Route planning device, route planning method, route planning program, and automated transport system

Abstract

This route planning device (10) comprises: a deadlock detection unit (103) that predicts the occurrence of deadlock on a travel route of a mobile body to be evaluated for deadlock, the occurrence of deadlock being predicted on the basis of taxiway information including information about the layout of the travel route on the taxiway and stopping positions on the taxiway, information about the travel route, from the point of departure to the destination on the taxiway, of the mobile body to be evaluated for deadlock, information about the travel route, from the point of departure to the destination on the taxiway, of other mobile bodies other than the mobile body to be evaluated for deadlock, and information about the current position of the other mobile bodies on the taxiway; and a movement planning unit (105) that creates movement plans, for avoiding the occurrence of deadlock predicted by the deadlock detection unit (103), for the other mobile bodies.

Description

Technical Field

[0001] The present disclosure relates to a route planning device, a route planning method, a route planning program, and an automatic transport system.

Background Art

[0002] Conventionally, automated guided vehicles (AGVs) have been introduced in various factories and various logistics facilities in order to improve work efficiency, production efficiency, or achieve rapid delivery.

[0003] Patent Document 1 describes a route planning method for avoiding a deadlock and re-planning a route when a deadlock occurs in which a plurality of operating automated guided vehicles block each other's routes and the automated guided vehicles cannot move.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the route planning method described in Patent Document 1, after it is determined that a deadlock has occurred by detecting that a plurality of moving bodies have actually stopped for a predetermined time, re-planning of the route is started, resulting in waste of time and inability to move the moving bodies efficiently.

[0006] The present disclosure has been made in view of the above, and an object thereof is to obtain a route planning device capable of avoiding a deadlock and efficiently moving a moving body.

Means for Solving the Problems

[0007] In order to solve the above-mentioned problems and achieve the objective, the route planning device according to this disclosure includes information about the taxiway, including the arrangement of travel paths in the taxiway and information about stopping positions in the taxiway; information about the travel path of the mobile body to be evaluated for deadlock in the taxiway from its starting point to its destination; information about the travel paths of other mobile bodies other than the mobile body to be evaluated for deadlock in the taxiway from their starting points to their destinations; and the current position information of other mobile bodies in the taxiway. The number of safe havens for other moving objects to move outside the travel path of the moving object being evaluated for deadlock, Based on this, the system includes a deadlock detection unit that predicts the occurrence of a deadlock in the travel path of the moving object to be evaluated, and a movement planning unit that creates a movement plan for other moving objects to avoid the occurrence of the deadlock predicted by the deadlock detection unit. [Effects of the Invention]

[0008] This disclosure provides a path planning device that enables efficient movement of a moving object while avoiding deadlocks. [Brief explanation of the drawing]

[0009] [Figure 1] Diagram showing the configuration of the automated transport system according to Embodiment 1. [Figure 2] This figure shows the configuration of the route planning device in the automated transport system according to Embodiment 1. [Figure 3] This figure shows the configuration of the mobile object control device in the automated transport system according to Embodiment 1. [Figure 4] This figure shows the configuration of the moving body of the automated transport system according to Embodiment 1. [Figure 5] This figure shows a first example of the layout of the guideway in the automated transport system according to Embodiment 1. [Figure 6] A flowchart showing an example of the processing procedure of the route planning device in the automated transport system according to Embodiment 1. [Figure 7] This figure shows an example of a list of objects requiring evacuation for a first example of a guide path, created by the object search unit of the route planning device of the automated transport system according to Embodiment 1. [Figure 8] This figure shows an example of a list of escape routes for a first example of a guideway, created by the escape route search unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 9] A flowchart showing an example of the processing procedure of the deadlock detection unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 10] Figure 1 shows an example of a movement plan list for a first example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 11] Figure 2 shows an example of a movement plan list for a first example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 12] Figure 3 shows an example of a movement plan list for a first example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 13] This figure shows a second example of the layout of the guideway in the automated transport system according to Embodiment 1. [Figure 14] This figure shows an example of a list of objects requiring evacuation for a second example of a guide path, created by the object search unit of the route planning device of the automated transport system according to Embodiment 1. [Figure 15] This figure shows an example of a list of escape routes for a second example of a guideway, created by the escape route search unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 16] This figure shows an example of a list of objects requiring evacuation for a second example of a guideway, which was recreated by the object search unit of the route planning device of the automated transport system according to Embodiment 1. [Figure 17] This figure shows an example of a list of escape routes for a second example of a guideway, which was recreated by the escape route search unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 18]Figure 1 showing an example of a movement plan list for a guiding path in the second example, created by the movement planning section of the path planning device included in the automatic transport system according to Embodiment 1 [Figure 19] Figure 2 showing an example of a movement plan list for a guiding path in the second example, created by the movement planning section of the path planning device included in the automatic transport system according to Embodiment 1 [Figure 20] Figure 3 showing an example of a movement plan list for a guiding path in the second example, created by the movement planning section of the path planning device included in the automatic transport system according to Embodiment 1 [Figure 21] Figure 4 showing an example of a movement plan list for a guiding path in the second example, created by the movement planning section of the path planning device included in the automatic transport system according to Embodiment 1 [Figure 22] Figure 5 showing an example of a movement plan list for a guiding path in the second example, created by the movement planning section of the path planning device included in the automatic transport system according to Embodiment 1 [Figure 23] Figure showing the third example of the layout of the guiding path included in the automatic transport system according to Embodiment 1 [Figure 24] Figure showing an example of a list of moving bodies to be evacuated for the guiding path in the third example, created by the moving body to be evacuated search section of the path planning device included in the automatic transport system according to Embodiment 1 [Figure 25] Figure showing an example of an evacuation location list for the guiding path in the third example, created by the evacuation location search section of the path planning device included in the automatic transport system according to Embodiment 1 [Figure 26] Figure showing an example of a list of moving bodies to be evacuated for the guiding path in the third example, created by the moving body to be evacuated search section of the path planning device included in the automatic transport system according to Embodiment 1 [Figure 27] Figure showing an example of an evacuation location list for the guiding path in the third example, re - created by the evacuation location search section of the path planning device included in the automatic transport system according to Embodiment 1 [Figure 28]This figure shows an example of a list of objects requiring evacuation for a third example of a guide path, which was recreated by the object search unit of the route planning device of the automated transport system according to Embodiment 1. [Figure 29] This figure shows an example of a list of escape routes for a third example of a guideway, which was recreated by the escape route search unit of the route planning device of the automated transport system according to Embodiment 1. [Figure 30] Figure 1 shows an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 31] Figure 2 shows an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 32] Figure 3 shows an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 33] Figure 4 shows an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 34] Figure 5 shows an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 35] Figure 6 shows an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 36] Figure 7 shows an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. [Figure 37] Diagram showing the layout of the taxiway according to Embodiment 2 [Figure 38] This diagram shows the configuration in which each function of the control unit according to Embodiment 1 is implemented in hardware. [Figure 39] This diagram shows the configuration in which each function of the control unit according to Embodiment 1 is implemented in software. [Modes for carrying out the invention]

[0010] The following describes in detail, with reference to the drawings, the route planning device, route planning method, route planning program, and automated transport system according to the embodiment.

[0011] Embodiment 1. Figure 1 is a diagram showing the configuration of an automated transport system according to Embodiment 1. The automated transport system 1 according to Embodiment 1 is a system in which a plurality of mobile bodies 13, which are unmanned transport vehicles, travel along a guide path 12 to automatically transport objects. The automated transport system 1 comprises a route planning device 10, a mobile body control device 11, a guide path 12, and mobile bodies 13.

[0012] Figure 2 shows the configuration of a route planning device in the automated transport system according to Embodiment 1. The route planning device 10 is a route planning device that creates a route plan, which is a plan of the route that the mobile body 13 will travel, and is a route planning device that creates a route plan that avoids the occurrence of deadlocks.

[0013] The route planning device 10 has a computer on which a route planning program is installed. The route planning program is a program for implementing a deadlock detection step that predicts the occurrence of a deadlock in the travel path of the mobile body 13 to be evaluated for deadlocks, based on taxiway information including the arrangement of travel paths in the taxiway 12 and information on stopping positions in the taxiway 12, travel path information of the mobile body 13 to be evaluated for deadlocks in the taxiway 12 from its starting point to its destination, travel path information of other mobile bodies 13 other than the mobile body 13 to be evaluated for deadlocks in the taxiway 12 from their starting points to their destinations, and current position information of the other mobile bodies 13 in the taxiway 12. The route planning device 10 creates a route plan according to the route planning program.

[0014] As shown in Figure 2, the route planning device 10 includes a unit to search for a moving object requiring evacuation 101, a unit to search for an evacuation site 102, a deadlock detection unit 103, an evacuation site search range expansion unit 104, a movement planning unit 105, a planning device communication unit 106, a planning device storage unit 107, and a planning device control unit 108.

[0015] The Evacuation-Required Mobile Object Search Unit 101 searches for mobile objects 13 that interfere with the mobile object 13 for which a movement plan is to be created, within the travel path from the departure point to the destination. Mobile objects 13 found by the Evacuation-Required Mobile Object Search Unit 101 are called evacuation-required mobile objects.

[0016] A mobile object requiring evacuation is a mobile object 13 that needs to be moved to a different location from the starting point to the destination of the mobile object 13 for which a movement plan is being created.

[0017] The mobile body 13 for which a movement plan is created is, as will be described later, the mobile body 13 to which the instruction unit 111 of the mobile body control device 11 transmitted movement command information, the mobile body 13 that is the target of the movement command information received from the instruction unit 111 of the mobile body control device 11, and the mobile body 13 that travels on the taxiway 12 in the route planning device 10. Economics This can be rephrased as the mobile object 13 being evaluated for deadlocks on the road.

[0018] The movement command information is instruction information that the instruction unit 111 of the mobile body control device 11 gives to move the mobile body 13 to the target location.

[0019] The evacuation area search unit 102 searches for an evacuation area on the taxiway 12 to move the moving object requiring evacuation outside the travel path of the moving object 13 for which the movement plan is to be created.

[0020] The evacuation area is a stopping position 14 for moving objects identified as requiring evacuation by the evacuation object search unit 101 to move outside the travel path from the departure point to the destination of the moving object 13 that is the subject of the travel plan creation on the taxiway 12.

[0021] The deadlock detection unit 103 compares the number of moving objects that need to be evacuated with the number of evacuation locations to determine whether the travel path of the moving object 13 for which a travel plan is to be created, from its departure point to its destination, is in a deadlock state. Specifically, the deadlock detection unit 103 predicts the occurrence of a deadlock on the travel path of the moving object 13 for which a deadlock is to be evaluated, based on information about the taxiway 12, including the arrangement of travel paths in the taxiway 12 and information about stopping positions 14 in the taxiway 12; information about the travel path of the moving object 13 subject to deadlock evaluation in the taxiway 12, from its departure point to its destination; information about the travel paths of other moving objects 13 other than the moving object 13 subject to deadlock evaluation in the taxiway 12, and the current position information of the other moving objects 13 in the taxiway 12.

[0022] The evacuation area search range expansion unit 104 expands the search range for evacuation areas in the taxiway 12 by either treating a moving object 13 other than the moving object requiring evacuation as a moving object requiring evacuation, or by setting a waypoint for the moving object 13 being evaluated for deadlock, when the deadlock detection unit 103 determines that a deadlock state has occurred. In other words, the evacuation area search range expansion unit 104 expands the search range for evacuation areas in the taxiway 12 when the occurrence of a deadlock state is predicted by the deadlock detection unit 103.

[0023] The movement planning unit 105 is responsible for planning other moving objects other than the moving object 13 that is the target of deadlock evaluation in order to avoid the occurrence of deadlocks predicted by the deadlock detection unit 103. 13 The movement plan unit 105 creates a movement plan to move all moving objects that need to be evacuated to one of the evacuation sites, and a movement plan to move the moving object 13 that is subject to deadlock evaluation to its destination, if the deadlock detection unit 103 determines that there is no deadlock. If the deadlock detection unit 103 determines that there is a deadlock, the movement plan unit 105 creates a movement plan to move all moving objects that need to be evacuated to one of the evacuation sites, including evacuation sites found by expanding the search range by the evacuation site search range expansion unit 104, and a movement plan to move the moving object 13 that is subject to deadlock evaluation to its destination.

[0024] The planning device communication unit 106 communicates with the control device communication unit 112 of the mobile body control device 11, which will be described later. The planning device communication unit 106 receives various information from the mobile body control device 11, such as movement command information representing instructions to move the mobile body 13 that is the subject of deadlock evaluation to the target location, the current location information of other mobile bodies 13 other than the said mobile body 13, and information on the movement plans of the other mobile bodies 13 other than the said mobile body 13. The planning device communication unit 106 also transmits the information of the movement plan created by the route planning device 10 to the instruction unit 111 of the mobile body control device 11, which will be described later.

[0025] The planning device storage unit 107 stores various types of information used to control the route planning device 10. The planning device storage unit 107 stores various types of information used to create route plans in the route planning device 10.

[0026] The planning device control unit 108 controls the operation of the entire route planning device 10.

[0027] Next, the mobile object control device 11 will be described using Figure 3. Figure 3 is a diagram showing the configuration of the mobile object control device in the automated transport system according to Embodiment 1. The mobile object control device 11 controls the movement of the mobile object 13 by transmitting movement command information, which represents an instruction to move the mobile object 13, to the mobile object 13.

[0028] The mobile device control device 11 comprises an instruction unit 111, a control device communication unit 112, a control device storage unit 113, and a control device control unit 114.

[0029] The instruction unit 111 controls the movement of the mobile body 13. Specifically, the instruction unit 111 generates movement command information that indicates an instruction to move the mobile body 13 to a target location and transmits it to the mobile body 13. The instruction unit 111 generates movement command information based on the movement plan created in the movement planning unit 105 and transmits it to the mobile body 13.

[0030] The control device communication unit 112 communicates with the planning device communication unit 106 of the route planning device 10, and with the mobile body communication unit 134 of the mobile body 13, which will be described later. The control device communication unit 112 receives information about the state of the mobile body 13, such as the current position of the mobile body 13. The control device communication unit 112 also receives information about the movement plan created by the route planning device 10 from the route planning device 10. The control device communication unit 112 also transmits various information to the route planning device 10, such as movement command information representing instructions to move the mobile body 13 that is subject to deadlock evaluation to the target location, the current position information of other mobile bodies 13 other than the said mobile body 13, and information about the movement plans of other mobile bodies 13 other than the said mobile body 13. The control device communication unit 112 also transmits the movement command information to the mobile body 13.

[0031] The control device storage unit 113 stores various types of information used for controlling the mobile device control device 11. The control device storage unit 113 also stores various types of information used for generating movement command information.

[0032] The control unit 114 controls the operation of the entire mobile device control unit 11.

[0033] Next, the mobile body 13 according to Embodiment 1 will be described using Figure 4. Figure 4 is a diagram showing the configuration of a mobile body in the automated transport system according to Embodiment 1. The mobile body 13 acquires movement command information from the mobile body control device 11 and moves along the guide path 12 to the target location according to the acquired movement command information to transport the object. Examples of the mobile body 13 include unmanned transport vehicles, autonomous vehicles, and robots.

[0034] The mobile unit 13 comprises a sensor unit 131, a position estimation unit 132, a movement unit 133, a mobile unit communication unit 134, a mobile unit storage unit 135, and a mobile unit control unit 136.

[0035] The sensor unit 131 includes various sensors, such as a sensor for detecting the state of the moving object 13, a sensor for detecting signs that assist the movement of the moving object 13, and a sensor for detecting obstacles on the actual path. Specifically, the sensor unit 131 has one or more devices such as a radar, ultrasonic sensor, imaging device, gyroscope, encoder, and GPS (Global Positioning System). The sensor unit 131 transmits the detection results to the moving object control unit 136.

[0036] The position estimation unit 132 estimates the position of the moving object 13 on the taxiway 12. Specifically, the position estimation unit 132 acquires measurement information representing the measurement results of the sensor unit 131, such as GPS, and estimates the position of the moving object 13 on the taxiway 12 based on the acquired measurement information. The position estimation unit 132 transmits the information of the estimated position of the moving object 13 on the taxiway 12 to the moving object control unit 136.

[0037] The moving unit 133 is a component that moves the mobile body 13. Specifically, if the mobile body 13 is an electric vehicle, the moving unit 133 is a component necessary for the electric vehicle to move, and includes components such as a motor, wheels, and batteries. The operation of the moving unit 133 is controlled by the mobile body control unit 136.

[0038] The mobile communication unit 134 communicates with the control device communication unit 112 of the mobile device control device 11. The mobile communication unit 134 transmits information about the state of the mobile device 13, such as the current self-position information of the mobile device 13 estimated by the position estimation unit 132, to the mobile device control device 11. The mobile communication unit 134 also receives various information from the mobile device control device 11, such as movement command information that indicates an instruction to move the mobile device 13.

[0039] The mobile device memory unit 135 stores various types of information used for controlling the mobile device 13.

[0040] The mobile unit control 136 controls the movement of the entire mobile unit 13. The mobile unit control 136 controls the movement of the mobile unit 13 on the guideway 12 by controlling the movement unit 133, and moves the mobile unit 13 to the target location or Retirement Move to a safe location.

[0041] Next, the guide path 12 according to Embodiment 1 will be described using Figure 5. Figure 5 is a diagram showing a first example of the layout of the guide path in the automated transport system according to Embodiment 1. As described above, the automated transport system 1 has a guide path 12. In the automated transport system 1, the mobile body 13 moves along the guide path 12 to transport the transported object. The automated transport system 1 has multiple mobile bodies 13 that move along the guide path 12 to transport the transported object, from mobile body 13(M1) to mobile body 13(M4). The mobile bodies 13 are also shown in Figure 5. In Figure 5, the guide path 12 and the mobile bodies 13 are shown schematically. In Figure 5, the path (R_M1) of the mobile body 13(M1) from the starting point, stopping position 14(P2), to the destination, stopping position 14(P116), is shown by a medium-thick dashed line.

[0042] The taxiway 12 has multiple stopping positions 14. The mobile body 13 moves forward, backward, or changes direction along the taxiway 12, stopping at one of the stopping positions 14 (P1) to 14 (P116), and then the transported goods are transferred.

[0043] Between a stopping position 14 and other stopping positions 14 adjacent to it, there exists a single path through which the moving body 13 can move forward or backward. A stopping position 14 that is not a branching point has a total number of adjacent stopping positions of two or less. A stopping position 14 that is a branching point has a total number of adjacent stopping positions of three or more.

[0044] At stopping position 14, the moving body 13 can change direction. The moving body 13 can travel from that stopping position 14 to any other stopping position 14 adjacent to that stopping position 14.

[0045] The guideway 12 has one primary flow path, three secondary flow paths connected to the primary flow path, and two tertiary flow paths connected to the secondary flow paths. In other words, the guideway 12 is composed of five flow paths. A flow path is a flow along one or more paths located on the same line.

[0046] The primary flow path is the route connecting the starting point, stop position 14(P1), and the ending point, stop position 14(P7). Stop positions 14(P2), 14(P4), and 14(P6) are branching points in the primary flow path.

[0047] The secondary flow paths are routes that branch off from the branching points included in the primary flow path, and are routes that branch off from each of the stop positions 14(P2), 14(P4), and 14(P6). From stop position 14(P2), secondary flow paths are provided that connect to stop positions 14(P12) and 14(P22). From stop position 14(P4), secondary flow paths are provided that connect to stop positions 14(P14) and 14(P24). From stop position 14(P6), secondary flow paths are provided that connect to stop positions 14(P16) and 14(P26). In addition, stop positions 14(P12) and 14(P16) are branching points in the secondary flow path.

[0048] The tertiary flow path is a path that branches off from the branching point included in the secondary flow path, and is a path that branches off from stop position 14(P12) and stop position 14(P16). From stop position 14(P12), a tertiary flow path is provided that connects to stop position 14(P112). From stop position 14(P16), a tertiary flow path is provided that connects to stop position 14(P116).

[0049] The order of a flow path is determined by which flow path it branches from. For example, a flow path branching from a primary flow path is of the second order, and a flow path branching from a secondary flow path is of the third order.

[0050] Next, the operation of the automated transport system 1 will be explained. Here, we will explain the case in which the mobile body 13(M1) is moved from the starting point, stopping position 14(P2), to the destination, stopping position 14(P116), that is, the case in which the mobile body 13(M1) is moved along the path (R_M1).

[0051] In this case, the instruction unit 111 of the mobile body control device 11 generates movement command information to move from the starting point, stopping position 14 (P2), to the destination, stopping position 14 (P116). The instruction unit 111 transmits the generated movement command information to the mobile body control unit 136 of the mobile body 13 (M1). At the same time as transmitting the movement command information to the mobile body control unit 136, the instruction unit 111 also transmits the movement command information and the information of the taxiway 12 to the mobile body search unit 101 of the route planning device 10. The movement command information includes the name of the mobile body 13 that is the target of the movement command, information of the starting point, and information of the destination. The information of the taxiway 12 includes information on the arrangement of the travel path in the taxiway 12 and information on the stopping position 14. The name of the mobile body 13 that is the target of the movement command is the name of the mobile body 13 that is being evaluated for deadlock.

[0052] Furthermore, the instruction unit 111 of the mobile body control device 11 transmits movement command information and the current position information of mobile bodies 13 other than mobile body 13(M1) among the multiple mobile bodies 13 of the automatic transport system 1 to the mobile body search unit 101 of the route planning device 10. The instruction unit 111 of the mobile body control device 11 may also transmit the above-mentioned information to the planning device control unit 108 of the route planning device 10. In this case, the mobile body search unit 101 obtains the information from the planning device control unit 108.

[0053] Figure 6 is a flowchart showing an example of the processing procedure of the route planning device in the automated transport system according to Embodiment 1. When the object requiring evacuation search unit 101 receives movement command information, it performs processing according to the flowchart shown in Figure 6.

[0054] In step S110, a step to search for a mobile body that needs to be evacuated is performed. Specifically, when the mobile body search unit 101 receives movement command information, it uses predetermined conditions for determining a mobile body that needs to be evacuated and various information obtained from the instruction unit 111 of the mobile body control device 11 to search for a mobile body 13 that interferes with the mobile body 13(M1) within the route (R_M1), which is the travel route of the mobile body 13(M1) that is the target of the movement command, from its starting point to its destination.

[0055] The object search unit 101 searches among the multiple objects 13 owned by the automatic transport system 1, excluding object 13(M1), for objects 13 that satisfy either of the following two conditions, Condition 1 and Condition 2, which are the conditions for determining an object to be moved to safety. The object search unit 101 then identifies any object 13 that satisfies either of the two conditions, Condition 1 and Condition 2, as an object to be moved to safety, which is an object 13 that needs to be moved off the path (R_M1), and adds it to the object to be moved to safety list L_M.

[0056] Condition 1: The mobile object 13 is waiting at the stopping position 14 included in the route R_M1. Condition 2: The moving object 13 is moving towards a stopping position 14 included in the route R_M1 as its destination.

[0057] The conditions for determining a moving object that needs to be evacuated are the conditions used by the moving object search unit 101 to determine if a moving object needs to be evacuated.

[0058] As described above, the mobile body requiring evacuation is the mobile body 13 that needs to be moved to a safe location from the travel route of the mobile body 13 that is the target of the movement command, from its departure point to its destination. In this case, the mobile body 13 that is the target of the movement command is mobile body 13(M1). The travel route of the mobile body 13 that is the target of the movement command from its departure point to its destination is route(R_M1).

[0059] The list of mobile objects requiring evacuation L_M is a list in which the names of mobile objects 13 identified as mobile objects requiring evacuation by the mobile object search unit 101 are registered. The list of mobile objects requiring evacuation L_M may be stored in the mobile object search unit 101, or it may be stored in the planning device storage unit 107.

[0060] The object search unit 101 repeats the above process until it adds all objects 13 other than object 13(M1) among the multiple objects 13 of the automatic transport system 1 that satisfy either of the two conditions, condition 1 and condition 2, to the object search list L_M. That is, the object search unit 101 determines whether objects 13(M2) to 13(M4), which are objects 13 other than object 13(M1) among the objects 13 included in the automatic transport system 1, satisfy either of the two conditions, condition 1 and condition 2. After that, it proceeds to step S120.

[0061] Figure 7 shows an example of a list of objects requiring evacuation for a first example of a guide path, created by the object-requiring search unit of the route planning device in the automated transport system according to Embodiment 1. In Figure 7, the names of objects 13(M2) and 13(M3), which are objects 13 identified as objects requiring evacuation by the object-requiring search unit 101, are added to the object-requiring list L_M.

[0062] In step S120, the evacuation site search step is performed. Specifically, the evacuation site search unit 102 searches for a stopping position 14 in which the mobile body requiring evacuation can be evacuated, using predetermined evacuation site determination conditions and various information obtained from the instruction unit 111 of the mobile body control device 11.

[0063] The evacuation area search unit 102 searches for a stopping position 14 from among the multiple stopping positions 14 available on the taxiway 12 that satisfies the following four conditions, conditions 3 to 6, which are the evacuation area determination conditions. The evacuation area search unit 102 then determines that the stopping position 14 that satisfies the four conditions, conditions 3 to 6, is an evacuation area for moving the object requiring evacuation outside the travel path of the route (R_M1), and adds the stopping position 14 to the evacuation area list L_E.

[0064] Condition 3: Stop position 14 is adjacent to stop position 14 included in route R_M1. Condition 4: Stop position 14 is not included in route R_M1 and evacuation list L_E. Condition 5: No other moving objects 13 besides the moving object requiring evacuation are waiting at the stopping position 14. Condition 6: No other moving object 13, other than the moving object requiring evacuation, is moving to the stopping position 14 as its destination.

[0065] The evacuation area determination conditions are the conditions used by the evacuation area search unit 102 to determine an evacuation area from among the multiple stopping positions 14 available on the taxiway 12.

[0066] In conditions 5 and 6, "moving objects 13 other than those requiring evacuation" refers to the moving objects 13 that are subject to deadlock evaluation on the taxiway 12, and which are "moving objects 13 that have just had a destination set and are attempting to move along the route R_M1 but are still waiting." In the example shown in Figure 5, this refers to the moving object 13(M1) stopped at the stopping position 14(P2).

[0067] Furthermore, in conditions 5 and 6, "mobile bodies 13 other than those requiring evacuation" refers to "mobile bodies 13 waiting outside of route R_M1." Also, in conditions 5 and 6, "mobile bodies 13 other than those requiring evacuation" refers to "mobile bodies 13 moving with a stop position 14 other than those included in route R_M1 as their destination."

[0068] Furthermore, route R_M1 does not include "the stopping position where the mobile object 13, which has just had its destination set and is about to move along route R_M1, is waiting," that is, the starting point of the mobile object 13 that is subject to deadlock evaluation on taxiway 12.

[0069] As described above, the evacuation area is a stopping position 14 for moving an evacuation object, which has been identified as an evacuation object by the evacuation object search unit 101, to an area outside the travel path from the departure point to the destination of the mobile object 13 that is the target of the movement command on the taxiway 12.

[0070] The evacuation site list L_E is a list in which the names of the stopping positions 14 that have been identified as evacuation sites by the evacuation site search unit 102 are registered. The evacuation site list L_E may be stored in the evacuation site search unit 102, or it may be stored in the planning device storage unit 107.

[0071] The evacuation area search unit 102 repeats the above process until all stopping positions 14 that satisfy the four conditions 3 to 6 above are added to the evacuation area list L_E. In other words, the evacuation area search unit 102 determines whether all stopping positions 14 included in the taxiway 12 that are not included in the route (R_M1) satisfy the four conditions 3 to 6 above.

[0072] The evacuation area search unit 102 adds all stopping positions 14 on the taxiway 12 that satisfy the four conditions 3 to 6 above to the evacuation area list L_E, and then searches for stopping positions 14 that satisfy the following four conditions 7 to 10, which are evacuation area determination conditions. The evacuation area search unit 102 then determines that the stopping positions 14 that satisfy the four conditions 7 to 10 are evacuation areas for moving the object requiring evacuation outside the travel path of the route (R_M1), and adds the stopping positions 14 to the evacuation area list L_E. Conditions 8 to 10 are the same conditions as conditions 4 to 6 above.

[0073] Condition 7: Stop position 14 is adjacent to stop position 14 included in the evacuation list L_E. Condition 8: Stop position 14 is not included in route R_M1 and evacuation list L_E. Condition 9: No other moving objects 13 besides the moving object requiring evacuation are waiting at the stopping position 14. Condition 10: No other moving object 13, other than the moving object requiring evacuation, is moving to the stopping position 14 as its destination.

[0074] The evacuation area search unit 102 repeats the above process until all stopping positions 14 that satisfy the four conditions 7 to 10 above are added to the evacuation area list L_E from among the stopping positions 14 of the taxiway 12. That is, the evacuation area search unit 102 determines whether all stopping positions 14 that are not included in the current evacuation area list L_E and are included in the taxiway 12 but are not included in the route (R_M1) satisfy the four conditions 7 to 10 above.

[0075] The process of adding all stopping positions 14 that satisfy the four conditions 3 to 6 above to the evacuation list L_E, and then adding all stopping positions 14 that satisfy the four conditions 7 to 10 above to the evacuation list L_E, is a process of first adding stopping positions 14 adjacent to "stopping positions 14 included in route R_M1" to the evacuation list L_E, and then updating the evacuation list L_E by adding stopping positions 14 adjacent to "stopping positions 14 included in the evacuation list itself". Stopping positions 14 adjacent to "stopping positions 14 included in the evacuation list itself" can be said to be stopping positions 14 that are adjacent to a position closer to route R_M1.

[0076] The evacuation site search unit 102 determines an evacuation site through the process described above and registers it in the evacuation site list L_E. This allows the evacuation site search unit 102 to sequentially register the stopping positions 14 located closer to the route R_M1 in the evacuation site list L_E. Then, as will be described later, the unit selects the evacuation site closest to the current position of the moving object requiring evacuation from among the multiple evacuation sites registered in the evacuation site list L_E, and moves the moving object to the selected evacuation site, thereby minimizing the distance the moving object requires to travel and allowing it to evacuate outside the route R_M1. After that, the process proceeds to step S130.

[0077] Figure 8 shows an example of a list of escape routes for the first example of a guideway, created by the escape route search unit of the route planning device in the automated transport system according to Embodiment 1. In Figure 8, the names of stopping position 14(P7) and stopping position 14(P26), which are stopping positions 14 determined to be escape routes by the escape route search unit 102, are added to the escape route list L_E.

[0078] Here, the stopping position 14(P2), which is the departure point of the mobile object 13(M1) that is the subject of evaluation for deadlock on taxiway 12, satisfies condition 3 because it is adjacent to route R_M1. In other words, the stopping position 14(P2), which is the departure point of "mobile object 13 that has just had a destination set and is about to move along route R_M1 but is still waiting", satisfies condition 3 because it is adjacent to route R_M1. However, the stopping position 14(P2) does not satisfy condition 5 because "mobile object 13 that has just had a destination set and is about to move along route R_M1 but is still waiting", is waiting there, and therefore is not added to the evacuation list L_E.

[0079] Furthermore, if the starting point, stopping position 14(P2), is not added to the evacuation list L_E, then stopping position 14(P12), which is only adjacent to the starting point, stopping position 14(P2), does not satisfy condition 3 and will not be added to the evacuation list L_E.

[0080] In step S130, a deadlock determination step is performed. Specifically, the deadlock detection unit 103 uses the list of moving objects that need to be evacuated L_M and the list of evacuation locations L_E to determine whether or not the path (R_M1) in the guideway 12 is in a deadlock state.

[0081] Figure 9 is a flowchart showing an example of the processing procedure of the deadlock detection unit of the route planning device in the automated transport system according to Embodiment 1. The deadlock determination process in the deadlock detection unit 103 will now be described with reference to Figure 9.

[0082] First, in step S210, the deadlock detection unit 103 calculates the number of moving objects 13 included in the list of moving objects to be evacuated L_M. Specifically, the deadlock detection unit 103 obtains the list of moving objects to be evacuated L_M and obtains information on the number of moving objects 13 included in the list of moving objects to be evacuated L_M, that is, information on the number of moving objects to be evacuated. After that, the process proceeds to step S220.

[0083] In step S220, the deadlock detection unit 103 calculates the number of stopping positions 14 included in the evacuation list L_E. Specifically, the deadlock detection unit 103 obtains the evacuation list L_E and information on the number of stopping positions 14 included in the evacuation list L_E, i.e., information on the number of evacuation locations. After that, the process proceeds to step S230.

[0084] In step S230, the deadlock detection unit 103 compares the number of moving objects that need to be evacuated with the number of evacuation areas and determines whether the number of moving objects that need to be evacuated is greater than the number of evacuation areas. That is, the deadlock detection unit 103 determines whether the relationship (number of moving objects that need to be evacuated) > (number of evacuation areas) holds true.

[0085] If the number of moving objects requiring evacuation is greater than the number of evacuation sites, the answer in step S230 is Yes, and the process proceeds to step S240. If the number of moving objects requiring evacuation is less than or equal to the number of evacuation sites, the answer in step S230 is No, and the process proceeds to step S250.

[0086] In step S240, the deadlock detection unit 103 determines that the path (R_M1) in the guideway 12 is in a deadlock state, and the series of deadlock determination processes ends.

[0087] In step S250, the deadlock detection unit 103 determines that the path (R_M1) in the guideway 12 is not in a deadlock state, and the series of deadlock determination processes ends.

[0088] In the example of the list of moving objects requiring evacuation L_M shown in Figure 7 and the list of evacuation locations L_E shown in Figure 8, the number of moving objects 13 included in the list of moving objects requiring evacuation L_M is 2, while the number of stopping positions 14 included in the list of evacuation locations L_E is also 2. Therefore, the number of moving objects requiring evacuation is less than or equal to the number of evacuation locations. For this reason, the deadlock detection unit 103 determines that the path (R_M1) in the taxiway 12 is not in a deadlock state.

[0089] If it is determined that the path (R_M1) on taxiway 12 is not in a deadlock state, the answer in step S130 is No, and the process proceeds to step S140. If it is determined that the path (R_M1) on taxiway 12 is in a deadlock state, the answer in step S130 is Yes, and the process proceeds to step S150.

[0090] In step S140, the movement planning step is performed. Specifically, the movement planning unit 105 creates a movement plan.

[0091] First, the movement planning unit 105 focuses on the first moving object 13(M2) among the moving objects that need to be evacuated. That is, the movement planning unit 105 focuses on the first moving object 13(M2) among the moving objects 13 included in the moving object list L_M. Among the evacuation sites, the evacuation site closest to the stopping position 14(P3) where moving object 13(M2) is waiting is stopping position 14(P7). That is, among the stopping positions 14 included in the evacuation site list L_E, the stopping position 14 closest to the stopping position 14(P3) where moving object 13(M2) is waiting is stopping position 14(P7).

[0092] Here, in order to move the moving body 13(M2) from stopping position 14(P3) to stopping position 14(P7), it must pass through stopping position 14(P4). However, moving body 13(M3) is stopped at stopping position 14(P4). In this case, moving body 13(M2) cannot move to stopping position 14(P7) because it will interfere with moving body 13(M3). Therefore, before moving moving body 13(M2) to stopping position 14(P7), it is necessary to move moving body 13(M3) to another stopping position 14 first.

[0093] Therefore, the movement planning unit 105 creates a plan to move the mobile body 13(M3) to the stopping position 14(P7) first, before moving the mobile body 13(M2) to the stopping position 14(P7). The movement planning unit 105 assigns the stopping position 14(P7) to the destination of the mobile body 13(M3) and adds it to the movement plan list.

[0094] Figure 10 is a first diagram showing an example of a movement plan list for a first example guideway, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 10, the movement plan for the moving body 13 (M3) has been added.

[0095] The travel plan list shown in Figure 10 includes the following items: "No.", "Mobile Entity", "Departure Point", "Destination", and "Travel Route". "No." is the management number assigned to each mobile entity 13 targeted in the travel plan. "Mobile Entity" is the mobile entity 13 targeted in the travel plan. "Departure Point" is the departure point of the mobile entity 13 targeted in the travel plan. "Destination" is the destination of the mobile entity 13 targeted in the travel plan. "Travel Route" is the travel route of the mobile entity 13 targeted in the travel plan, indicated by the stopping positions 14 that the mobile entity 13 passes through when moving from the departure point to the destination and the stopping position 14 at the destination.

[0096] Next, the movement planning unit 105 creates a plan to move the moving body 13(M2) to stop position 14(P26), which is the remaining stop position 14 included in the evacuation site list L_E. The movement planning unit 105 assigns stop position 14(P26) as the destination of the moving body 13(M2) and adds it to the end of the movement plan list.

[0097] Figure 11 is a second figure showing an example of a movement plan list for a first example guideway, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 11, the movement plan for the moving body 13(M2) has been added.

[0098] As described above, a movement plan is created to move all moving objects 13 included in the list of moving objects to be evacuated L_M to one of the stopping positions 14 included in the list of evacuation locations L_E.

[0099] Finally, the movement planning unit 105 creates a movement plan to move the moving body 13(M1) to the destination, which is the stopping position 14(P116). The movement planning unit 105 assigns the stopping position 14(P116) to the destination of the moving body 13(M1) and adds it to the end of the movement plan list.

[0100] Figure 12 is a third figure showing an example of a movement plan list for a first example guideway, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 12, the movement plan for the moving body 13(M1) has been added.

[0101] The route planning device 10 transmits the information of the movement plan created as described above to the instruction unit 111 of the mobile body control device 11. The instruction unit 111 of the mobile body control device 11 controls the movement of multiple mobile bodies that need to be evacuated, including the order in which the multiple mobile bodies need to be evacuated move, based on the movement plan created by the route planning device 10. That is, the instruction unit 111 of the mobile body control device 11 controls the movement of multiple mobile bodies 13 by transmitting movement command information to the multiple mobile bodies that need to be evacuated, taking into account the order in which the multiple mobile bodies need to be evacuated move. If there is only one mobile body that needs to be evacuated, the instruction unit 111 of the mobile body control device 11 only needs to transmit movement command information to that one mobile body that needs to be evacuated.

[0102] As a result, the automated transport system 1 moves the moving bodies 13 sequentially according to the movement plan created by the route planning device 10, so that the moving body 13 (M1) can be moved to the destination stopping position 14 (P116) without interfering with other moving bodies 13. Step S150 will be explained by referring to other examples described later.

[0103] Next, another example of the guide path 12 according to Embodiment 1 will be described using Figure 13. Figure 13 is a diagram showing a second example of the layout of the guide path of the automated transport system according to Embodiment 1. In Figure 13, as in the case of Figure 5, the path (R_M1) of the mobile body 13 (M1) from the starting point, stopping position 14 (P2), to the destination, stopping position 14 (P116), is shown by a medium-thick dashed line. In the example shown in Figure 13, the case in which the mobile body 13 (M5) is waiting at stopping position 14 (P5) in addition to the state shown in Figure 5 will be described. In this case as well, the route planning device 10 processes according to the flowchart shown in Figure 6.

[0104] As described above, in step S110, the object-to-evacuation search unit 101 creates the object-to-evacuation list L_M. Figure 14 shows an example of the object-to-evacuation list for a second example guideway, created by the object-to-evacuation search unit of the route planning device of the automated transport system according to Embodiment 1. In Figure 14, the names of the objects 13 identified as objects to be evacuated by the object-to-evacuation search unit 101, namely object 13(M2), object 13(M3), and object 13(M5), are added to the object-to-evacuation list L_M.

[0105] Next, in step S120, the evacuation area search unit 102 creates an evacuation area list L_E. Figure 15 shows an example of an evacuation area list for a second example of a guideway, created by the evacuation area search unit of the route planning device of the automated transport system according to Embodiment 1. Figure 15 shows the state in which the names of stopping position 14(P7) and stopping position 14(P26), which are stopping positions 14 identified as evacuation areas by the evacuation area search unit 102, have been added to the evacuation area list L_E.

[0106] Next, in step S130, the deadlock detection unit 103 uses the list of moving objects requiring evacuation L_M and the list of evacuation locations L_E to determine whether the path (R_M1) in the taxiway 12 of the second example is in a deadlock state. The deadlock detection unit 103 processes the data according to the flowchart shown in Figure 9, just as in the case of the taxiway 12 of the first example.

[0107] In the example of the list of moving objects requiring evacuation L_M shown in Figure 14 and the list of evacuation locations L_E shown in Figure 15, the number of moving objects 13 included in the list of moving objects requiring evacuation L_M is 3, while the number of stopping positions 14 included in the list of evacuation locations L_E is 2, meaning the number of moving objects requiring evacuation is greater than the number of evacuation locations. For this reason, the deadlock detection unit 103 determines that the path (R_M1) in the taxiway 12 of the second example is in a deadlock state.

[0108] If it is determined that the path (R_M1) in taxiway 12 of the second example is in a deadlock state, the answer in step S130 is Yes, and the process proceeds to step S150.

[0109] In step S150, the step of expanding the search range for evacuation areas is performed. Specifically, the evacuation area search range expansion unit 104 first adds the mobile bodies 13 other than the mobile body 13 that needs to be evacuated to the list of mobile bodies 13 that need to be evacuated to the list of mobile bodies 13 that are not registered in the list of mobile bodies 13 that need to be evacuated to the list of mobile bodies 13 that are the target of the movement command, other than mobile body 13 (M1). In other words, the evacuation area search range expansion unit 104 recognizes and treats one or more other mobile bodies 13 other than the mobile body 13 that has been determined to be a mobile body that needs to be evacuated as mobile bodies that need to be evacuated.

[0110] For example, consider the case where we focus on mobile body 13(M4) as a mobile body 13 other than a mobile body that needs to be evacuated. First, the evacuation area search range expansion unit 104 adds mobile bodies 13 other than those that need to be evacuated to the mobile body list L_M.

[0111] Figure 16 shows an example of a list of objects requiring evacuation for a second example of a guideway, which has been recreated by the object-requiring search unit of the route planning device of the automated transport system according to Embodiment 1. In Figure 16, the names of objects 13(M2), objects 13(M3), and objects 13(M5), which are identified as objects requiring evacuation by the object-requiring search unit 101, and object 13(M4), which was added by the evacuation area search range expansion unit 104, are shown to have been added to the object-requiring list L_M.

[0112] Next, the evacuation site search unit 102 recreates the evacuation site list L_E using the list of moving objects requiring evacuation L_M shown in Figure 16.

[0113] Figure 17 shows an example of a list of escape routes for a second example of a guideway, which has been recreated by the escape route search unit of the route planning device of the automated transport system according to Embodiment 1. In Figure 17, the names of the stopping positions 14(P7) and 14(P26), which were identified as escape routes by the escape route search unit 102 in step S120, and the stopping positions 14(P14) and 14(P24), which were newly determined to be escape routes by the escape route search unit 102, have been added to the escape route list L_E.

[0114] Next, the deadlock detection unit 103 uses the list of moving objects requiring evacuation L_M and the list of evacuation locations L_E to determine again whether the route (R_M1) on the taxiway 12 is in a deadlock state. In the example of the list of moving objects requiring evacuation L_M shown in Figure 16 and the list of evacuation locations L_E shown in Figure 17, the number of moving objects 13 included in the list of moving objects requiring evacuation L_M is 4, while the number of stopping positions 14 included in the list of evacuation locations L_E is also 4, and the number of moving objects requiring evacuation is less than or equal to the number of evacuation locations. For this reason, the deadlock detection unit 103 determines that the route (R_M1) on the taxiway 12 in the second example is not in a deadlock state.

[0115] If it is determined that the path (R_M1) in the taxiway 12 of the second example is not in a deadlock state, the process proceeds to step S140, where the movement planning unit 105 performs the movement planning step to create a movement plan.

[0116] First, the movement planning unit 105 focuses on the first moving object 13(M2) among the moving objects that need to be evacuated. That is, the movement planning unit 105 focuses on the first moving object 13(M2) among the moving objects 13 included in the moving object list L_M. Among the evacuation sites, the evacuation site closest to the stopping position 14(P3) where moving object 13(M2) is waiting is stopping position 14(P14). That is, among the stopping positions 14 included in the evacuation site list L_E, the stopping position 14 closest to the stopping position 14(P3) where moving object 13(M2) is waiting is stopping position 14(P14).

[0117] However, a moving object 13(M4) is stopped at stopping position 14(P14). In order to move moving object 13(M2) from stopping position 14(P3) to stopping position 14(P14), it is necessary to move moving object 13(M4) to another stopping position 14 first before moving moving object 13(M2) to stopping position 14(P14).

[0118] Within the evacuation area, the stop position 14 adjacent to stop position 14(P14) is stop position 14(P24). That is, among the stop positions 14 included in the evacuation area list L_E shown in Figure 17, the stop position 14 adjacent to stop position 14(P14) is stop position 14(P24). Therefore, the movement planning unit 105 creates a plan to move mobile body 13(M4) to stop position 14(P24) first, before moving mobile body 13(M2) to stop position 14(P14). The movement planning unit 105 assigns stop position 14(P24) as the destination of mobile body 13(M4) and adds it to the movement plan list.

[0119] Figure 18 is the first figure showing an example of a movement plan list for a second example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 18, the movement plan for the moving body 13 (M4) has been added.

[0120] The movement planning unit 105 then assigns one of the stopping positions 14 included in the evacuation location list L_E to the destinations of the remaining moving objects 13 included in the moving object list L_M, in the same manner as described above.

[0121] First, when attempting to assign stopping position 14(P14) as the destination of mobile body 13(M2), mobile body 13(M3) is already stopped at stopping position 14(P4), causing it to interfere with mobile body 13(M2). Therefore, the movement planning unit 105 first assigns stopping position 14(P14) as the destination of mobile body 13(M3) and adds it to the end of the movement plan list.

[0122] Figure 19 is a second figure showing an example of a movement plan list for a second example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 19, the movement plan for the moving body 13 (M3) has been added.

[0123] Next, when attempting to assign the destination of the mobile unit 13(M2) to the stopping position 14(P7), the mobile unit 13(M5) is already stopped at the stopping position 14(P5), causing it to interfere with the mobile unit 13(M2). Therefore, the movement planning unit 105 first assigns the stopping position 14(P7) to the destination of the mobile unit 13(M5) and adds it to the end of the movement plan list.

[0124] Figure 20 is a third figure showing an example of a movement plan list for a second example guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 20, the movement plan for the mobile body 13 (M5) has been added.

[0125] Next, the movement planning unit 105 assigns the remaining stopping position 14 included in the evacuation list L_E, namely stopping position 14(P26), to the destination of the moving body 13(M2), and adds it to the end of the movement planning list.

[0126] Figure 21 is the fourth figure showing an example of a movement plan list for a second example guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 21, the movement plan for the mobile body 13(M2) has been added.

[0127] As described above, a movement plan is created to move all moving objects 13 included in the list of moving objects to be evacuated L_M to one of the stopping positions 14 included in the list of evacuation locations L_E.

[0128] Finally, the movement planning unit 105 creates a movement plan to move the moving body 13(M1) to the destination, which is the stopping position 14(P116). The movement planning unit 105 assigns the stopping position 14(P116) to the destination of the moving body 13(M1) and adds it to the end of the movement plan list.

[0129] Figure 22 is the fifth figure showing an example of a movement plan list for a second example guideway, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 22, the movement plan for the mobile body 13(M1) has been added.

[0130] The route planning device 10 transmits the information of the movement plan created as described above to the instruction unit 111 of the mobile body control device 11. The instruction unit 111 of the mobile body control device 11 controls the movement of multiple mobile bodies that need to be evacuated, including the order in which the multiple mobile bodies need to be evacuated move, based on the movement plan created by the route planning device 10. That is, the instruction unit 111 of the mobile body control device 11 controls the movement of multiple mobile bodies 13 by transmitting movement command information to the multiple mobile bodies that need to be evacuated, taking into account the order in which the multiple mobile bodies need to be evacuated move.

[0131] As a result, the automated transport system 1 moves the moving bodies 13 sequentially according to the movement plan created by the path planning device 10, so that the moving body 13 (M1) can be moved to the destination stopping position 14 (P116) without interfering with other moving bodies 13.

[0132] Next, another example of the guide path 12 according to Embodiment 1 will be described using Figure 23. Figure 23 is a diagram showing a third example of the layout of the guide path of the automated transport system according to Embodiment 1. In Figure 23, as in the case of Figure 5, the path (R_M1) of the mobile body 13 (M1) from the starting point, stopping position 14 (P2), to the destination, stopping position 14 (P116), is shown by a medium-thick dashed line. In the example shown in Figure 23, the case in which the mobile body 13 (M6) is waiting at stopping position 14 (P6) in addition to the state shown in Figure 13 will be described. In this case as well, the path planning device 10 processes according to the flowchart shown in Figure 6.

[0133] As described above, in step S110, the object-to-evacuation search unit 101 creates the object-to-evacuation list L_M. Figure 24 is a diagram showing an example of the object-to-evacuation list for a third example guideway, created by the object-to-evacuation search unit of the route planning device of the automated transport system according to Embodiment 1. In Figure 24, the names of the objects 13 identified as objects to be evacuated by the object-to-evacuation search unit 101, namely object 13(M2), object 13(M3), object 13(M5), and object 13(M6), are added to the object-to-evacuation list L_M.

[0134] Next, in step S120, the evacuation area search unit 102 creates an evacuation area list L_E. Figure 25 shows an example of an evacuation area list for a third example of a guideway, created by the evacuation area search unit of the route planning device of the automated transport system according to Embodiment 1. Figure 25 shows the state in which the names of stopping position 14(P7) and stopping position 14(P26), which are stopping positions 14 identified as evacuation areas by the evacuation area search unit 102, have been added to the evacuation area list L_E.

[0135] Next, in step S130, the deadlock detection unit 103 uses the list of moving objects requiring evacuation L_M and the list of evacuation locations L_E to determine whether the path (R_M1) in the taxiway 12 of the third example is in a deadlock state. The deadlock detection unit 103 processes the data according to the flowchart shown in Figure 9, similar to the case of the taxiway 12 in the first example.

[0136] In the example of the list of moving objects requiring evacuation L_M shown in Figure 24 and the list of evacuation locations L_E shown in Figure 25, the number of moving objects 13 included in the list of moving objects requiring evacuation L_M is 4, while the number of stopping positions 14 included in the list of evacuation locations L_E is 2, meaning the number of moving objects requiring evacuation is greater than the number of evacuation locations. For this reason, the deadlock detection unit 103 determines that the path (R_M1) in the taxiway 12 of the third example is in a deadlock state.

[0137] If it is determined that the path (R_M1) in taxiway 12 of the third example is in a deadlock state, the answer in step S130 is Yes, and the process proceeds to step S150.

[0138] In step S150, the step of expanding the search range for evacuation sites is performed. Specifically, the evacuation site search range expansion unit 104 first adds the mobile bodies 13 other than the mobile body 13 that needs to be evacuated to the list of mobile bodies 13 that need to be evacuated to the list of mobile bodies 13 that are not registered in the list of mobile bodies 13 that need to be evacuated to the list of mobile bodies 13 that are the target of the movement command, other than mobile body 13(M1).

[0139] For example, consider the case where we focus on moving body 13 (M4) as a moving body other than a moving body that needs to be evacuated, similar to the case of the taxiway 12 in the second example. First, the evacuation area search range expansion unit 104 adds the moving body 13 other than a moving body that needs to be evacuated to the moving body list L_M.

[0140] Figure 26 is a diagram showing an example of a list of objects requiring evacuation for a third example of a guide path, created by the object-requiring search unit of the route planning device of the automated transport system according to Embodiment 1. In Figure 26, the names of the objects 13 identified as objects requiring evacuation by the object-requiring search unit 101, namely object 13(M2), object 13(M3), object 13(M5), and object 13(M6), and object 13(M4) added by the evacuation area search range expansion unit 104, are shown to have been added to the object-requiring list L_M.

[0141] Next, the evacuation site search unit 102 recreates the evacuation site list L_E using the list of moving objects requiring evacuation L_M shown in Figure 26.

[0142] Figure 27 shows an example of a list of escape routes for a third example of a guideway, which has been recreated by the escape route search unit of the route planning device of the automated transport system according to Embodiment 1. In Figure 27, the names of the stopping positions 14(P7) and 14(P26), which were identified as escape routes by the escape route search unit 102 in step S120, and the stopping positions 14(P14) and 14(P24), which were newly determined to be escape routes by the escape route search unit 102, have been added to the escape route list L_E.

[0143] Next, the deadlock detection unit 103 uses the list of moving objects requiring evacuation L_M and the list of evacuation locations L_E to determine again whether the route (R_M1) on the taxiway 12 is in a deadlock state. In the example of the list of moving objects requiring evacuation L_M shown in Figure 26 and the list of evacuation locations L_E shown in Figure 27, the number of moving objects 13 included in the list of moving objects requiring evacuation L_M is 5, while the number of stopping positions 14 included in the list of evacuation locations L_E is 4, and the number of moving objects requiring evacuation is greater than the number of evacuation locations. For this reason, the deadlock detection unit 103 determines that the route (R_M1) on the taxiway 12 in the third example is in a deadlock state.

[0144] If the route (R_M1) in the taxiway 12 of the third example is determined to be in a deadlock state, and there are no more mobile bodies 13 that can be added to the list of mobile bodies requiring evacuation L_M, the evacuation area search range expansion unit 104 sets a waypoint for mobile body 13 (M1). When setting a waypoint, the mobile body 13 added above is not considered.

[0145] Intermediate stops are any stopping positions 14 other than those on the route (R_M1) that the moving object 13(M1) passes through on its way from the starting point, stopping position 14(P2), to the destination, stopping position 14(P116).

[0146] The Evacuation Area Search Range Expansion Unit 104 first searches for waypoints in the taxiway 12 of the third example that the moving object 13(M1) can move to without becoming deadlocked. The Evacuation Area Search Range Expansion Unit 104 searches for waypoints starting from a stopping position 14 that is close to the stopping position 14(P2) where the moving object 13(M1) is stopped. For example, stopping position 14(P1) is one of the waypoints that the moving object 13(M1) can move to without becoming deadlocked. Waypoints can be confirmed using the Moving Object Requiring Evacuation Search Unit 101, the Evacuation Area Search Unit 102, and the Deadlock Detection Unit 103. The Evacuation Area Search Range Expansion Unit 104 repeats the search for waypoints until it finds a waypoint that the moving object 13(M1) can move to without becoming deadlocked.

[0147] Next, the evacuation area search range expansion unit 104 checks whether a deadlock occurs when the moving object 13(M1) is moved to the stop position 14(P1) that was searched as an intermediate point. When the moving object 13(M1) moves from the stop position 14(P1) to the destination stop position 14(P116), the evacuation-requiring moving object search unit 101 creates the evacuation-requiring moving object list L_M in the same manner as above.

[0148] Figure 28 shows an example of a list of objects requiring evacuation for a third example of a guide path, which has been recreated by the object-requiring search unit of the route planning device in the automated transport system according to Embodiment 1. In Figure 28, the names of the objects 13 identified as objects requiring evacuation by the object-requiring search unit 101, namely object 13(M2), object 13(M3), object 13(M5), and object 13(M6), have been added to the object-requiring list L_M.

[0149] Next, the evacuation site search unit 102 recreates the evacuation site list L_E using the list of moving objects requiring evacuation L_M shown in Figure 28.

[0150] Figure 29 shows an example of a list of escape routes for a third example of a guideway, which has been recreated by the escape route search unit of the route planning device of the automated transport system according to Embodiment 1. In Figure 29, the names of the stopping positions 14 identified as escape routes by the escape route search unit 102 in step S120, namely stopping position 14(P7) and stopping position 14(P26), and the stopping positions 14 newly determined to be escape routes by the escape route search unit 102, namely stopping position 14(P12), stopping position 14(P22), and stopping position 14(P112), have been added to the escape route list L_E.

[0151] Next, the deadlock detection unit 103 uses the list of moving objects requiring evacuation L_M and the list of evacuation locations L_E to determine again whether the route (R_M1) on the taxiway 12 is in a deadlock state. In the example of the list of moving objects requiring evacuation L_M shown in Figure 28 and the list of evacuation locations L_E shown in Figure 29, the number of moving objects 13 included in the list of moving objects requiring evacuation L_M is 4, while the number of stopping positions 14 included in the list of evacuation locations L_E is 5, and the number of moving objects requiring evacuation is less than or equal to the number of evacuation locations. Therefore, the deadlock detection unit 103 determines that the route (R_M1) on the taxiway 12 in the third example is not in a deadlock state.

[0152] If it is determined that the path (R_M1) in the taxiway 12 of the third example is not in a deadlock state, the process proceeds to step S140, where the movement planning unit 105 performs the movement planning step to create a movement plan.

[0153] First, the movement planning unit 105 creates a plan to move the mobile body 13(M1) to an intermediate point as the first movement plan. The movement planning unit 105 assigns the intermediate point, stopping position 14(P1), to the destination of the mobile body 13(M1) and adds it to the movement plan list.

[0154] Figure 30 is the first figure showing an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 30, the movement plan for the moving body 13(M1) has been added.

[0155] Next, the movement planning unit 105 focuses on the first moving body 13(M2) among the moving bodies that need to be evacuated. That is, the movement planning unit 105 focuses on the first moving body 13(M2) among the moving bodies 13 included in the moving body list L_M shown in Figure 28. Among the evacuation sites, the evacuation site closest to the stopping position 14(P3) where the moving body 13(M2) is stopped is stopping position 14(P12). That is, among the stopping positions 14 included in the evacuation site list L_E shown in Figure 29, the stopping position 14 closest to the stopping position 14(P3) where the moving body 13(M2) is waiting is stopping position 14(P12).

[0156] Therefore, the movement planning unit 105 creates a second movement plan, which is to move the moving body 13(M2) to the stopping position 14(P12). The movement planning unit 105 assigns the stopping position 14(P12) to the destination of the moving body 13(M2) and adds it to the movement plan list.

[0157] Figure 31 is a second figure showing an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 31, the movement plan for the moving body 13(M2) has been added.

[0158] Next, the movement planning unit 105 focuses on the second moving body 13(M3) among the moving bodies that need to be evacuated. That is, the movement planning unit 105 focuses on the second moving body 13(M3) among the moving bodies 13 included in the moving body list L_M shown in Figure 28. Among the remaining evacuation sites, the stopping position 14 closest to the stopping position 14(P4) where moving body 13(M3) is stopped is stopping position 14(P7). That is, among the remaining stopping positions 14 included in the evacuation site list L_E shown in Figure 29, the stopping position 14 closest to the stopping position 14(P4) where moving body 13(M3) is stopped is stopping position 14(P7).

[0159] Here, in order to move the moving body 13(M3) from stopping position 14(P4) to stopping position 14(P7), it must pass through stopping position 14(P5). However, moving body 13(M5) is stopped at stopping position 14(P5). Also, moving body 13(M6) is stopped at stopping position 14(P6). In this case, moving body 13(M3) cannot move to stopping position 14(P7) because it will interfere with moving body 13(M5) and moving body 13(M6). Therefore, before moving moving body 13(M3) to stopping position 14(P7), it is necessary to move moving body 13(M5) and moving body 13(M6) to other stopping positions 14 first.

[0160] Therefore, the movement planning unit 105 creates a third movement plan in which the mobile body 13(M6) is moved to the stopping position 14(P7) first, before the mobile body 13(M3) is moved to the stopping position 14(P7). The movement planning unit 105 assigns the stopping position 14(P7) to the destination of the mobile body 13(M6) and adds it to the movement plan list.

[0161] Figure 32 is a third figure showing an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 32, the movement plan for the mobile body 13 (M6) has been added.

[0162] Next, the movement planning unit 105 focuses on the moving body 13(M3) again. Among the remaining evacuation sites, the closest stopping position 14 to the stopping position 14(P4) where the moving body 13(M3) is stopped is stopping position 14(P26). That is, among the remaining stopping positions 14 included in the evacuation site list L_E shown in Figure 29, the closest stopping position 14 to the stopping position 14(P4) where the moving body 13(M3) is stopped is stopping position 14(P26).

[0163] Here, in order to move the moving body 13(M3) from stopping position 14(P4) to stopping position 14(P26), it must pass through stopping position 14(P5). However, moving body 13(M5) is stopped at stopping position 14(P5). In this case, moving body 13(M3) cannot move to stopping position 14(P26) because it will interfere with moving body 13(M5). Therefore, before moving moving body 13(M3) to stopping position 14(P26), it is necessary to move moving body 13(M5) to another stopping position 14 first.

[0164] Therefore, the movement planning unit 105 creates a fourth movement plan in which the mobile body 13(M5) is moved to the stopping position 14(P26) first, before the mobile body 13(M3) is moved to the stopping position 14(P26). The movement planning unit 105 assigns the stopping position 14(P26) to the destination of the mobile body 13(M5) and adds it to the movement plan list.

[0165] Figure 33 is a fourth figure showing an example of a movement plan list for a third example guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 33, the movement plan for the moving body 13 (M5) has been added.

[0166] Next, the movement planning unit 105 focuses on the moving body 13(M3) again. Among the remaining evacuation sites, the closest stopping position 14 to the stopping position 14(P4) where the moving body 13(M3) is stopped is stopping position 14(P22). That is, among the remaining stopping positions 14 included in the evacuation site list L_E shown in Figure 29, the closest stopping position 14 to the stopping position 14(P4) where the moving body 13(M3) is stopped is stopping position 14(P22).

[0167] In order to move the moving object 13(M3) to the stopping position 14(P22), it must pass through the stopping position 14(P12). However, the stopping position 14(P12) is assigned as the destination of the moving object 13(M2). In this case, the moving object 13(M3) cannot move to the stopping position 14(P22) because it would interfere with the moving object 13(M2).

[0168] Therefore, the movement planning unit 105 creates a plan to change the destination of the moving body 13(M2) to the stopping position 14(P22). The movement planning unit 105 assigns the stopping position 14(P22) to the destination of the moving body 13(M2) and adds it to the movement plan list.

[0169] Figure 34 is a fifth figure showing an example of a movement plan list for a third example of a guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 34, the destination of the moving body 13 (M2) has been changed to the stopping position 14 (P22).

[0170] Next, the movement planning unit 105 focuses on the moving body 13(M3) again. Among the remaining evacuation sites, the closest stopping position 14 to the stopping position 14(P4) where the moving body 13(M3) is stopped is stopping position 14(P12). That is, among the remaining stopping positions 14 included in the evacuation site list L_E shown in Figure 29, the closest stopping position 14 to the stopping position 14(P4) where the moving body 13(M3) is stopped is stopping position 14(P12).

[0171] Therefore, the movement planning unit 105 creates a fifth movement plan, which is to move the moving body 13(M3) to the stopping position 14(P12). The movement planning unit 105 assigns the stopping position 14(P12) to the destination of the moving body 13(M3) and adds it to the movement plan list.

[0172] Figure 35 is the sixth figure showing an example of a movement plan list for a third example guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 35, the movement plan for the moving body 13 (M3) has been added.

[0173] As described above, a movement plan is created to move all the moving objects 13 included in the list of moving objects to be evacuated L_M shown in Figure 28 to one of the stopping positions 14 included in the list of evacuation locations L_E shown in Figure 29.

[0174] Finally, the movement planning unit 105 creates a movement plan to move the moving body 13(M1) to the destination, which is the stopping position 14(P116). The movement planning unit 105 assigns the stopping position 14(P116) to the destination of the moving body 13(M1) and adds it to the end of the movement plan list.

[0175] Figure 36 is the seventh figure showing an example of a movement plan list for a third example guide path, created by the movement planning unit of the route planning device in the automated transport system according to Embodiment 1. In the movement plan list shown in Figure 36, the movement plan for the mobile body 13(M1) has been added.

[0176] The route planning device 10 transmits the information of the movement plan created as described above to the instruction unit 111 of the mobile body control device 11. The instruction unit 111 of the mobile body control device 11 controls the movement of multiple mobile bodies that need to be evacuated, including the order in which the multiple mobile bodies need to be evacuated move, based on the movement plan created by the route planning device 10. That is, the instruction unit 111 of the mobile body control device 11 controls the movement of multiple mobile bodies 13 by transmitting movement command information to the multiple mobile bodies that need to be evacuated, taking into account the order in which the multiple mobile bodies need to be evacuated move.

[0177] As a result, the automated transport system 1 moves the moving bodies 13 sequentially according to the movement plan created by the path planning device 10, so that the moving body 13 (M1) can be moved to the destination stopping position 14 (P116) without interfering with other moving bodies 13.

[0178] Here, the order of the movement plans created as described above, that is, the "No." in the movement plan list, may be treated as the priority of each moving object 13. In this case, if the stopping position 14 of a certain moving object 13 is not included in the travel path of another moving object 13 with a higher priority, the moving object 13 may be moved regardless of the order of the movement plans. This makes it possible to move multiple moving objects 13 to their respective destinations without interference.

[0179] For example, in the example of the movement plan list shown in Figure 36, the third movement plan in the movement plan list shown in Figure 36, movement plan No. 3, is the movement plan for mobile body 13(M6). The travel path for mobile body 13(M6) is to the stopping position 14(P7). The travel path to stopping position 14(P7) is not included in the travel path of mobile body 13(M1) of the first movement plan No. 1 in the movement plan list, nor in the travel path of mobile body 13(M2) of the second movement plan No. 2 in the movement plan list. Therefore, even if mobile body 13(M6) starts moving at the same time as mobile body 13(M1) of the first movement plan No. 1 in the movement plan list, no interference between the two mobile bodies 13 will occur.

[0180] The route planning program according to Embodiment 1 is any program that causes a computer to execute steps S110 to S150 shown in Figure 6. By installing and executing the route planning program on a computer, the route planning device 10 and the route planning method according to Embodiment 1 can be realized.

[0181] Furthermore, the route planning program according to Embodiment 1 may be executed by a computer system constructed by multiple computers. In this case, for example, each computer may function as one of the following: a unit to search for a moving object requiring evacuation 101, a unit to search for an evacuation site 102, a deadlock detection unit 103, a unit to expand the range of the evacuation site search 104, a movement planning unit 105, or a planning device control unit 108.

[0182] As described above, in the automated transport system 1 according to Embodiment 1, when moving a mobile body 13(M1), the instruction unit 111 of the mobile body control device 11 transmits movement command information to the mobile body control unit 136 of the mobile body 13(M1). At the same time as transmitting the movement command information to the mobile body control unit 136, the instruction unit 111 also transmits the movement command information and the information of the guide path 12 to the route planning device 10. Furthermore, for mobile bodies 13 other than mobile body 13(M1) among the multiple mobile bodies 13 of the automated transport system 1, the instruction unit 111 transmits movement command information and the current position information of the mobile body 13 to the route planning device 10.

[0183] Then, the route planning device 10 determines and predicts whether a deadlock condition will occur in the moving body 13(M1) based on the information obtained from the instruction unit 111. In other words, the route planning device 10 determines and predicts whether a deadlock condition will occur in the route (R_M1) on which the moving body 13(M1) travels from the starting point, stopping position 14(P2), to the destination, stopping position 14(P116).

[0184] Then, if the route planning device 10 predicts that a deadlock condition will occur in the mobile body 13(M1), it creates a movement plan for other mobile bodies 13 (other than mobile body 13(M1)) and a movement plan for mobile body 13(M1) in order to avoid the deadlock condition of mobile body 13(M1). The route planning device 10 transmits the information of the created movement plans to the instruction unit 111 of the mobile body control device 11.

[0185] The instruction unit 111 of the mobile object control device 11 controls the movement of multiple mobile objects to be evacuated, including the order in which they move, based on the movement plan created by the route planning device 10. That is, the instruction unit 111 of the mobile object control device 11 controls the movement of multiple mobile objects 13 by transmitting movement command information to the multiple mobile objects, taking into account the order in which they move. If there is only one mobile object to be evacuated, the instruction unit 111 of the mobile object control device 11 only needs to transmit movement command information to that single mobile object.

[0186] By performing this process, the automated transport system 1 can move the moving bodies 13 sequentially, thereby moving the moving body 13 (M1) to the destination stopping position 14 (P116) without interfering with other moving bodies 13.

[0187] Furthermore, when movement command information is transmitted to the moving body 13(M1), the automated transport system 1's route planning device 10 can predict the occurrence of a deadlock in the moving body 13(M1) and immediately feed back a movement plan that avoids the deadlock to the instruction unit 111 of the moving body control device 11. This allows the moving body that needs to be evacuated to be moved to an evacuation site before a deadlock actually occurs in the moving body 13(M1), thus preventing the occurrence of a deadlock in the moving body 13(M1) in advance.

[0188] Furthermore, the instruction unit 111 of the mobile body control device 11 may transmit the movement command information to the route planning device 10 before transmitting the movement command information to the mobile body 13(M1), and receive feedback on the movement plan from the route planning device 10. This allows the instruction unit 111 of the mobile body control device 11 to simultaneously transmit movement command information to the mobile body 13(M1) and the mobile body that needs to be evacuated, enabling smoother control of the mobile body 13.

[0189] Therefore, as described above, the automated transport system 1 according to Embodiment 1 has the effect of being able to predict a deadlock state when movement command information is transmitted to the moving body, create a movement plan that can avoid deadlocks, and efficiently move the moving body 13 while avoiding deadlocks.

[0190] Embodiment 2. Embodiment 2 describes a modified version of the automated transport system 1 according to Embodiment 1 described above. In Embodiment 1 described above, the only position in the guide path 12 where the mobile body 13 can stop is the stopping position 14, and the only position in the guide path 12 that the escape area search unit 102 searches for is the stopping position 14. Embodiment 2 describes a case in which the mobile body 13 can stop at positions other than the stopping position 14 in the guide path 12a, which will be described later, and the escape area search unit 102 can search for positions other than the stopping position 14 in the guide path 12a as positions that are targets for escape areas. That is, in Embodiment 2, the number of positions in the guide path 12a that the escape area search unit 102 searches for is expanded compared to the guide path 12 in Embodiment 1, and the number of positions in the guide path 12a that the escape area search unit 102 searches for includes the dedicated escape stopping position 15, which will be described later, in addition to the stopping position 14.

[0191] Figure 37 shows the layout of the guideway according to Embodiment 2. The guideway 12a according to Embodiment 2 shown in Figure 37 has the addition of dedicated evacuation stop positions 15 (P34), dedicated evacuation stop positions 15 (P114), and dedicated evacuation stop positions 15 (P134) compared to the guideway 12 shown in Figure 5. A moving body 13 (M1) is also shown in Figure 37. In other words, in the guideway 12a according to Embodiment 2, dedicated evacuation stop positions 15 are provided at positions different from the stop positions 14 along the path that constitutes the guideway 12a.

[0192] The dedicated evacuation stop position 15 is a dedicated position where the mobile body 13 stops in order to evacuate, and is a different position from the stop position 14 on the taxiway 12a where the mobile body 13 can stop. Specifically, the dedicated evacuation stop position 15 is a dedicated position for evacuating a mobile body that has been identified as an evacuation mobile body by the evacuation mobile body search unit 101 to outside the travel path from the departure point to the destination of the mobile body 13 that is the subject of the travel plan creation on the taxiway 12a, and is a different position from the stop position 14. In other words, the dedicated evacuation stop position 15 is a dedicated position where the mobile body that needs to be evacuated stops in order to evacuate the mobile body that needs to be evacuated to outside the travel path of the mobile body 13 that is the subject of the deadlock evaluation on the taxiway 12a, and is a different position from the stop position 14 on the taxiway 12a.

[0193] Multiple evacuation-only stopping positions 15 may exist along the path constituting the taxiway 12a, with one or more provided in the taxiway 12a. That is, the taxiway 12a according to Embodiment 2 has multiple stopping positions 14 and one or more evacuation-only stopping positions 15.

[0194] The designated evacuation stop position 15 is located at a distance of at least one unit length of the mobile body 13 from the adjacent stop position 14 and the adjacent designated evacuation stop position 15. In other words, the designated evacuation stop position 15 is located at a distance greater than the total length of the mobile body 13 from the adjacent stop position 14 and the adjacent designated evacuation stop position 15.

[0195] In the guideway 12a according to Embodiment 2, the mobile body 13 performs one of the following actions: moving forward, backward, or changing direction, stopping at one of the stopping positions 14(P1) to 14(P116), and the transported object is transferred.

[0196] Furthermore, in the guideway 12a according to Embodiment 2, the mobile body 13 can move forward, backward, or change direction to stop at the dedicated evacuation stop position 15 and move away, and can also move away from the dedicated evacuation stop position 15. However, the dedicated evacuation stop position 15 is a dedicated position for the mobile body 13 to move away. For this reason, in the guideway 12a according to Embodiment 2, when the mobile body 13 stops at the dedicated evacuation stop position 15, no transported goods are transferred. In other words, no transported goods are transferred to the mobile body 13 at the dedicated evacuation stop position 15.

[0197] The dedicated evacuation stop position 15 is provided between stop position 14 and another stop position 14 adjacent to stop position 14. That is, the dedicated evacuation stop position 15 is provided on the path that exists between stop position 14 and another stop position 14 adjacent to stop position 14. Alternatively, the dedicated evacuation stop position 15 may be provided on a path branching off from stop position 14. Alternatively, the dedicated evacuation stop position 15 may be provided on a path branching off from the dedicated evacuation stop position 15.

[0198] In Figure 37, the dedicated evacuation stop position 15(P34) is located between stop position 14(P4) and another stop position 14(P14) adjacent to stop position 14(P4). In other words, the dedicated evacuation stop position 15(P34) is located on the path between stop position 14(P4) and another stop position 14(P14) adjacent to stop position 14(P4).

[0199] Furthermore, in Figure 37, the dedicated evacuation stop position 15 (P114) is located on a path branching off from stop position 14 (P14). In this case, stop position 14 (P14) can be considered a branching point in the secondary flow path that branches off from stop position 14 (P4) in taxiway 12a. That is, the dedicated evacuation stop position 15 (P114) is located in the tertiary flow path that branches off from stop position 14 (P14) in taxiway 12a.

[0200] Furthermore, in Figure 37, the dedicated evacuation stop position 15 (P134) is located on a path branching off from the dedicated evacuation stop position 15 (P34). In this case, the dedicated evacuation stop position 15 (P34) can be considered a branching point in the secondary flow path branching off from the stop position 14 (P4). That is, the dedicated evacuation stop position 15 (P134) is located in the tertiary flow path branching off from the dedicated evacuation stop position 15 (P34) in the taxiway 12a.

[0201] In Embodiment 2, the dedicated evacuation stop position 15 is treated the same as the stop position 14 by the evacuation area search unit 102, the deadlock detection unit 103, the evacuation area search range expansion unit 104, and the movement planning unit 105. The moving body 13 can stop at the dedicated evacuation stop position 15, which is a position other than the stop position 14 on the taxiway 12a, and the evacuation area search unit 102 can search for positions other than the stop position 14 on the taxiway 12a as positions that are targets for evacuation areas. In other words, in Embodiment 2, the positions that the evacuation area search unit 102 searches for on the taxiway 12a are expanded compared to the taxiway 12 in Embodiment 1, and include the dedicated evacuation stop position 15 in addition to the stop position 14. Furthermore, the dedicated evacuation stop position 15 is treated as a target for processing in the same way as the stop position 14 by the deadlock detection unit 103, the evacuation area search range expansion unit 104, and the movement planning unit 105.

[0202] As a result, the guide path 12a according to Embodiment 2 can increase the number of potential evacuation locations by adding a dedicated evacuation stop position 15, which is a dedicated position for the moving body 13 to evacuate, with minimal layout expansion compared to the guide path 12 according to Embodiment 1, without expanding the layout. As a result, the guide path 12a according to Embodiment 2 and the automated transport system 1 equipped with the guide path 12a have the effect of reducing the frequency of deadlocks. In addition, the guide path 12a according to Embodiment 2 and the automated transport system 1 equipped with the guide path 12a have the effect of shortening the travel time until the moving body 13, which is a moving object that needs to be evacuated, is moved from the path (R_M1) to outside the path (R_M1). As a result, the guide path 12a according to Embodiment 2 and the automated transport system 1 equipped with the guide path 12a have the effect of being able to move the moving body 13 efficiently while avoiding deadlocks.

[0203] Next, the hardware configuration of the control unit 80 according to Embodiment 1 will be described. The control unit 80 according to Embodiment 1 corresponds to the evacuation-requiring moving object search unit 101, evacuation area search unit 102, deadlock detection unit 103, evacuation area search range expansion unit 104, movement planning unit 105, and planning device control unit 108 in the route planning device 10, the instruction unit 111 and control device control unit 114 in the moving object control device 11, and the position estimation unit 132 and moving object control unit 136 in the moving object 13. Each function of the control unit 80 according to Embodiment 1 is realized by a processing circuit. The processing circuit may be dedicated hardware, or it may be a processing device that executes a program stored in a storage device.

[0204] When the processing circuit is dedicated hardware, the processing circuit may be a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an application-specific integrated circuit, a field-programmable gate array, or a combination thereof. Figure 38 is a diagram showing the configuration in which each function of the control unit according to Embodiment 1 is realized in hardware. The processing circuit 81 incorporates a logic circuit 81a that realizes the function of the control unit 80.

[0205] If the processing circuit 81 is a processing unit, the functions of the control unit 80 are realized by software, firmware, or a combination of software and firmware.

[0206] Figure 39 shows a configuration in which each function of the control unit according to Embodiment 1 is implemented by software. The processing circuit 81 includes a processor 811 that executes program 81b, a random access memory 812 used by the processor 811 as a work area, and a storage device 813 that stores program 81b. The processor 811 loads program 81b stored in the storage device 813 onto the random access memory 812 and executes it, thereby realizing the functions of the control unit 80. The software or firmware is written in a programming language and stored in the storage device 813. The processor 811 can be a central processing unit, but is not limited to this. The storage device 813 can be a semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), or EEPROM (Electrically Erasable Programmable Read Only Memory). The semiconductor memory may be non-volatile memory or volatile memory. Furthermore, the storage device 813 can be a magnetic disk, flexible disk, optical disk, compact disk, minidisc, or DVD (Digital Versatile Disc) in addition to semiconductor memory. The processor 811 may output data such as calculation results to the storage device 813 for storage, or it may store such data in an auxiliary storage device (not shown) via the random access memory 812. By integrating the processor 811, random access memory 812, and storage device 813 onto a single chip, the functions of the control unit 80 can be realized by a microcomputer.

[0207] The processing circuit 81 realizes the functions of the control unit 80 by reading and executing the program 81b stored in the memory device 813. The program 81b can also be described as instructing the computer to execute the procedures and methods for realizing the functions of the control unit 80.

[0208] In the processing circuit 81 for realizing the functions of the evacuation-requiring moving object search unit 101, the evacuation area search unit 102, the deadlock detection unit 103, the evacuation area search range expansion unit 104, the movement planning unit 105, and the planning device control unit 108 in the route planning device 10, the program 81b includes a route planning program.

[0209] Furthermore, the processing circuit 81 may implement some of the functions of the control unit 80 using dedicated hardware, and some of the functions of the control unit 80 using software or firmware.

[0210] Thus, the processing circuit 81 can realize each of the above-mentioned functions through hardware, software, firmware, or a combination thereof.

[0211] The configurations shown in the above embodiments are merely examples, and it is possible to combine them with other known technologies, combine different embodiments, and omit or modify parts of the configuration without departing from the gist of the invention. [Explanation of Symbols]

[0212] 1 Automatic transport system, 10 Route planning device, 11 Mobile object control device, 12,12a Guideway, 13 Mobile object, 14 Stop position, 15 Evacuation-only stopping position, 80 Control unit, 81 Processing circuit, 81a Logic circuit, 81b Program, 101 Mobile object requiring evacuation search unit, 102 Evacuation area search unit, 103 Deadlock detection unit, 104 Evacuation area search range expansion unit, 105 Movement planning unit, 106 Planning device communication unit, 107 Planning device storage unit, 108 Planning device control unit, 111 Instruction unit, 112 Control device communication unit, 113 Control device storage unit, 114 Control device control unit, 131 Sensor unit, 132 Position estimation unit, 133 Movement unit, 134 Mobile object communication unit, 135 Mobile object storage unit, 136 Mobile object control unit, 811 Processor, 812 Random access memory, 813 storage device.

Claims

1. A deadlock detection unit predicts the occurrence of a deadlock in the travel path of the mobile body to be evaluated for deadlock, based on taxiway information including the arrangement of travel paths in the taxiway and information on stopping positions in the taxiway, travel path information of the mobile body to be evaluated for deadlock from its starting point to its destination in the taxiway, travel path information of other mobile bodies other than the mobile body to be evaluated for deadlock from their starting points to their destinations in the taxiway, current position information of the other mobile bodies in the taxiway, and the number of escape locations for moving the other mobile bodies outside the travel path of the mobile body to be evaluated for deadlock; A movement planning unit creates a movement plan for the other moving body to avoid the occurrence of a deadlock predicted by the deadlock detection unit, A route planning device characterized by comprising the following features.

2. Based on the information of the guideway, the information of the travel path of the mobile body to be evaluated for deadlock, the information of the travel path of the other mobile body, and the current position information of the other mobile body, a mobile body to be moved to safety searches for a mobile body that is the other mobile body interfering with the mobile body to be evaluated for deadlock within the travel path of the mobile body to be evaluated for deadlock; A rescue area search unit searches for a rescue area in the guideway to move the moving object to be rescued outside the travel path of the moving object subject to deadlock evaluation, Equipped with, The deadlock detection unit determines that a deadlock exists when the number of moving objects requiring evacuation is greater than the number of evacuation sites, and predicts the occurrence of a deadlock in the travel path of the moving object being evaluated for deadlock. A route planning device according to claim 1, characterized by the following:

3. The movement planning unit creates a movement plan to move the moving object to be evacuated to the evacuation site and move the moving object subject to deadlock evaluation to the destination. The route planning device according to claim 2, characterized in that

4. The system includes an evacuation area search range expansion unit that, when the occurrence of the aforementioned deadlock is predicted, adds one or more other moving objects other than the moving object determined to be an evacuation object as moving objects that need to be evacuated, The deadlock detection unit predicts the occurrence of a deadlock in the travel path of the moving object to be evaluated for deadlock, including the moving object requiring evacuation added by the evacuation area search range expansion unit. A route planning device according to claim 3, characterized by the following:

5. The aforementioned evacuation area search range expansion unit searches for intermediate locations that are not on the travel path of the mobile body subject to deadlock evaluation and that are locations where the mobile body subject to deadlock evaluation can move without becoming deadlocked, when there are no other mobile bodies that can be newly added as the mobile body that needs to be evacuated. The movement planning unit first moves the object to be evaluated for deadlock to the intermediate point, then moves the object requiring evacuation to the evacuation point, and then creates a movement plan to move the object to be evaluated for deadlock from the intermediate point to the destination. A route planning device according to claim 4, characterized by the following:

6. The aforementioned evacuation area is a stopping position on the taxiway where the moving body stops and the transported goods are transferred. A route planning device according to any one of claims 2 to 5, characterized by the following:

7. The aforementioned evacuation area is a dedicated evacuation stop position, which is a position on the taxiway that is different from the aforementioned stop position, and is a dedicated stop position for the moving body to stop in order to move the moving body to the outside of the travel path of the moving body subject to evaluation of the deadlock, and is a dedicated stop position on the taxiway. A route planning device according to any one of claims 2 to 5, characterized by the following:

8. A deadlock detection step predicts the occurrence of a deadlock in the travel path of the mobile body to be evaluated for deadlock, based on taxiway information including the arrangement of travel paths in the taxiway and information on stopping positions in the taxiway, travel path information of the mobile body to be evaluated for deadlock from its starting point to its destination in the taxiway, travel path information of other mobile bodies other than the mobile body to be evaluated for deadlock from their starting points to their destinations in the taxiway, current position information of the other mobile bodies in the taxiway, and the number of escape locations for moving the other mobile bodies outside the travel path of the mobile body to be evaluated for deadlock; A movement planning step in which a movement plan for the other moving body is created to avoid the occurrence of the deadlock predicted in the deadlock detection step, A method for creating a route plan, characterized by including the following:

9. A deadlock detection step predicts the occurrence of a deadlock in the travel path of the mobile body to be evaluated for deadlock, based on taxiway information including the arrangement of travel paths in the taxiway and information on stopping positions in the taxiway, travel path information of the mobile body to be evaluated for deadlock from its starting point to its destination in the taxiway, travel path information of other mobile bodies other than the mobile body to be evaluated for deadlock from their starting points to their destinations in the taxiway, current position information of the other mobile bodies in the taxiway, and the number of escape locations for moving the other mobile bodies outside the travel path of the mobile body to be evaluated for deadlock; A movement planning step in which a movement plan for the other moving body is created to avoid the occurrence of the deadlock predicted in the deadlock detection step, A route planning program characterized by having a computer execute it.

10. Multiple mobile bodies move along a taxiway according to movement command information that represents instructions for moving to a target location, A route planning device that creates a movement plan for a plurality of the moving bodies along the aforementioned taxiway, A mobile body control device that creates movement command information representing instructions for moving the mobile body to a target location based on the movement plan, Equipped with, The aforementioned route planning device is A deadlock detection unit predicts the occurrence of a deadlock in the travel path of the mobile body to be evaluated for deadlock, based on taxiway information including the arrangement of travel paths in the taxiway and information on stopping positions in the taxiway, travel path information of the mobile body to be evaluated for deadlock from its starting point to its destination in the taxiway, travel path information of other mobile bodies other than the mobile body to be evaluated for deadlock from their starting points to their destinations in the taxiway, current position information of the other mobile bodies in the taxiway, and the number of escape locations for moving the other mobile bodies outside the travel path of the mobile body to be evaluated for deadlock. A movement planning unit creates a movement plan for the other moving body to avoid the occurrence of a deadlock predicted by the deadlock detection unit, To be equipped, An automated transport system characterized by the following.

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