is transporting vehicles C or not, when performing storage or retrieval operations (hereinafter sometimes simply referred to as "operations"), the movement of other conveyor T in the section of the lateral passage PL that includes the location where the operation is being performed will be obstructed.

[0034] Therefore, when one conveyor T is performing storage or retrieval operations, the control device 12 sets the above section as an exclusive section E, prohibiting the movement of other conveyors T. Incidentally, the setting of exclusive section E is released when the conveyor T performing the operation finishes its work, or more specifically, when the conveyor T has finished its work and is in a position to move along the lateral passage PL. In the diagram, exclusive section E is shown colored gray.

[0035] However, a problem arises when, for example, two conveyors T are working in a single lateral passage PL, and two mutual exclusion zones E are set adjacent to each other, as shown in Figure 3(b). Specifically, considering the efficiency of the conveyors T, a conveyor T that has finished its work should move to its next destination for the next task via the shortest path. However, when one conveyor T that has finished its work (hereinafter sometimes referred to as "target conveyor Ts") moves to its next destination, it is prevented from moving via the shortest path shown by the solid line by the mutual exclusion zone E (hereinafter sometimes referred to as "adjacent work conveyor Tn") for the other conveyor T (hereinafter sometimes referred to as "adjacent mutual exclusion zone En"). In particular, when the adjacent work conveyor Tn finishes its work, the mutual exclusion zone E (hereinafter sometimes referred to as "self-mutual exclusion zone Es") for the target conveyor Ts prevents that adjacent work conveyor Tn from moving via the shortest path shown by the solid line. This can lead to a so-called deadlock situation. In Figure 3(b), the detour routes for the target conveyor Ts and the adjacent work conveyor Tn are shown as dashed lines.

[0036] [E] Handling adjacent exclusive sections The control device 12 is configured to take measures to address the above-mentioned problem caused by the adjacent exclusive section E. Specifically, of the two adjacent conveyors T, the one that finishes its work first is designated as the target conveyor Ts, and the control device 12 executes the operation instruction process shown in the flowchart in Figure 4 for that target conveyor Ts. The operation instruction process will be explained below in accordance with that flowchart. Note that this explanation will be based on the situation shown in Figure 3(b). More specifically, it will be based on the situation in which an exclusive section Es is set for the target conveyor Ts, an adjacent work conveyor Tn is working in a location adjacent to the target conveyor Ts, and an adjacent exclusive section En is set for that adjacent work conveyor Tn.

[0037] The operation instruction process is executed when the target transporter Ts has completed its storage or retrieval operation and is about to move to its next destination. In this operation instruction process, first, in step 1 (hereinafter abbreviated as "S1"; the same applies to the other steps), the shortest path is identified, and in S2, it is determined whether the movement of the target transporter Ts to its next destination along that shortest path is obstructed by the adjacent exclusive section En. If movement along the shortest path is not obstructed, that is, if the shortest path is a path that goes in the opposite direction from the adjacent exclusive section En (in this case, the path shown by the dashed line in Figure 3(b) is the shortest path), then in S3, the setting of the self-exclusive section Es is released, and an instruction is issued to the target transporter Ts to move along the shortest path.

[0038] If the movement of the target transporter Ts along the shortest path is obstructed, that is, if the shortest path is a path that passes through an adjacent exclusive section En, then in S4, a detour path that bypasses the adjacent exclusive section En, i.e., a path that goes in the opposite direction from the adjacent exclusive section En, is identified, and in S5, the time when the target transporter Ts moves along that detour path and arrives at the next destination, i.e., the first arrival time, which is the detour arrival time t1, is calculated.

[0039] In the subsequent S6, it is determined whether the adjacent work transporter Tn's movement to its next destination via the shortest path is obstructed by the self-exclusive section Es. In other words, it is determined whether the adjacent work transporter Tn passes through the self-exclusive section Es or the section that was set as the self-exclusive section Es when moving to its next destination via the shortest path. If it is not obstructed (in this case, the path shown by the dashed line in Figure 3(b) is the shortest path for the adjacent work transporter Tn), then in S7, the standby mode is selected as the operation mode. As shown in Figure 5(a), in standby mode, the target transporter Ts waits within the self-exclusive section Es, and after the adjacent work transporter Tn finishes its work and moves to its next destination via the shortest path, that is, after the setting of the adjacent exclusive section En is released, the target transporter Ts moves to its next destination via its own shortest path.

[0040] If it is determined in S6 that the shortest path to the next destination of the adjacent work transporter Tn is obstructed by the self-exclusive section Es, then in S8, it is determined whether there is space for the target transporter Ts to move out of its vicinity, that is, a relocation space, in the vicinity of the target transporter Ts, more specifically, in the section of the lateral passage PL in which the target transporter Ts is located, excluding the adjacent-exclusive section En. The relocation space is a space in which the transporter T, when not transporting a vehicle C or when transporting a vehicle C, can be parked without protruding into the passage P. As shown in Figure 5(b) with the label X, for example, two consecutive storage compartments S can be used as relocation spaces.

[0041] If no escape space exists, standby mode is selected as the operating mode in S7. In this case, when the adjacent work transporter Tn finishes its work and moves to the next destination, it is instructed to take a route that does not pass through the self-exclusive section Es, i.e., a detour route rather than the shortest route to the next destination. If escape space X exists, escape mode is selected as the operating mode in S9. In this escape mode, as shown in Figure 5(b), after the work is completed, the target transporter Ts temporarily moves to escape space X, thereby canceling the setting of the self-exclusive section Es. After the adjacent work transporter Tn finishes its work, it passes through the section that was previously the self-exclusive section Es via the shortest route, and then the target transporter Ts passes through the section where the adjacent exclusive section En setting has been canceled and moves to the next destination via its own shortest route.

[0042] Regardless of whether standby mode or evacuation mode is selected, in S10, the arrival time of the target transporter Ts at its next destination, i.e., the second arrival time, or the shortest path arrival time t2, is calculated. Simply put, if standby mode is selected, this shortest path arrival time t2 is calculated by adding the time the transporter would arrive at its next destination via the shortest path if its movement is not obstructed, to the time it spends waiting in the self-exclusive section Es. If evacuation mode is selected, this shortest path arrival time t2 is calculated by adding the time the transporter would arrive at its next destination via the shortest path if its movement is not obstructed, to the time it spends evacuating in the evacuation space X. Alternatively, the shortest path arrival time t2 can be considered an estimated time based on the estimated time when the work of the adjacent work transporter Tn in the adjacent exclusive section En is expected to be completed.

[0043] Next, in S11, the detour arrival time t1 calculated in S5 and the shortest route arrival time t2 calculated in S10 are compared. If the detour arrival time t1 is closer to the current time than the shortest route arrival time t2, that is, if it is determined that proceeding to the next destination via the detour route without waiting or evacuating will result in a faster arrival, then in S12, a first operation instruction is issued to the target transporter Ts, instructing it to proceed to the next destination via the detour route. On the other hand, if the shortest route arrival time t2 and the detour time t1 are equal, or if the shortest route arrival time t2 is closer to the current time than the detour time t1, that is, if it is determined that proceeding to the next destination via the detour route will result in a slower arrival, then in S13, a second operation instruction is issued to the target transporter Ts, instructing it to conform to the selected operation mode, i.e., the waiting mode or the evacuating mode. Furthermore, when instructions suitable for standby mode are issued, as explained earlier, instructions are also issued to the adjacent work transporter Tn regarding whether to proceed to the next destination via the shortest route or the detour route.

[0044] As described above, the management device 12 of this embodiment enables appropriate operation management of moving objects even when the movement of a moving object along the shortest path to its next destination is obstructed by an exclusive section. In particular, it makes it possible to appropriately avoid a deadlock even when two moving objects become locked together.

[0045] Furthermore, if it is determined that the shortest path to the next destination of the adjacent work transporter Tn is obstructed by the self-exclusive section Es, the instruction given when the evacuation mode is selected because there is an evacuation space for the target transporter Ts can be considered a second operation instruction. The instruction given when the standby mode is selected because there is no evacuation space, that is, to have the target transporter Ts wait within the self-exclusive section Es, to have the adjacent work transporter Tn move to the next destination by bypassing the self-exclusive section Es, and then to have the target transporter Ts move to the next destination via the shortest path after that movement, can also be considered a third operation instruction that replaces the second operation instruction. [Explanation of symbols]

[0046] 10: Warehouse [area] 12: Conveyor operation management device [mobile operation management device] 14: Computer 16: Communication device T: Vehicle conveyor [mobile object] Ts: Target conveyor Tn: Adjacent work conveyor C: Vehicle [conveyed object] S: Storage area L: Storage row B: Storage block P: Passage PL: Horizontal passage PV: Vertical passage E: Exclusive section Es: Self-exclusive section En: Adjacent exclusive section t1: Detour arrival time [first arrival time] t2: Shortest route arrival time [second arrival time] X: Evacuation space

Claims

1. A mobile object operation management device that manages the operation of multiple mobile objects that move along a passage provided within a domain and perform work at a specific location, When the work performed by one mobile object obstructs the movement of another mobile object along its path, the section containing the location where the work is being performed is designated as an exclusive section. When the exclusive access section for one of two moving bodies and the exclusive access section for the other body are adjacent to each other, and the shortest path for one of the moving bodies to its next destination is obstructed by the exclusive access section of the other body, A first operational instruction to move one of the aforementioned entities to its next destination via a route that bypasses the exclusive access section for the other entity, A second operational instruction to move the aforementioned one to the next destination via the shortest route after the exclusive section for the aforementioned other is released, It is configured to selectively issue signals by comparing the arrival times to one of the subsequent destinations if those instructions are followed, The second operational instruction mentioned above is, In cases where the movement of the other object to its next destination via the shortest path is obstructed by an exclusive section for the one object, the instruction is to move the one object to a nearby refuge space, release the exclusive section for that object, allow the other object to pass through the released exclusive section and proceed to its next destination via the shortest path, and then move to its next destination via the shortest path. If there is no nearby evacuation space, The aforementioned first operational instruction, A third operational instruction, which replaces the second operational instruction, is provided, which instructs one of the vehicles to wait within the exclusive zone for that vehicle, the other vehicle to move to the next destination by bypassing the exclusive zone for that vehicle, and after that move, the first vehicle to move to the next destination via the shortest route. A mobile vehicle operation management device configured to selectively issue commands by comparing the arrival times to one of the subsequent destinations if those commands are followed.

2. The mobile vehicle operation management device, The mobile vehicle operation management device according to claim 1, configured to determine the time of arrival at the next destination according to Dijkstra's algorithm in graph theory.

3. The mobile vehicle operation management device, The mobile vehicle operation management device according to claim 1, configured to estimate the time of completion of work in the other exclusive section for the other vehicle when issuing the second operation instruction, and to estimate the time of arrival at the next destination of the other vehicle if the second operation instruction is followed.

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