Transport control system, transport system, and transport control method

Abstract

To improve work efficiency of a transport device.SOLUTION: A first setting part 24 sets an occupation area of an object device on a map of a prescribed area on the basis of state information of the object device being one of a plurality of transport devices 1. A second acquisition part 23 acquires information of the passage width of a two-way path travelable bidirectionally within the prescribed area. A second setting part 25 sets the width of the occupation area on the basis of a type of the object device during non-transport, and sets the width of the occupation area on the basis of the type of the object device and a transport form of a transport object during transport. The plurality of transport devices 1 include a second end going transport device for traveling on the two-way path from a first end to a second end, and a first end going transport device for traveling on the two-way path from the second end to the first end. A travel control part 27 determines whether to make the second end going transport device and the first end going transport device perform passing each other travel on the two-way path on the basis of the passage width, a first width of the occupation area to be used by the first end going transport device and a second width of the occupation area to be used by the second end going transport device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a conveyance control system, a conveyance system, and a conveyance control method. More specifically, the present disclosure relates to a conveyance control system, a conveyance system, and a conveyance control method for controlling a conveyance device that conveys a conveyed article. [Background Art]

[0002] Patent Document 1 discloses a conveyance system that causes a conveyance device to perform a conveyance operation of conveying a conveyed article. [Prior Art Document] [Patent Document]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2021-62935 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] An object of the present disclosure is to provide a conveyance control system, a conveyance system, and a conveyance control method that can improve the working efficiency of a conveyance device. [Means for Solving the Problem]

[0005] A transport control system according to one aspect of the present disclosure is a transport control system that controls the transport operations of a plurality of transport devices. The transport control system comprises a setting unit and a travel control unit. The setting unit sets the width of the occupied area used by a target device, which is one of the plurality of transport devices, relative to the width of a bidirectional path that can be traveled in both directions within a predetermined area. The travel control unit controls the travel of each of the plurality of transport devices. In a non-transport state where the target device is not transporting an object, the setting unit sets the width of the occupied area based on the type of the target device, and in a transport state where the target device is transporting an object, the setting unit sets the width of the occupied area based on the type of the target device and the transport form of the object. The plurality of transport devices include a second-end transport device that travels along the bidirectional path from the first end to the second end, and a first-end transport device that travels along the bidirectional path from the second end to the first end. The travel control unit determines, based on the path width, the first width, and the second width, whether or not to allow the first-end transport device and the second-end transport device to pass each other in the bidirectional path. The first width is the width of the occupied area used by the first end-bound conveyor, and the second width is the width of the occupied area used by the second end-bound conveyor. The travel control unit causes the second end-bound conveyor to enter the bidirectional path from the first end if the passage width is wider than the sum of the first width and the second width, even when the first end-bound conveyor is traveling along the bidirectional path. A transport control system according to one aspect of the present disclosure is a transport control system that controls the transport operations of a plurality of transport devices. The transport control system comprises a setting unit and a travel control unit. The setting unit sets the width of the occupied area used by a target device, which is one of the plurality of transport devices, relative to the width of a bidirectional path that can be traveled in both directions within a predetermined area. The travel control unit controls the travel of each of the plurality of transport devices. In a non-transport state where the target device is not transporting an object, the setting unit sets the width of the occupied area based on the type of the target device, and in a transport state where the target device is transporting an object, the setting unit sets the width of the occupied area based on the type of the target device and the transport form of the object. The plurality of transport devices include a second-end transport device that travels along the bidirectional path from the first end to the second end, and a first-end transport device that travels along the bidirectional path from the second end to the first end. The travel control unit determines, based on the path width, the first width, and the second width, whether or not to allow the first-end transport device and the second-end transport device to pass each other in the bidirectional path. The first width is the width of the occupied area used by the first end-bound conveyor, and the second width is the width of the occupied area used by the second end-bound conveyor. The travel control unit does not permit the first end-bound conveyor and the second end-bound conveyor to pass each other if the distance between the first end-bound conveyor and the second end-bound conveyor is less than a predetermined distance required for the first end-bound conveyor and the second end-bound conveyor to change their travel positions in order to pass each other while the first end-bound conveyor is traveling along the bidirectional path. A transport control system according to one aspect of the present disclosure is a transport control system that controls the transport operations of a plurality of transport devices. The transport control system comprises a setting unit and a travel control unit. The setting unit sets the width of the occupied area used by a target device, which is one of the plurality of transport devices, relative to the width of a bidirectional path that can be traveled in both directions within a predetermined area. The travel control unit controls the travel of each of the plurality of transport devices. In a non-transport state where the target device is not transporting an object, the setting unit sets the width of the occupied area based on the type of the target device, and in a transport state where the target device is transporting an object, the setting unit sets the width of the occupied area based on the type of the target device and the transport form of the object. The plurality of transport devices include a second-end transport device that travels along the bidirectional path from the first end to the second end, and a first-end transport device that travels along the bidirectional path from the second end to the first end. The travel control unit determines, based on the path width, the first width, and the second width, whether or not to allow the first-end transport device and the second-end transport device to pass each other in the bidirectional path. The first width is the width of the occupied area used by the first end-bound conveyor, and the second width is the width of the occupied area used by the second end-bound conveyor. The first end-bound conveyor and the second end-bound conveyor are each equipped with an obstacle sensor for detecting obstacles ahead in the direction of travel. When the travel control unit has the first end-bound conveyor and the second end-bound conveyor travel in the bidirectional path, it limits the detection range of the obstacle sensors of the first end-bound conveyor and the second end-bound conveyor to the width of the occupied area. A transport control system according to one aspect of the present disclosure is a transport control system that controls the transport operations of a plurality of transport devices. The transport control system comprises a setting unit and a travel control unit. The setting unit sets the width of the occupied area used by a target device, which is one of the plurality of transport devices, relative to the width of a bidirectional path that can be traveled in both directions within a predetermined area. The travel control unit controls the travel of each of the plurality of transport devices. In a non-transport state where the target device is not transporting an object, the setting unit sets the width of the occupied area based on the type of the target device, and in a transport state where the target device is transporting an object, the setting unit sets the width of the occupied area based on the type of the target device and the transport form of the object. The plurality of transport devices include a second-end transport device that travels along the bidirectional path from the first end to the second end, and a first-end transport device that travels along the bidirectional path from the second end to the first end. The travel control unit determines, based on the path width, the first width, and the second width, whether or not to allow the first-end transport device and the second-end transport device to pass each other in the bidirectional path. The first width is the width of the occupied area used by the first end-bound conveying device, and the second width is the width of the occupied area used by the second end-bound conveying device. The types of conveying devices include: a first conveying device that can travel in the forward, backward, left, and right directions and has a first connecting part for connecting the conveyed object at at least one of its front and rear ends; a second conveying device that can travel in the forward, backward, left, and right directions and has a second connecting part for connecting the conveyed object at at least one of its front and rear ends and at least one of its left and right ends; and a third conveying device that can travel in the forward and backward directions and has a third connecting part for connecting the conveyed object at at least one of its front and rear ends. ,ofIncluding. If the conveying device is the first conveying device, the setting unit sets the width of the occupied area to be the length of the shorter side of the occupied area used by the first conveying device when the first conveying device is viewed from above. If the conveying device is the second conveying device and the second conveying device is conveying the object, the setting unit sets the width of the occupied area used by the second conveying device to be the longer of the length of the shorter side of the occupied area of ​​the second conveying device when the second conveying device is not conveying an object and viewed from above, and the length of the shorter side of the object being conveyed by the second conveying device. If the conveying device is the third conveying device, the setting unit sets the width of the occupied area to be the length in the left-right direction of the occupied area used by the third conveying device when the third conveying device is viewed from above. A transport control system according to one aspect of the present disclosure is a transport control system that controls the transport operations of a plurality of transport devices. The transport control system comprises a setting unit and a travel control unit. The setting unit sets the width of the occupied area used by a target device, which is one of the plurality of transport devices, relative to the width of a bidirectional path that can be traveled in both directions within a predetermined area. The travel control unit controls the travel of each of the plurality of transport devices. In a non-transport state where the target device is not transporting an object, the setting unit sets the width of the occupied area based on the type of the target device, and in a transport state where the target device is transporting an object, the setting unit sets the width of the occupied area based on the type of the target device and the transport form of the object. The plurality of transport devices include a second-end transport device that travels along the bidirectional path from the first end to the second end, and a first-end transport device that travels along the bidirectional path from the second end to the first end. The travel control unit determines, based on the path width, the first width, and the second width, whether or not to allow the first-end transport device and the second-end transport device to pass each other in the bidirectional path. The first width is the width of the occupied area used by the first end-bound conveying device, and the second width is the width of the occupied area used by the second end-bound conveying device. The type of conveying device is ,before A lift-type conveying device that transports the object while lifting at least a portion of it. PlaceIncluding the first end-bound conveying device and the second end-bound conveying device being lift-type conveying devices. When the first end-bound conveying device is conveying the conveyed object and the second end-bound conveying device is not conveying, and in the height direction, the conveyed object being conveyed by the first end-bound conveying device does not interfere with the second end-bound conveying device, the setting unit sets the first width of the occupied area of ​​the first end-bound conveying device to a value obtained by adding half the width of the occupied area of ​​the first end-bound conveying device including the conveyed object to half the width of the occupied area of ​​the first end-bound conveying device alone.

[0006] A transport system according to one aspect of the present disclosure comprises the transport control system and the plurality of transport devices. The transport control system controls the transport operations of the plurality of transport devices.

[0007] A transport control method according to one aspect of this disclosure is a transport control method for controlling the transport operations of a plurality of transport devices. , run row control step and , setup steps and include . before In the aforementioned travel control step, the travel of each of the multiple transport devices is controlled. In the setting step, the width of the passage of a bidirectional path that can be traveled in both directions within a predetermined area is set to the width occupied by the area used by the target device, which is one of the multiple transport devices. In the setting step, when the target device is not transporting an object, the width of the occupied area is set based on the type of the target device, and when the target device is transporting an object, the width of the occupied area is set based on the type of the target device and the transport mode of the object. The plurality of transport devices include a second-end transport device that travels along the bidirectional path from the first end to the second end, and a first-end transport device that travels along the bidirectional path from the second end to the first end. In the travel control step, it is determined whether or not to allow the second-end transport device and the first-end transport device to pass each other on the bidirectional path, based on the passage width, the first width, and the second width. The first width is the width of the occupied area used by the first-end transport device, and the second width is the width of the occupied area used by the second-end transport device. In the aforementioned travel control step, even if the transport device bound for the first end is traveling along the bidirectional path, if the width of the passage is wider than the sum of the first width and the second width, the transport device bound for the second end is made to enter the bidirectional path from the first end. A transport control method according to one aspect of the present disclosure is a transport control method for controlling the transport operations of a plurality of transport devices. The transport control method includes a travel control step and a setting step. In the travel control step, the travel of each of the plurality of transport devices is controlled. In the setting step, the width of the occupied area used by a target device, which is one of the plurality of transport devices, is set relative to the width of a bidirectional path that can be traveled in both directions within a predetermined area. In the setting step, the width of the occupied area is set based on the type of the target device when the target device is not transporting an object, and the width of the occupied area is set based on the type of the target device and the transport form of the object when the target device is transporting an object. The plurality of transport devices include a second-end transport device that travels along the bidirectional path from the first end to the second end, and a first-end transport device that travels along the bidirectional path from the second end to the first end. In the travel control step, based on the width of the path, the first width, and the second width, it is determined whether or not to allow the second-end transport device and the first-end transport device to pass each other on the bidirectional path. The first width is the width of the occupied area used by the first end-bound conveyor, and the second width is the width of the occupied area used by the second end-bound conveyor. In the travel control step, if the distance between the first end-bound conveyor and the second end-bound conveyor is less than a predetermined distance required for the first end-bound conveyor and the second end-bound conveyor to change their travel positions in order to pass each other while the first end-bound conveyor is traveling along the bidirectional path, passing travel between the first end-bound conveyor and the second end-bound conveyor is not permitted. A transport control method according to one aspect of the present disclosure is a transport control method for controlling the transport operations of a plurality of transport devices. The transport control method includes a travel control step and a setting step. In the travel control step, the travel of each of the plurality of transport devices is controlled. In the setting step, the width of the occupied area used by a target device, which is one of the plurality of transport devices, is set relative to the width of a bidirectional path that can be traveled in both directions within a predetermined area. In the setting step, the width of the occupied area is set based on the type of the target device when the target device is not transporting an object, and the width of the occupied area is set based on the type of the target device and the transport form of the object when the target device is transporting an object. The plurality of transport devices include a second-end transport device that travels along the bidirectional path from the first end to the second end, and a first-end transport device that travels along the bidirectional path from the second end to the first end. In the travel control step, based on the width of the path, the first width, and the second width, it is determined whether or not to allow the second-end transport device and the first-end transport device to pass each other on the bidirectional path. The first width is the width of the occupied area used by the first end-bound conveyor, and the second width is the width of the occupied area used by the second end-bound conveyor. The first end-bound conveyor and the second end-bound conveyor are each equipped with an obstacle sensor for detecting obstacles ahead in the direction of travel. In the travel control step, when the first end-bound conveyor and the second end-bound conveyor are to travel in passing each other on the bidirectional path, the detection range of the obstacle sensors of the first end-bound conveyor and the second end-bound conveyor is limited to the width of the occupied area. [Effects of the Invention]

[0008] According to the present disclosure, there is an advantage that the working efficiency of the conveying device is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] [Figure 1] FIG. 1 is a schematic block diagram of a conveyance system including a conveyance control system and a conveyance device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a plan view showing a state where two conveyance devices pass each other traveling on a bidirectional path. [Figure 3] FIG. 3 is a plan view showing an occupied area of the first conveyance device described above. [Figure 4] FIG. 4 is a plan view showing an occupied area of the first conveyance device described above during conveyance. [Figure 5] FIG. 5 is a plan view showing an occupied area of the second conveyance device described above. [Figure 6] FIG. 6 is a plan view showing an occupied area of the second conveyance device described above during conveyance. [Figure 7] FIG. 7 is a plan view showing an occupied area of the second conveyance device described above during conveyance. [Figure 8] FIG. 8 is a plan view showing an occupied area of the third conveyance device described above. [Figure 9] FIG. 9 is a plan view showing an occupied area of the third conveyance device described above during conveyance. [Figure 10] FIG. 10 is a plan view showing an occupied area of the lift-type conveyance device described above during conveyance. [Figure 11] FIG. 11 is a plan view for explaining a passage width of a bidirectional path on which the conveyance device described above travels. [Figure 12] FIG. 12 is a flowchart explaining the operation of the conveyance control system described above. [Figure 13] FIG. 13 is a plan view showing a state where two conveyance devices pass each other traveling. [Figure 14] FIG. 14 is a front view seen from the front of a state where two conveyance devices pass each other traveling. [Figure 15]FIG. 15 is a plan view showing a state where two conveying devices pass each other while traveling. [Figure 16] FIG. 16 is a plan view showing a state where two conveying devices pass each other while traveling. [Figure 17] FIG. 17 is a plan view showing a state where two conveying devices pass each other while traveling. [Figure 18] FIG. 18 is a plan view showing a state where two conveying devices pass each other while traveling. [Figure 19] FIG. 19 is a plan view showing a state where two conveying devices pass each other while traveling. DESCRIPTION OF EMBODIMENTS

[0010] (Embodiment) (1) Overview A schematic block diagram of a conveyance control system 2 and a conveyance system 100 according to the present embodiment is shown in FIG. 1.

[0011] The conveyance control system 2 controls conveyance operations of a plurality of conveying devices 1.

[0012] The conveyance control system 2 includes a first acquisition unit 22, a first setting unit 24, a second acquisition unit 23, a second setting unit 25, and a travel control unit 27.

[0013] The first acquisition unit 22 acquires state information related to the state of a target device from the target device, which is one of the plurality of conveying devices 1.

[0014] On a map of a predetermined area AR1 (see FIG. 2), the first setting unit 24 sets, based on the state information, an area including the position where the target device is located as an occupied area B1 used by the target device.

[0015] The second acquisition unit 23 acquires information on a passage width DP1 of a bidirectional path PT1 that allows bidirectional traffic within the predetermined area.

[0016] The second setting unit 25 sets a width occupied by the occupied area B1 with respect to the passage width DP1.

[0017] The travel control unit 27 controls the travel of each of the multiple transport devices 1.

[0018] The second setting unit 25 sets the width of the occupied area B1 based on the type of the target device when the target device is not transporting the transported object C1, and sets the width of the occupied area B1 based on the type of the target device and the transporting mode of the transported object C1 when the target device is transporting the transported object C1.

[0019] The multiple transport devices 1 include a second-end transport device 1B that travels along the bidirectional path PA1 from the first end G1 to the second end G2, and a first-end transport device 1A that travels along the bidirectional path PA1 from the second end G2 to the first end G1.

[0020] The travel control unit 27 determines whether or not to allow the first-end-bound transport device 1A and the second-end-bound transport device 1B to pass each other in the bidirectional path PA1, based on the passage width DP1, the first width D1, and the second width D2. The first width D1 is the width of the occupied area B11 used by the first-end-bound transport device 1A. The second width D2 is the width of the occupied area B12 used by the second-end-bound transport device 1B.

[0021] Here, the conveying device 1 is introduced to facilities such as logistics centers (including distribution centers), factories, offices, stores, schools, and hospitals. The designated area AR1 is the area within the facility where the conveying device 1 is used. The following describes the case where the conveying device 1 is introduced to a logistics center. Note that the designated area AR1 is not shown in drawings other than Figure 2.

[0022] The items transported by the transport device 1 include transport items C1 (see Figure 2), such as pallets, which the transport device 1 lifts and transports, and transport items C2 (see Figure 4), such as trolleys, which the transport device 1 tows or lifts and transports. The transport item C2 shown in Figure 4 is, for example, a trolley used to transport multiple items. The trolley is, for example, a trolley with a basket equipped with multiple wheels 200 (a so-called roll box pallet), which can be moved by an operator pushing it. When the transport system 100 is used in a factory, the items transported by the transport device 1 may include parts or materials supplied to manufacturing equipment, finished products or semi-finished products manufactured by manufacturing equipment, or parts supply equipment that supplies parts to manufacturing equipment.

[0023] The status information related to the state of the target device (transport device 1) includes device information related to the status of the transport device 1 itself, and work information related to the transport operations performed by the transport device 1.

[0024] The device information includes at least information relating to the size and shape of the conveying device 1, information relating to the type of conveying device 1, and information relating to the current position of the conveying device 1. The device information may further include information relating to the moving speed, moving direction, and moving posture (orientation) of the conveying device 1.

[0025] Furthermore, the work information includes information indicating whether or not a transport operation is being performed to transport object C1 or C2. If the transport device 1 is transporting object C1 or C2, the work information may further include information regarding the overall state (size, shape, etc.) of the transport device 1 and the transport object C1 or C2 being transported, and information regarding the transport method by which the transport device 1 is transporting object C1 or C2.

[0026] Within the designated area AR1, paths are set up that the transport device 1 can travel on. The paths that the transport device 1 can travel on include unidirectional paths in which the transport device 1 can travel in one direction, and bidirectional paths PA1 in which the transport device 1 can travel in both directions. Bidirectional paths PA1 are paths that allow the transport device 1 to travel in both directions. If the width DP1 of the bidirectional path P1 is wider than the sum of the widths of the occupied areas B1 of the two transport devices 1, the two transport devices 1 can pass each other on the bidirectional path P1. On the other hand, if the width DP1 of the bidirectional path P1 is shorter than the sum of the widths of the occupied areas B1 of the two transport devices 1, the two transport devices 1 can travel one at a time alternately on the bidirectional path P1.

[0027] There are several types of conveying devices 1, differing in their direction of travel and the gripping method by which the conveying device 1 grips the conveyed object C1 or C2. In the basic posture in which the conveying device 1 conveys the conveyed object C1 or C2, if the front of the conveying device 1 is at the front of the direction of travel and the rear of the conveying device 1 is at the rear of the conveying device 1, there are conveying devices 1 that can move in the left and right directions as well, that is, can move forward, backward, left and right, and conveying devices 1 that cannot move in the left and right directions, that is, can only move forward and backward.

[0028] Furthermore, the conveying device 1 includes towing-type conveying devices (first to third conveying devices 101 to 103, see Figures 4, 6, 7, and 9) and lift-type conveying devices 104 (see Figure 10), depending on the gripping method. The towing-type conveying devices (first to third conveying devices 101 to 103) convey the conveyed object C2, such as a trolley, by towing or pushing it while it is connected to the trolley. The lift-type conveying device 104 conveys the conveyed object C1, such as a pallet, or the conveyed object C2, while it is lifted up to at least a part of it. In other words, the types of conveying devices 1 include at least one of the towing-type conveying devices (first to third conveying devices 101 to 103) that tow or push the conveyed object C2, and the lift-type conveying device 104 that conveys the conveyed object C1 or C2 while it is lifted up to at least a part of it.

[0029] Furthermore, in the case of a towed conveying device, there are multiple types of conveying devices 1 depending on the position of the connecting part that connects the conveyed object C2. Specifically, the types of conveying devices 1 include at least one of the following: a first conveying device 101, a second conveying device 102, and a third conveying device 103. The first conveying device 101 (see Figures 3 and 4) is capable of traveling in all directions and has a first connecting part 17A for connecting the conveyed object C2 to at least one of its front and rear ends. The second conveying device 102 (see Figures 5 to 7) is capable of traveling in all directions and has a second connecting part 17B for connecting the conveyed object C2 to at least one of its front and rear ends, and at least one of its left and right ends. The third conveying device 103 (see Figures 8 and 9) is capable of traveling in all directions and has a third connecting part 17C for connecting the conveyed object C2 to at least one of its front and rear ends.

[0030] The occupied area B1 is the area used by the transport device 1. The area used by the transport device 1 includes the area where the transport device 1 is located, and may further include a predetermined safety distance space set around the transport device 1. When the transport device 1 moves, the occupied area B1 of the transport device 1 also moves along with the movement of the transport device 1. When the transport device 1 is transporting an object C1 or C2, the occupied area B1 includes the area used by the transport device 1 and the object C1 or C2 being transported by the transport device 1. In the electronic map MP1 of the predetermined area AR1 where the transport device 1 moves, the range including the location of the transport device 1 in the predetermined area AR1 is set as the occupied area B1. When the occupied area B1 of the transport device 1 is set, the travel control unit 27 makes the transport device 1 travel while avoiding obstacles so that no obstacles enter the occupied area B1. The term "obstacle" here refers to structures such as building walls or shelves 50 located within the designated area AR1, stationary objects such as transported objects C1 or C2 placed within the designated area AR1, and other transport devices 1 located within the designated area AR1.

[0031] In the transport control system 2 of this embodiment, the second setting unit 25 sets the width of the occupied area B1 based on the type of target device when not transporting, and further based on the transport mode of the transported object C1 or C2 when transporting. The travel control unit 27 then determines whether or not to allow the first end-bound transport device 1A and the second end-bound transport device 1B to travel in passing each other, based on the aisle width DP1, the first width D1 of the occupied area B11 of the first end-bound transport device 1A, and the second width D2 of the occupied area B12 of the second end-bound transport device 1B. As a result, the first end-bound transport device 1A and the second end-bound transport device 1B can travel in passing each other on the bidirectional path PA1, and the work efficiency of the transport device 1 can be improved compared to when the first end-bound transport device 1A and the second end-bound transport device 1B travel alternately on the bidirectional path PA1.

[0032] The transport system 100 also includes a transport control system 2 and a plurality of transport devices 1. The transport control system 2 controls the transport operations of the plurality of transport devices 1.

[0033] Since the transport system 100 is equipped with the transport control system 2 described above, the operational efficiency of the transport device 1 can be improved.

[0034] (2) Details (2.1) Overall structure The transport system 100 according to this embodiment will be described below with reference to Figures 1 to 10. In this embodiment, the transport system 100 consists of a plurality of transport devices 1 and a transport control system 2, and the plurality of transport devices 1 and the transport control system 2 are configured to communicate with each other. In this disclosure, "communication possible" means that information can be exchanged directly or indirectly via a network NT1 or repeater 3, etc., by an appropriate communication method such as wired communication or wireless communication. In this embodiment, the transport control system 2 and each of the plurality of transport devices 1 are bidirectional, and both transmission of information from the transport control system 2 to the transport device 1 and transmission of information from the transport device 1 to the transport control system 2 are possible.

[0035] (2.2) Conveying device The configuration of the transport device 1 in this embodiment will be described in more detail. As shown in Figures 2 to 10, the transport device 1 is an automated guided vehicle for transporting transported objects C1 or C2, and autonomously travels to the destination by grasping the transported objects C1 or C2. In this embodiment, the transport control system 2 communicates with the transport device 1 via the network NT1 and the repeater 3, and indirectly controls the movement of the transport device 1.

[0036] The transport device 1 autonomously travels on a flat moving surface 51, such as the floor of a predetermined area AR1. Here, as an example, the transport device 1 is equipped with a battery and operates using the electrical energy stored in the battery. The transport device 1, for example, grasps an object C1 or C2 placed in one location and transports it to another location.

[0037] The conveying device 1 shown in Figures 2 and 10 is a lift-type conveying device 104 that conveys an object C1, such as a pallet, while lifting at least a portion of it. The lift-type conveying device 104 can also convey objects C2, such as trolleys. The lift-type conveying device 104 has a main body 10D that is rectangular in shape when viewed from above, and it conveys the object C1 with the object C1 placed on top of the main body 10D. Multiple wheels 16 are provided at the bottom of the main body 10D. The multiple wheels 16 include two drive wheels 16D and auxiliary wheels (driven wheels). The two drive wheels 16D are arranged side by side in the short direction at the center of the longitudinal direction of the main body 10A. The lift-type conveying device 104 can move in a desired direction on the moving surface 51 by driving the two drive wheels 16D individually. In the lift-type conveying device 104, the longitudinal direction perpendicular to the short direction in which the two drive wheels 16D are aligned is the front-rear direction, and it can move in the front-rear direction. The basic posture of the lift-type conveying device 104 while it is moving is such that the front-to-back direction (longitudinal direction) of the lift-type conveying device 104 is parallel to the direction of movement, and in this basic posture, the lift-type conveying device 104 moves forward or backward in the front-to-back direction. Here, "parallel" is a concept that includes not only perfect parallelism but also nearly parallelism. Similarly, "orthogonal" may be a concept that includes not only perfect orthogonal but also nearly orthogonal. Note that the lift-type conveying device 104 shown in Figure 2 is just one example, and the configuration of the lift-type conveying device 104 can be changed as appropriate.

[0038] The transport device 1 shown in Figures 3 to 9 is a towing type transport device that tows or pushes a transport object C2, such as a trolley, to transport it.

[0039] The conveying device 1 shown in Figures 3 and 4 is the first conveying device 101. The first conveying device 101 is capable of traveling in the forward, backward, left, and right directions (indicated by arrows DR1 and DR2 in Figure 3) and has a first connecting part 17A for connecting the conveyed object C2 to at least one of its front and rear ends. The first conveying device 101 shown in Figure 3 has a first connecting part 17A on either its front or rear end, but it may also have a first connecting part 17A on both its front and rear ends.

[0040] The first conveying device 101 has a main body 10A that is formed in a rectangular shape when viewed from above. Multiple wheels 16 are provided at the bottom of the main body 10A. The multiple wheels 16 include two drive wheels 16A and four auxiliary wheels (driven wheels). The two drive wheels 16A are located on both sides in the longitudinal direction of the main body 10A. The two drive wheels 16A are wheels with a variable rolling direction. By changing the rolling direction of the two drive wheels 16A, the first conveying device 101 can move in any direction (including forward, backward, left, and right) on the moving surface 51. The first connecting part 17A is provided on one side in the short direction of the main body 10A. The basic posture of the first conveying device 101 when conveying an object C2 is such that the first conveying device 101 is at the front and the object C2 connected to the first connecting part 17A is at the rear, pulling the object C2. In other words, the basic orientation of the first conveying device 101 is such that the shorter side of the first conveying device 101 is parallel to the direction of movement, and the shorter side of the main body 10A is referred to as the front-to-back direction. The first connecting part 17A is connected to the conveyed object C2 by, for example, mechanically connecting to a part of the conveyed object C2, but it may also be connected to the conveyed object C2 by electromagnetic force or the like. Note that the first conveying device 101 shown in Figures 3 and 4 is just an example, and the configuration of the first conveying device 101 can be changed as appropriate.

[0041] The conveying device 1 shown in Figures 5 to 7 is the second conveying device 102. The second conveying device 102 is capable of traveling in the forward, backward, left, and right directions (indicated by arrows DR1 and DR2 in Figure 5), and has a second connecting portion 17B for connecting the conveyed object C1 to at least one of the front and rear sections, and at least one of the left and right sections. In this embodiment, the second connecting portion 17B is provided on the front, rear, left, and right sections of the second conveying device 102, but the second connecting portion 17B may be provided on either the front or rear section, and on either the left or right section. The second conveying device 102 has a main body 10B that is formed in a rectangular shape in plan view. Multiple wheels 16 are provided on the lower part of the main body 10B. The multiple wheels 16 include two drive wheels 16B and four auxiliary wheels (driven wheels). The two drive wheels 16B are arranged on both sides in the longitudinal direction of the main body 10B. The two drive wheels 16B are wheels with variable rolling directions. By changing the rolling directions of the two drive wheels 16B, the second transport device 102 can move in any direction (including forward, backward, left, and right) on the moving surface 51.

[0042] The basic orientation of the second conveying device 102 while it is moving is such that the shorter side of the second conveying device 102 is parallel to the direction of movement, and the shorter side of the main body 10B is in the front-to-back direction. In this case, the second conveying device 102 conveys the conveyed object C2 when it is connected to the second connecting part 17B provided on the front or rear of the second conveying device 102 (see Figure 6). When the second conveying device 102 is traveling along the bidirectional path PA1, it is preferable to convey the conveyed object C2 in a way that the width occupied by the occupied area B1 is small relative to the passage width DP1. Therefore, when the second conveying device 102 is traveling along the bidirectional path PA1, the second conveying device 102 conveys the conveyed object C2 when it is connected to the second connecting part 17B provided on the left or right side of the second conveying device 102 (see Figure 7). The second connecting section 17B is connected to the conveyed object C2, for example, by mechanically connecting to a part of the conveyed object C2, but it may also be connected to the conveyed object C2 by electromagnetic force or the like. Note that the second conveying device 102 shown in Figures 5 to 7 is just an example, and the configuration of the second conveying device 102 can be changed as appropriate.

[0043] The conveying device 1 shown in Figures 8 and 9 is the third conveying device 103. The third conveying device 103 is capable of traveling in the forward and backward directions (indicated by arrow DR1 in Figure 8) and has a third connecting portion 17C for connecting the conveyed object C2 at at least one of its front and rear ends. In this embodiment, the third connecting portion 17C is provided at the rear of the third conveying device 103, but the third connecting portion 17C may be provided at both the front and rear ends.

[0044] The third conveying device 103 has a main body 10C that is rectangular in shape when viewed from above. Multiple wheels 16 are provided at the bottom of the main body 10C. The multiple wheels 16 include two drive wheels 16C and four auxiliary wheels (driven wheels). The two drive wheels 16C are arranged on both sides in the longitudinal direction of the main body 10C. The two drive wheels 16C are capable of rolling in the forward and backward directions. By individually controlling the rotational speed and rotational direction of the two drive wheels 16C, the third conveying device 103 is configured to move forward and backward or travel around curves on the moving surface 51.

[0045] The basic orientation of the third conveying device 103 while in motion is such that the shorter side of the third conveying device 103 is parallel to the direction of movement, and the shorter side of the main body 10C is in the front-rear direction. In this embodiment, a third connecting part 17C is provided at the rear of the main body 10C, and in the basic orientation, the third conveying device 103 is at the front, towing the conveyed object C2 connected to the third connecting part 17C. The third connecting part 17C is connected to the conveyed object C1 by, for example, mechanically connecting to a part of the conveyed object C1, but it may also be connected to the conveyed object C1 by electromagnetic force or the like. Note that the third conveying device 103 shown in Figures 8 and 9 is just one example, and the configuration of the third conveying device 103 can be changed as appropriate.

[0046] Thus, the conveying device 1 of this embodiment includes a towing-type conveying device and a lift-type conveying device 104, and the towing-type conveying device includes a first conveying device 101, a second conveying device 102, and a third conveying device 103. However, the types of conveying devices 1 are not limited to the towing-type conveying devices, namely the first conveying device 101, the second conveying device 102, and the third conveying device 103, and the lift-type conveying device 104, and may further include other types.

[0047] As shown in Figure 1, the transport device 1 comprises a control unit 11, a detection unit 12, a communication unit 13, a storage unit 14, and a travel device 15.

[0048] The detection unit 12 detects the behavior of the transport device 1 and the surrounding conditions of the transport device 1. In this disclosure, "behavior" means operation and appearance. In other words, the behavior of the transport device 1 includes the operating state indicating whether the transport device 1 is transporting an object C1 or C2, the speed of the transport device 1, the acceleration acting on the transport device 1, and the moving posture of the transport device 1. Specifically, the detection unit 12 includes sensors such as a speed sensor, an acceleration sensor, and a gyroscope, and detects the behavior of the transport device 1 using these sensors. The detection unit 12 also includes, for example, a LiDAR (Light Detection and Ranging) 121, and detects the surrounding conditions of the transport device 1 using the LiDAR 121. The detection unit 12 may also include sensors such as an image sensor (camera), a sonar sensor, and a radar to detect the surrounding conditions.

[0049] Furthermore, the detection unit 12 has a positioning unit that identifies the current position of the transport device 1. For example, the positioning unit estimates the current position based on detection information of surrounding objects by LiDAR 121 and electronic map information of a predetermined area AR1. The sensor unit may also estimate the current position using LPS (Local Positioning System) with radio beacons. Alternatively, the positioning unit may be implemented using a satellite positioning system such as GPS (Global Positioning System).

[0050] The communication unit 13 is configured to communicate with the transport control system 2. In this embodiment, the communication unit 13 communicates with one of the multiple repeaters 3 installed in a predetermined area R1 where the transport device 1 is operated, using wireless communication via radio waves. Therefore, the communication unit 13 and the transport control system 2 communicate indirectly, at least via the network NT1 and the repeaters 3.

[0051] In other words, each repeater 3 is a device (access point) that relays communication between the communication unit 13 and the transport control system 2. The repeater 3 communicates with the transport control system 2 via the network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi®, Bluetooth®, ZigBee®, or unlicensed low-power radio (specified low-power radio) is used for communication between the repeater 3 and the communication unit 13. Furthermore, the network NT1 is not limited to the internet; for example, a local communication network within the area where the transport device 1 is operated or within the operating company of that area may be applied.

[0052] The storage unit 14 is implemented using, for example, a non-temporary recording medium such as a rewritable non-volatile semiconductor memory. The storage unit 14 may also include a volatile semiconductor memory. The storage unit 14 stores, for example, identification information of the transport device 1, occupied area information for the occupied area B1 set on the transport device 1, and map information for the map MP1 of a predetermined area AR1 in which the transport device 1 is used.

[0053] The traveling device 15 receives a control command from the control unit 11 and individually drives the multiple drive wheels (the drive wheels 16A to 16D) provided on the main body 10, thereby causing the transport device 1 to travel in the desired direction.

[0054] The control unit 11 primarily consists of a computer system having one or more processors and memory. Therefore, the functions of the control unit 11 are realized when one or more processors execute a program stored in memory. The program may be pre-stored in memory, provided via a telecommunication line such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0055] The control unit 11 can control the traveling device 15 based on command information provided by the transport control system 2 and the detection results of the detection unit 12 to move the transport device 1 to a desired location within a predetermined area AR1 and perform transport operations to transport the transported object C1 or C2. In addition, the control unit 11 periodically transmits status information related to the state of the transport device 1 from the communication unit 13 to the transport control system 2 based on the detection results of the detection unit 12. The control unit 11 may also transmit status information related to the state of the transport device 1 from the communication unit 13 to the transport control system 2 upon receiving a transmission request from the transport control system 2.

[0056] (2.3) Transport control system The transport control system 2 is a system for comprehensively controlling multiple transport devices 1, and is implemented, for example, by a server device. The transport control system 2 indirectly controls the multiple transport devices 1 by outputting command information to each of the multiple transport devices 1.

[0057] The transport control system 2 comprises a processing unit 21, a storage unit 28, and a communication unit 29.

[0058] The communication unit 29 communicates with each of the multiple transport devices 1 via the network NT1 and the repeater 3. A suitable communication method, such as wireless or wired communication, is used for communication between the communication unit 29 and the repeater 3.

[0059] The storage unit 28 is implemented using, for example, a non-temporary recording medium such as a rewritable non-volatile semiconductor memory. The storage unit 28 may further include a volatile semiconductor memory. The storage unit 28 includes, for example, a definition information database 281, an occupied area information database 282, a map information database 283, and a signal information database 284. In Figure 1, the definition information database is abbreviated as "definition information," the occupied area information database as "occupied area information," the map information database as "map information," and the signal information database as "signal information." The definition information database 281 stores definition information (for example, identification information assigned to the transport device 1) for defining each of the multiple transport devices 1 used within a predetermined area AR1. The occupied area information database 282 stores occupied area information representing the occupied area B1 used by each of the multiple transport devices 1. The map information database 283 stores map information of an electronic map MP1 representing the predetermined area AR1. The map information includes information about multiple nodes and multiple paths connecting the nodes. The signal information database 284 stores signal information, such as the installation location of signal elements that switch whether to permit or deny passage for each of the multiple paths defined on the map MP1. The storage unit 28 may also store information regarding the shape and size of the transported object C1 or C2 transported by the transport device 1.

[0060] The processing unit 21 primarily consists of a computer system including, for example, memory and a processor. That is, the functions of the processing unit 21 are realized when the processor executes a program recorded in the computer system's memory. The program may be pre-recorded in memory, provided via telecommunication lines such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0061] The processing unit 21 has functions such as a first acquisition unit 22, a second acquisition unit 23, a first setting unit 24, a second setting unit 25, a third setting unit 26, and a driving control unit 27. Note that the first acquisition unit 22, the second acquisition unit 23, the first setting unit 24, the second setting unit 25, the third setting unit 26, and the driving control unit 27 represent functions realized by the processing unit 21 and do not have physical bodies.

[0062] The first acquisition unit 22 acquires status information from each of the multiple transport devices 1 used within a predetermined area AR1 via the communication unit 29.

[0063] The second acquisition unit 23 acquires information on the width of the bidirectional path PA1, which is passable in both directions within a predetermined area AR1. The map information stored in the map information database 283 includes information on paths set within the predetermined area AR1. The map information also includes first information regarding structures 50 (see Figure 11) on both sides of the path (bidirectional path PA1) and second information regarding no-entry areas 55 set adjacent to the bidirectional path PA1. The first and second information are set, for example, using a design support system that allows the user to set information such as paths and nodes on which the transport device 1 moves on the map MP1. The second acquisition unit 23 acquires information on the width of the path DP1 based on at least one of the first and second information. Figure 11 is a diagram showing a part of the predetermined area AR1 where the bidirectional path PA1 exists. The second acquisition unit 23 acquires the width of the path DP1 of the bidirectional path PA1 by determining the dimension between the structures 50 or no-entry areas 55 on both sides of the bidirectional path PA1 in a direction perpendicular to the direction of travel of the transport device 1 traveling along the bidirectional path PA1.

[0064] The first setting unit 24 refers to the occupied area information database 282 based on the status information acquired by the first acquisition unit 22, and sets the occupied area B1 for each transport device 1, including the location of the transport device 1 on the map MP1. If the transport device 1 is transporting an object C1 or C2, the first setting unit 24 sets the occupied area B1 to include the location of the transport device 1 and the object C1 or C2 that the transport device 1 is transporting.

[0065] The first setting unit 24 sets the occupied area B1 as a rectangular area in plan view, including the location of the transport device 1, when the transport device 1 is not transporting the transport object C1 or C2 (see Figures 3, 5, and 8). In Figure 3, etc., the occupied area B1 is shown as an area with four rounded corners like a rectangle, but the shape of the occupied area B1 can be changed as appropriate. The first setting unit 24 sets the occupied area B1 as an area such that the distance from the outer edge of the rectangular area to the transport device 1 is greater than or equal to a predetermined safety distance DM1. Here, the occupied area B1 is a rectangular area composed of two sides parallel to the front-to-back direction and two sides parallel to the left-to-right direction, with the left-to-right dimension of the occupied area B1 being X1 and the front-to-back dimension being Y1.

[0066] The first setting unit 24 sets the area used by the transport device 1 (target device) and the transported object C1 or C2 being transported by the transport device 1 (target device) as the occupied area B1 when the transport device is in transport mode. Specifically, the first setting unit 24 sets the occupied area B1 as a rectangular area in plan view that includes the location of the transport device 1 (target device) and the location of the transported object C1 or C2 (see Figures 4, 6, 7, and 9).

[0067] The first setting unit 24 sets the occupied area B1 such that the distance from the outer edge of the occupied area B1 to the conveying device 1 or the conveyed objects C1, C2 is equal to or greater than a predetermined safety distance DM1. In other words, in the non-conveying state, a predetermined safety distance is secured between the outer edge of the occupied area B1 and the conveying device 1 (target device), and in the conveying state, a predetermined safety distance is secured between the outer edge of the occupied area B1 and the conveying device 1 (target device) and the conveyed objects C1, C2. This reduces the possibility of the conveying device 1 coming into contact with other devices it passes or with structures 50, etc., on both sides of the bidirectional path PA1.

[0068] The first setting unit 24 stores in the storage unit 28 the definition information (identification information) of the transport device 1 for which the occupied area B1 has been set, and the occupied area information relating to the occupied area B1 set for this transport device 1, in association with each other. The first setting unit 24 also causes the communication unit 29 to transmit the occupied area information representing the set occupied area B1 to the transport device 1 (target device) to be set. When the communication unit 13 receives the occupied area information transmitted from the transport control system 2 in the transport device 1 (target device) to be set, the control unit 11 sets the occupied area B1 of the transport device 1 based on this occupied area information.

[0069] The second setting unit 25 sets the width of the occupied area B1 relative to the passage width DP1 of the bidirectional path PA1 for a transport device 1 that is traveling on or about to travel on the bidirectional path PA1. If the transport device 1 is not transporting, the second setting unit 25 sets the width of the occupied area B1 based on the type of transport device 1. If the transport device 1 is transporting, the second setting unit 25 sets the width of the occupied area B1 based on the type of transport device 1 and the transport mode of the transported object C1 or C2.

[0070] Specifically, if the transport device 1 is a first transport device 101 that can move forward, backward, left, and right, the second setting unit 25 sets the width of the occupied area B1 of the first transport device 101 to be the shorter of the left-right dimension X1 and the front-back dimension Y1 of the occupied area B1 (including the transported object C2 if transporting). In other words, if the transport device 1 is a first transport device 101, the second setting unit 25 sets the width of the occupied area B1 to be the length of the shorter side of the occupied area B1 used by the first transport device 101 when the first transport device 101 is viewed from above.

[0071] The second setting unit 25 determines that the transport device 1 is a second transport device 102 that can move forward, backward, left, and right, and when the second transport device 102 is not transporting, it sets the width of the occupied area B1 of the second transport device 102 to the shorter of the left-right dimension X1 and the front-back dimension Y1. Also, when the transport device 1 is the second transport device 102 and the second transport device 102 is transporting an object C2, the second setting unit 25 sets the width of the occupied area B1 used by the second transport device 102 to the longer of the length of the shorter side of the occupied area B1 of the second transport device 102 when viewed from above while the second transport device 102 is not transporting, and the length of the shorter side of the object C2 that the second transport device 102 is transporting. When the second conveying device 102 travels along the bidirectional path PA1 while gripping the transported object C2, the second conveying device 102 transports the transported object C2 with its short side connected by the second connecting section 17B provided on its short side, so that the width of the occupied area B1 becomes smaller. Therefore, the width of the occupied area B1 used by the second conveying device 102 should be the longer of the length of the short side of the occupied area B1 of the second conveying device 102 and the length of the short side of the transported object C2. If the transported object C2 is connected by the second connecting section 17B provided on the long side of the second conveying device 102 before entering the bidirectional path PA1, the second conveying device 102 should reconnect the transported object C2 by connecting it by the second connecting section 17B provided on the short side of the second conveying device 102 before entering the bidirectional path PA1.

[0072] The second setting unit 25 sets the width of the occupied area B1 of the third transport device 103 or lift-type transport device 104 as the left-right dimension X1 of the occupied area B1 (including the transported object C1 or C2 if transporting) of the third transport device 103 or lift-type transport device 104, when the transport device 1 is a third transport device 103 or lift-type transport device 104 that can move back and forth. In other words, when the transport device 1 is a third transport device 103, the second setting unit 25 sets the width of the occupied area B1 as the left-right length of the occupied area B1 used by the third transport device 103 when the third transport device 103 is viewed from above. Similarly, when the transport device 1 is a lift-type transport device 104, the second setting unit 25 sets the width of the occupied area B1 as the left-right length of the occupied area B1 used by the lift-type transport device 104 when the lift-type transport device 104 is viewed from above.

[0073] The third setting unit 26 sets whether or not to prohibit passing on the bidirectional path PA1. For example, the third setting unit 26 sets whether or not to prohibit passing on the bidirectional path PA1 based on setting information entered by the user using the design support system. If the user wants to prohibit passing on the bidirectional path PA1 for any reason, they can enter setting information to prohibit passing on the bidirectional path PA1 using the setting support system, and the third setting unit 26 will set a flag to prohibit passing for the target bidirectional path PA1.

[0074] The travel control unit 27 controls the movement of the transport device 1 by providing command information to the transport device 1 via the communication unit 29.

[0075] (2.4) Operation The operation by which the transport control system 2 of this embodiment determines whether or not to allow the two transport devices 1 to travel in opposite directions on the bidirectional path PA1 will be described below based on the flowchart in Figure 12. Note that the flowchart shown in Figure 12 is merely one example of the transport control method executed by the transport control system 2, and the order of processing may be changed as appropriate, or processing may be added or omitted as appropriate.

[0076] Here, we will explain using the example shown in Figure 2, where, as the first-end-bound transport device 1A is traveling along the bidirectional path PA1 from the second end G2 to the first end G1, the transport control system 2 decides whether or not to allow the second-end-bound transport device 1B, which is in front of the first end G1, to pass by.

[0077] It is assumed that the first acquisition unit 22 of the transport control system 2 acquires status information from the first end-bound transport device 1A and the second end-bound transport device 1B, and the first setting unit 24 sets the occupied areas B11 and B12 used by the first end-bound transport device 1A and the second end-bound transport device 1B, respectively. Furthermore, it is assumed that the second setting unit 25 sets the width of the occupied areas B11 and B12 used by the first end-bound transport device 1A and the second end-bound transport device 1B, respectively.

[0078] When the first end-bound transport device 1A is traveling along the bidirectional path PA1, and the second end-bound transport device 1B is to enter the bidirectional path PA1, first, the second acquisition unit 23 of the transport control system 2 acquires information on the passage width DP1 of the bidirectional path PA1 (step ST1).

[0079] Next, the travel control unit 27 of the transport control system 2 determines whether the bidirectional path PA1 is passable by checking the signal element set at the location of the bidirectional path PA1 on the map MP1 (step ST2). If the transport device 1 is not traveling on the bidirectional path PA1, the travel control unit 27 sets the signal element set at the location of the bidirectional path PA1 on the map MP1 to allow passage. If the transport device 1 is traveling on the bidirectional path PA1, the travel control unit 27 sets the signal element set at the location of the bidirectional path PA1 on the map MP1 to not allow passage.

[0080] If the transport device 1 is not traveling on the bidirectional path PA1, the signal element set at the location of the bidirectional path PA1 on the map MP1 is set to allow passage (step ST2: Yes), so the travel control unit 27 causes the transport device 1B bound for the second end to proceed from the first end G1 to the bidirectional path PA1, and then travel from the first end G1 to the second end G2 (step ST3).

[0081] In the example in Figure 2, the first-end transport device 1A is traveling along the bidirectional path PA1, so the signal element set at the location of the bidirectional path PA1 on the map MP1 is set to "No passage" (Step ST2: No). In this case, the travel control unit 27 performs the following processing to determine whether or not to allow the second-end transport device 1B to travel in passing.

[0082] First, the travel control unit 27 determines whether the third setting unit 26 has set a flag prohibiting passing travel for the bidirectional path PA1 that the second end-bound transport device 1B is about to enter (step ST4).

[0083] If the flag prohibiting passing is set for the bidirectional path PA1 (step ST4: No), the travel control unit 27 determines that passing is not possible and has the second-end transport device 1B wait outside the bidirectional path PA1 (waiting for passage) (step ST8). In other words, if the third setting unit 26 sets the prohibition of passing for the bidirectional path PA1, the travel control unit 27 does not allow the first-end transport device 1A and the second-end transport device 1B to pass each other on the bidirectional path PA1. This allows, for example, the user to configure the system to not allow passing on the bidirectional path PA1.

[0084] If the flag prohibiting passing is not set for the bidirectional path PA1 (step ST4: Yes), the travel control unit 27 determines whether the passage width DP1 of the bidirectional path PA1 is wider than the sum of the first width D1 of the occupied area B11 of the first end-bound transport device 1A and the second width D2 of the occupied area B12 of the second end-bound transport device 1B (step ST5).

[0085] If the aisle width DP1 is equal to or narrower than the sum of the first width D1 and the second width D2 (Step ST5: No), the travel control unit 27 determines that passing is not possible and has the second end-bound transport device 1B wait outside the bidirectional path PA1 (waiting for passage) (Step ST8).

[0086] If the aisle width DP1 is wider than the sum of the first width D1 and the second width D2 (step ST5: Yes), the travel control unit 27 further determines whether the first end-bound conveyor 1A and the second end-bound conveyor 1B are separated by a predetermined distance or more (step ST6). This predetermined distance is the distance required for the first end-bound conveyor 1A and the second end-bound conveyor 1B to change their travel positions in order to pass each other. The travel position is the position in the width direction of the bidirectional path PA1 where the first end-bound conveyor 1A and the second end-bound conveyor 1B travel, respectively. As shown in Figure 18, when passing each other is not performed, the first end-bound conveyor 1A and the second end-bound conveyor 1B travel approximately in the center in the width direction of the bidirectional path PA1. When the first-end conveyor 1A and the second-end conveyor 1B pass each other on the bidirectional path PA1, the first-end conveyor 1A and the second-end conveyor 1B travel with their positions offset in the width direction of the bidirectional path PA1 so as not to collide with each other. In Figure 18, arrow RT1 shows the travel trajectory of the first-end conveyor 1A, and arrow RT2 shows the travel trajectory of the second-end conveyor 1B. The first-end conveyor 1A and the second-end conveyor 1B travel with their positions offset in the width direction of the bidirectional path PA1 so as not to collide with each other. Therefore, in order for them to pass each other, the distance between the first-end conveyor 1A and the second-end conveyor 1B must be greater than a predetermined distance necessary for them to change their travel positions.

[0087] Here, if the distance between the first end-bound transport device 1A and the second end-bound transport device 1B is less than a predetermined distance (step ST6: No), the travel control unit 27 determines that passing is not possible and has the second end-bound transport device 1B wait outside the bidirectional path PA1 (waiting for passage) (step ST8).

[0088] On the other hand, if the first-end conveyor 1A and the second-end conveyor 1B are separated by a predetermined distance or more (step ST6: Yes), the travel control unit 27 permits passing each other. The travel control unit 27 causes the second-end conveyor 1B to enter the bidirectional path PA1 from the first end G1 and travel from the first end G1 to the second end G2 (step ST7). As a result, the first-end conveyor 1A and the second-end conveyor 1B travel in the bidirectional path PA1 in a passing manner, which improves work efficiency compared to the case where the second-end conveyor 1B waits outside the first end G1 for the first-end conveyor 1A to pass.

[0089] Furthermore, when the first-end conveyor 1A and the second-end conveyor 1B pass each other, if the first-end conveyor 1A and the second-end conveyor 1B are the first conveyor 101 or the second conveyor 102, which are movable forward, backward, left, and right, they may move along the width direction of the bidirectional path PA1, as shown in Figure 19, to a position where they do not collide with each other in the width direction of the bidirectional path PA1. In Figure 19, arrow RT3 shows the travel trajectory of the first-end conveyor 1A, and arrow RT4 shows the travel trajectory of the second-end conveyor 1B. The first-end conveyor 1A and the second-end conveyor 1B move in a direction perpendicular to the direction of travel just before the point where they pass each other, to a position where they do not collide with each other. Then, after passing each other, the first-end conveyor 1A and the second-end conveyor 1B return to their original travel paths by moving in a direction perpendicular to the direction of travel. In this way, if the first end-bound conveyor 1A and the second end-bound conveyor 1B move in a direction perpendicular to the direction of travel so as not to collide with each other, the predetermined distance required for the first end-bound conveyor 1A and the second end-bound conveyor 1B to change their travel position can be shortened compared to when they move diagonally with respect to the direction of travel.

[0090] Furthermore, the first-end transport device 1A and the second-end transport device 1B travel along the bidirectional path PA1 in such a manner that the orientation of their first width D1 and second width D2 aligns with the orientation of the passage width DP1 of the bidirectional path PA1. This allows the first-end transport device 1A and the second-end transport device 1B to travel along the bidirectional path PA1 without coming into contact with each other or with structures 50 or the like on either side of the bidirectional path PA1. In addition, if the first-end transport device 1A or the second-end transport device 1B is the second transport device 102, the second transport device 102 travels along the bidirectional path PA1 in such a manner that the direction of the shorter side of the occupied area B1 used by the second transport device 102 aligns with the direction of the passage width DP1 of the bidirectional path PA1. Since the second transport device 102 is movable forward, backward, left, and right, by traveling along the bidirectional path PA1 with the direction of the shorter side of the occupied area B1 used by the second transport device 102 aligned with the direction of the passage width DP1, the possibility of contact with other vehicles or structures 50 on both sides of the bidirectional path PA1 can be reduced.

[0091] With the second-end transport device 1B waiting on the path outside the bidirectional path PA1 (step ST8), when the first-end transport device 1A leaves the bidirectional path PA1, the travel control unit 27 causes the second-end transport device 1B to enter the bidirectional path PA1 from the first end G1 and move to the second end G2.

[0092] Thus, in this embodiment, even when the first end-bound conveyor 1A is traveling on the bidirectional path PA1, the travel control unit 27 causes the second end-bound conveyor 1B to enter the bidirectional path PA1 from the first end G1 if the passage width DP1 is wider than the sum of the first width D1 and the second width D2. In other words, when the passage width DP1 is wider than the sum of the first width D1 and the second width D2, the travel control unit 27 controls the first end-bound conveyor 1A and the second end-bound conveyor 1B to travel in a passing position on the bidirectional path PA1. Since the first end-bound conveyor 1A and the second end-bound conveyor 1B travel in a passing position on the bidirectional path PA1, the time spent waiting for others to pass can be reduced compared to alternating passage, and the work efficiency of the conveyor 1 is improved.

[0093] Furthermore, the travel control unit 27 does not permit passing travel between the first-end transport device 1A and the second-end transport device 1B if the distance between the first-end transport device 1A and the second-end transport device 1B is less than a predetermined distance while the first-end transport device 1A is traveling on the bidirectional path PA1. The predetermined distance is the distance required for the first-end transport device 1A and the second-end transport device 1B to change their travel positions in order to pass each other. In this way, if the distance between the first-end transport device 1A and the second-end transport device 1B is less than the predetermined distance, passing travel will not occur, and the first-end transport device 1A and the second-end transport device 1B can be safely operated on the bidirectional path PA1.

[0094] By the way, with reference to Figures 13 and 14, an example of the operation by which the travel control unit 27 determines whether passing is permissible will be explained. In the example shown in Figures 13 and 14, the first end-bound transport device 1A and the second end-bound transport device 1B are lift-type transport devices 104. The first end-bound transport device 1A is transporting an object C1, and the second end-bound transport device 1B is not transporting anything. Here, since the object C1 being transported by the first end-bound transport device 1A is a pallet with no protrusions such as wheels on its underside, the object C1 being transported by the first end-bound transport device 1A does not interfere with the second end-bound transport device 1B in the height direction.

[0095] In this case, when the first end-bound conveyor 1A and the second end-bound conveyor 1B pass each other, the conveyed object C1 being conveyed by the first end-bound conveyor 1A passes above the second end-bound conveyor 1B. Therefore, it is sufficient that a safety distance DM1 necessary for safety is secured between the first end-bound conveyor 1A and the second end-bound conveyor 1B. Accordingly, the second setting unit 25 sets the first width D1 of the occupied area B11 of the first end-bound conveyor 1A to be half of the width D104A of the occupied area of ​​the first end-bound conveyor 1A including the conveyed object C1 (D104A / 2) plus half of the width D104 of the occupied area of ​​the first end-bound conveyor 1A alone (D104 / 2). The second setting unit 25 also sets the second width D2 of the occupied area B12 of the second end-bound conveyor 1B to be the width of the occupied area of ​​the second end-bound conveyor 1B alone. Furthermore, it is assumed that the occupied areas B11 and B12 include a space with a safety distance DM1 necessary for ensuring safety.

[0096] In this way, when the second setting unit 25 sets the first width D1 of the occupied area B11 of the first end-bound conveyor 1A and the second width D2 of the occupied area B12 of the second end-bound conveyor 1B, the travel control unit 27 determines whether the passage width DP1 is wider than the sum of the first width D1 and the second width D2. If the passage width DP1 is wider than the sum of the first width D1 and the second width D2, the travel control unit 27 permits the first end-bound conveyor 1A and the second end-bound conveyor 1B to pass each other. In this way, if the conveyed object C1 being conveyed by the first end-bound conveyor 1A does not interfere with the second end-bound conveyor 1B in the height direction, it is permitted for a part of the second end-bound conveyor 1B to pass below the conveyed object C1, thus increasing the likelihood of permitting passing each other on the bidirectional path PA1. Therefore, there is an advantage in that the work efficiency of the conveying operation of the conveyor 1 is improved. Furthermore, even when the first-end-bound transport device 1A is not transporting anything and the second-end-bound transport device 1B is transporting the item C1, the transport control system 2 can determine whether passing is permissible using the same judgment method as described above.

[0097] Furthermore, although the transport device 1 of this embodiment is equipped with an obstacle sensor such as a LiDAR 121, it is preferable that the travel control unit 27 limits the detection range of the obstacle sensor (LiDAR 121) when the first end-bound transport device 1A and the second end-bound transport device 1B are traveling in passing.

[0098] The first end-bound transport device 1A and the second end-bound transport device 1B each have an obstacle sensor (e.g., LiDAR 121) for detecting obstacles ahead in the direction of travel. The obstacle sensor preferably detects obstacles in a predetermined area AR1 over a wider range, but when the first end-bound transport device 1A and the second end-bound transport device 1B are traveling in passing, it is preferable to prevent false detection of the passing transport device 1. Therefore, when the first end-bound transport device 1A and the second end-bound transport device 1B pass each other in the bidirectional path PA1, the travel control unit 27 limits the detection ranges F1 and F2 of the obstacle sensors of the first end-bound transport device 1A and the second end-bound transport device 1B, respectively, to the width of the occupied area (first width D1, second width D2) (see Figures 15 and 16).

[0099] Furthermore, when the lift-type conveying devices 104, specifically the first end-bound conveying device 1A and the second end-bound conveying device 1B, pass each other (see Figure 16), the second end-bound conveying device 1B passes below the conveyed object C1 being conveyed by the first end-bound conveying device 1A (see Figures 13 and 14). Therefore, the conveying control system 2 narrows the first width D1 of the occupied area B11 of the first end-bound conveying device 1A compared to before it passed the second end-bound conveying device 1B. Accordingly, the travel control unit 27 narrows the detection range of the obstacle sensor on the first end-bound conveying device 1A to match the first width D1 of the occupied area B11 of the first end-bound conveying device 1A. In other words, the detection range F1A of the obstacle sensor on the first end-bound conveying device 1A is narrower when it passes the second end-bound conveying device 1B compared to the detection range F1 before it passed the second end-bound conveying device 1B. As a result, as shown in Figure 16, when the first end-bound transport device 1A and the second end-bound transport device 1B pass each other, the possibility of the obstacle sensors in the first end-bound transport device 1A and the second end-bound transport device 1B misdetecting the other device they are passing is reduced, and they can be reliably driven while passing each other.

[0100] In this case, the obstacle sensor of the first end-bound transport device 1A may not be able to detect the obstacle 52 located in the area between detection range F1 and detection range F1A. When the obstacle sensor of the second end-bound transport device 1B, which is passing the first end-bound transport device 1A, detects the obstacle 52, the second end-bound transport device 1B transmits the detection information of the obstacle 52 to the transport control system 2. Based on the detection information of the obstacle 52 transmitted from the second end-bound transport device 1B, the transport control system 2 outputs a stop command to the first end-bound transport device 1A and the second end-bound transport device 1B to stop them, thereby reducing the possibility of the first end-bound transport device 1A and the second end-bound transport device 1B coming into contact with the obstacle 52.

[0101] (3) Variant The above embodiments are merely one of many embodiments of this disclosure. The above embodiments can be modified in various ways depending on the design, etc., as long as the objectives of this disclosure are achieved. Furthermore, functions similar to those of the transport control system 2 may be embodied in a transport control method, a computer program, or a non-temporary recording medium on which a program is stored. One embodiment of the transport control method is a transport control method that controls the transport operations of a plurality of transport devices 1. The transport control method includes a first acquisition step, an occupied area setting step, a second acquisition step, and a travel control step. In the first acquisition step, state information related to the state of a target device is acquired from a target device, which is one of the plurality of transport devices 1. In the occupied area setting step, based on the state information, an area including the location of the target device is set as the occupied area B1 used by the target device on a map of a predetermined area AR1. In the second acquisition step, information on the passage width DP1 of a bidirectional path PA1 that can be traveled bidirectionally within the predetermined area AR1 is acquired. In the travel control step, the travel of each of the plurality of transport devices 1 is controlled. In the occupied area setting step, if the target device is not transporting transported object C1 or C2, the width of the occupied area B1 is set based on the type of the target device. If the target device is transporting transported object C1 or C2, the width of the occupied area B1 is set based on the type of the target device and the transport mode of transported object C1 or C2. The multiple transport devices 1 include a second-end transport device 1B that travels along the bidirectional path PA1 from the first end G1 to the second end G2, and a first-end transport device 1A that travels along the bidirectional path PA1 from the second end G2 to the first end G1. In the travel control step, based on the passage width DP1, the first width D1, and the second width D2, it is determined whether or not to allow the first-end transport device 1A and the second-end transport device 1B to pass each other on the bidirectional path PA1. The first width D1 is the width of the occupied area B11 used by the first-end transport device 1A, and the second width D2 is the width of the occupied area B12 used by the second-end transport device 1B. A (computer) program according to one embodiment is a program that causes a computer system to execute the above-described transport control method.

[0102] The following lists some modifications of the above embodiment. The modifications described below can be combined and applied as appropriate.

[0103] The entity executing the transport control system 2 or transport control method in this disclosure includes a computer system. The computer system mainly consists of a processor and memory as hardware. The processor executes a program recorded in the memory of the computer system, thereby realizing the function of the entity executing the transport control system 2 or transport control method in this disclosure. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. The processor of the computer system consists of one or more electronic circuits including semiconductor integrated circuits (ICs) or large-scale integrated circuits (LSIs). The integrated circuits referred to here, such as ICs or LSIs, are named differently depending on the degree of integration, and include integrated circuits called system LSIs, VLSIs (Very Large Scale Integration), or ULSIs (Ultra Large Scale Integration). Furthermore, FPGAs (Field-Programmable Gate Arrays) that are programmed after the manufacture of LSIs, or logic devices that allow for the reconfiguration of junction relationships or circuit compartments within LSIs, can also be used as processors. Multiple electronic circuits may be integrated onto a single chip or distributed across multiple chips. Multiple chips may be integrated onto a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller also consists of one or more electronic circuits, including semiconductor integrated circuits or large-scale integrated circuits.

[0104] Furthermore, it is not essential for the transport control system 2 to have multiple functions integrated into a single enclosure; the components of the transport control system 2 may be distributed across multiple enclosures. In addition, some functions of the transport control system 2 may be implemented by the cloud (cloud computing), etc.

[0105] In the above embodiment, as shown in Figures 2 to 10, the shape of the occupied area B1 is set to a rectangular area when the conveying device 1 is viewed from above. However, the shape of the occupied area B1 is not limited to a rectangle. If the external shape of the conveying device 1, or the external shape of the conveying device 1 and the conveyed object C1 or C2 connected to the conveying device 1, is not rectangular when the conveying device 1 is viewed from above, the shape of the occupied area B1 may be set to a shape that conforms to that external shape.

[0106] In the above embodiment, if the conveying device 1 is configured to be transformable into multiple forms, the first setting unit 24 may set the occupied area B1 according to the form of the conveying device 1. For example, when the conveying device 1 conveys an object C1 or C2, if a part of the main body 10A to 10D is transformed (e.g., expands or contracts) to connect with the object C1 or C2, the first setting unit 24 should set the occupied area B1 based on the state of the conveying device 1, including the form of the conveying device 1. In other words, the first setting unit 24 should set the occupied area B1 to include at least the area in which the conveying device 1 is located, based on the current form of the conveying device 1.

[0107] Furthermore, although the occupied area B1 was a two-dimensional area in the above embodiment, the occupied area B1 may be set as a three-dimensional area. If the transport control system 2 and the transport device 1 store map information of a map MP1 corresponding to a predetermined three-dimensional area AR1, the first setting unit 24 may set a three-dimensional area set on the map MP1 as the occupied area B1. By setting the occupied area B1 as a three-dimensional area, the occupied area B1 can be set considering the height of the transport device 1 and the transported object C1 or C2 transported by the transport device 1, thereby reducing the possibility of the transport device 1 and the transported object C1 or C2 coming into contact with an obstacle above.

[0108] In the above-described embodiment, the first to third connecting portions 17A to 17C are not limited to the form of hooks that catch a part of the conveyed object C2, but may also be in a form that attracts the conveyed object C2 using an electromagnet.

[0109] In the above embodiment, where "wider" is used in the comparison of two values ​​such as measurement data, it may also be used as "greater than or equal to". In other words, whether or not the case where the two values ​​are equal is included in the comparison of two values ​​can be arbitrarily changed depending on the setting of the reference value, etc., so there is no technical difference between "wider" and "greater than or equal to". Similarly, where "the same or narrower" is used, it may also be used as "less than". Also, where "greater than or equal to" is used, it may also be used as "greater than", and where "less than" is used, it may also be used as "less than or equal to".

[0110] (summary) As described above, the transport control system (2) of the first embodiment controls the transport operations of a plurality of transport devices (1). The transport control system (2) comprises a first acquisition unit (22), a first setting unit (24), a second acquisition unit (23), a second setting unit (25), and a travel control unit (27). The first acquisition unit (22) acquires state information related to the state of a target device, which is one of the plurality of transport devices (1). The first setting unit (24) sets the area including the location of the target device as the occupied area (B1) used by the target device on a map of a predetermined area (AR1) based on the state information. The second acquisition unit (23) acquires information on the passage width (DP1) of a bidirectional path (PA1) that can be traveled in both directions within the predetermined area (AR1). The second setting unit (25) sets the width occupied by the occupied area (B1) relative to the passage width (DP1). The travel control unit (27) controls the travel of each of the multiple transport devices (1). The second setting unit (25) sets the width of the occupied area (B1) based on the type of the target device when the target device is not transporting objects (C1, C2), and sets the width of the occupied area (B1) based on the type of the target device and the transport mode of the objects (C1, C2) when the target device is transporting objects (C1, C2). The multiple transport devices (1) include a second-end transport device (1B) that travels along a bidirectional path (PA1) from the first end (G1) to the second end (G2), and a first-end transport device (1A) that travels along the bidirectional path (PA1) from the second end (G2) to the first end (G1). The travel control unit (27) determines whether or not to allow the first-end transport device (1A) and the second-end transport device (1B) to pass each other on the bidirectional path (PA1) based on the aisle width (DP1), the first width (D1), and the second width (D2). The first width (D1) is the width of the occupied area (B11) used by the first-end transport device (1A), and the second width (D2) is the width of the occupied area (B12) used by the second-end transport device (1B).

[0111] This embodiment has the advantage of improving the work efficiency of the conveying device (1).

[0112] In the second embodiment of the transport control system (2), in the first embodiment, the first setting unit (24) sets the area used by the target device and the transported objects (C1, C2) being transported by the target device as the occupied area (B1) when transporting.

[0113] According to this embodiment, it is possible to determine whether or not to have the first-end conveying device (1A) and the second-end conveying device (1B) pass each other on the bidirectional path (PA1), taking into consideration the shape and size of the conveyed objects (C1, C2).

[0114] In the third embodiment of the transport control system (2), in the first or second embodiment, the second acquisition unit (23) acquires information on the aisle width (DP1) based on at least one of the first information and the second information. The first information is information on structures (50) on both sides of the bidirectional path (PA1), and the second information is information on a no-entry area (53) set adjacent to the bidirectional path (PA1).

[0115] According to this embodiment, information on the passage width (DP1) of the bidirectional path (PA1) can be obtained based on information on at least one of the structure (50) and the no-entry area (53).

[0116] In the fourth embodiment of the transport control system (2), in any of the first to third embodiments, the travel control unit (27) controls the first end-bound transport device (1A) and the second end-bound transport device (1B) to travel in a passing direction on the bidirectional path (PA1) if the aisle width (DP1) is wider than the sum of the first width (D1) and the second width (D2).

[0117] According to this embodiment, if there is a possibility that the first end-bound conveying device (1A) and the second end-bound conveying device (1B) will come into contact with the vehicle they are passing, it is possible to determine not to perform passing maneuvers.

[0118] In the fifth embodiment of the transport control system (2), in any of the first to third embodiments, a predetermined safety distance (DM1) is ensured between the outer edge of the occupied area (B1) and the target device when not transporting. When transporting, a safety distance (DM1) is ensured between the outer edge of the occupied area (B1) and the target device and transported objects (C1, C2).

[0119] According to this embodiment, the possibility of the conveying device (1) coming into contact with an object it passes or with structures on both sides of the bidirectional path (PA1) can be reduced.

[0120] In the sixth embodiment of the transport control system (2), in any of the first to fifth embodiments, the first end-bound transport device (1A) and the second end-bound transport device (1B) travel along the bidirectional path (PA1) in such a manner that the orientations of the first width (D1) and the second width (D2) are aligned with the orientation of the passage width (DP1) of the bidirectional path (PA1).

[0121] According to this embodiment, when the first end-bound transport device (1A) and the second end-bound transport device (1B) are traveling in passing, the possibility of contact with the other device they are passing can be reduced.

[0122] The seventh embodiment of the transport control system (2) further includes a third setting unit (26) that sets whether or not to prohibit passing travel for the bidirectional path (PA1) in any of the first to sixth embodiments. If the third setting unit (26) has set to prohibit passing travel for the bidirectional path (PA1), the travel control unit (27) does not allow the first end-bound transport device (1A) and the second end-bound transport device (1B) to pass each other on the bidirectional path (PA1).

[0123] According to this configuration, passing is not permitted on two-way paths (PA1) where passing is prohibited.

[0124] In the eighth embodiment of the transport control system (2), in any of the first to seventh embodiments, the travel control unit (27) causes the second end transport device (1B) to enter the bidirectional path (PA1) from the first end (G1) if the passage width (DP1) is wider than the sum of the first width (D1) and the second width (D2), even when the first end transport device (1A) is traveling on the bidirectional path (PA1).

[0125] This embodiment has the advantage of improving the work efficiency of the conveying device (1).

[0126] In the transport control system (2) of the ninth embodiment, in any of the first to seventh embodiments, the travel control unit (27) does not permit the first end-bound transport device (1A) and the second end-bound transport device (1B) to pass each other if the distance between the first end-bound transport device (1A) and the second end-bound transport device (1B) is less than a predetermined distance while the first end-bound transport device (1A) is traveling on the bidirectional path (PA1). The predetermined distance is the distance required for the first end-bound transport device (1A) and the second end-bound transport device (1B) to change their travel positions in order to pass each other.

[0127] According to this embodiment, if there is a possibility that the first end-bound conveying device (1A) and the second end-bound conveying device (1B) will come into contact with the vehicle they are passing, it is possible to determine not to perform passing maneuvers.

[0128] In the transport control system (2) of the tenth embodiment, in any of the first to ninth embodiments, the first end-bound transport device (1A) and the second end-bound transport device (1B) each have obstacle sensors (121) for detecting obstacles ahead in the direction of travel. When the travel control unit (27) has the first end-bound transport device (1A) and the second end-bound transport device (1B) travel in a bidirectional path (PA1) passing each other, it limits the detection range of the obstacle sensors (121) of the first end-bound transport device (1A) and the second end-bound transport device (1B) to the width of the occupied area (B1).

[0129] According to this embodiment, when the first end-bound transport device (1A) and the second end-bound transport device (1B) are traveling in passing, the possibility of the obstacle sensor (121) misdetecting the other vehicle they are passing can be reduced.

[0130] In the 11th embodiment of the transport control system (2), in any of the first to tenth embodiments, the transport device (1) includes at least one of the following types: a first transport device (101), a second transport device (102), and a third transport device (103). The first transport device (101) is capable of traveling in the forward, backward, left, and right directions and has a first connecting part (17A) for connecting a transported object (C2) to at least one of its front and rear ends. The second transport device (102) is capable of traveling in the forward, backward, left, and right directions and has a second connecting part (17B) for connecting a transported object (C2) to at least one of its front and rear ends and at least one of its left and right ends. The third transport device (103) is capable of traveling in the forward and backward directions and has a third connecting part (17C) for connecting a transported object (C2) to at least one of its front and rear ends.

[0131] This embodiment can accommodate various types of conveying devices (1).

[0132] In the transport control system (2) of the 12th embodiment, in the 11th embodiment, if the transport device (1) is the first transport device (101), the second setting unit (25) sets the width of the occupied area (B1) to be the length of the shorter side of the occupied area (B1) used by the first transport device (101) when the first transport device (101) is viewed from above. If the transport device (1) is the second transport device (102) and the second transport device (102) is transporting an object (C2), the second setting unit (25) sets the width of the occupied area (B1) used by the second transport device (102) to be the longer of the length of the shorter side of the occupied area (B1) of the second transport device (102) when the second transport device (102) is viewed from above when it is not transporting, and the length of the shorter side of the object (C2) that the second transport device (102) is transporting. If the transport device (1) is the third transport device (103), the second setting unit (25) sets the width of the occupied area (B1) to be the length in the left-right direction of the occupied area (B1) used by the third transport device (103) when the third transport device (103) is viewed from above.

[0133] According to this embodiment, the width of the occupied area (B1) can be set to an optimal value for each type of conveying device (1).

[0134] In the transport control system (2) of the 13th embodiment, in the 12th embodiment, the second transport device (102) travels along the bidirectional path (PA1) in such a posture that the direction of the shorter side of the occupied area (B1) used by the second transport device (102) is aligned with the direction of the passage width (DP1) of the bidirectional path (PA1).

[0135] According to this embodiment, the possibility of the second transport device (102) coming into contact with another device it passes is reduced.

[0136] In the fourteenth embodiment of the transport control system (2), in any of the first to tenth embodiments, the transport device (1) includes at least one of the following types: towing transport devices (101 to 103) and lift transport devices (104). The towing transport devices (101 to 103) transport the transported object (C2) by towing or pushing it. The lift transport device (104) transports the transported object (C1, C2) while lifting at least a portion of it.

[0137] This embodiment can accommodate various types of conveying devices (1).

[0138] In the transport control system (2) of the 15th embodiment, in the 14th embodiment, the first end-bound transport device (1A) and the second end-bound transport device (1B) are lift-type transport devices (104). When the first end-bound transport device (1A) is transporting an object (C1) and the second end-bound transport device (1B) is not transporting, and in the height direction, the object (C1) being transported by the first end-bound transport device (1A) does not interfere with the second end-bound transport device (1B), the second setting unit (25) sets the first width (D1) of the occupied area (B11) of the first end-bound transport device (1A) to a value obtained by adding half the width of the occupied area (B11) of the first end-bound transport device (1A) including the object (C1) to half the width of the occupied area (B11) of the first end-bound transport device (1A) alone.

[0139] According to this embodiment, the possibility of the first end-bound transport device (1A) and the second end-bound transport device (1B) coming into contact with each other is reduced, while the possibility of them being able to pass each other is increased.

[0140] The sixteenth embodiment of the transport system (100) comprises a transport control system (2) according to any of the first to tenth embodiments and a plurality of transport devices (1). The transport control system (2) controls the transport operations of the plurality of transport devices (1).

[0141] This embodiment has the advantage of improving the work efficiency of the conveying device (1).

[0142] The 17th embodiment of the transport control method is a transport control method for controlling the transport operations of a plurality of transport devices (1). The transport control method includes a first acquisition step, an occupied area setting step, a second acquisition step, and a travel control step. In the first acquisition step, state information related to the state of a target device is acquired from a target device, which is one of the plurality of transport devices (1). In the occupied area setting step, based on the state information, the area including the location of the target device is set as the occupied area (B1) used by the target device on a map of a predetermined area (AR1). In the second acquisition step, information on the passage width (DP1) of a bidirectional path (PA1) that can be traveled in both directions within the predetermined area (AR1) is acquired. In the travel control step, the travel of each of the plurality of transport devices (1) is controlled. In the occupied area setting step, if the target device is not transporting transported objects (C1, C2), the width of the occupied area (B1) is set based on the type of the target device. If the target device is transporting transported objects (C1, C2), the width of the occupied area (B1) is set based on the type of the target device and the transport mode of the transported objects (C1, C2). The multiple transport devices (1) include a second-end transport device (1B) that travels along a bidirectional path (PA1) from the first end (G1) to the second end (G2), and a first-end transport device (1A) that travels along the bidirectional path (PA1) from the second end (G2) to the first end (G1). In the travel control step, based on the aisle width (DP1), the first width (D1), and the second width (D2), it is determined whether or not to allow the second-end transport device (1B) and the first-end transport device (1A) to pass each other on the bidirectional path (PA1). The first width (D1) is the width of the occupied area (B1) used by the first end-bound conveying device (1A), and the second width (D2) is the width of the occupied area (B1) used by the second end-bound conveying device (1B).

[0143] This embodiment has the advantage of improving the work efficiency of the conveying device (1).

[0144] Not limited to the above embodiments, various configurations (including modifications) of the transport control system (2) according to the above embodiment can be realized by transport control methods, (computer) programs, or non-temporary recording media on which the program is recorded.

[0145] The configurations relating to the second to fifteenth aspects are not essential to the transport control system (2) and can be omitted as appropriate. [Explanation of Symbols]

[0146] 1. Conveying device 1A First End Conveyor 1B Second End Conveyor 2. Transport Control System 17A 1st connection part 17B 2nd connection part 17C 3rd connection part 22 First acquisition part 23 Second acquisition part 24. First Setting Section 25. Second Setting Section 26. Section 3 of the setting 27. Driving Control Unit 50 Structures 55 No Entry Area 100 Conveyor Systems 101 First conveying device (towed conveying device) 102 Second conveying device (towed conveying device) 103 Third conveying device (towed conveying device) 104 Lift-type conveying device 121 LiDAR (Obstacle Sensor) AR1 Designated Area B1,B11,B12 Occupied area C1, C2 Conveyed items D1 1st width D2 2nd width DM1 Safety distance DP1 Passage width G1 1st end G2 2nd end PA1 Bidirectional Path

Claims

1. A transport control system that controls the transport operations of multiple transport devices, The transport control system is A setting unit sets the width of the passage of a bidirectional path that can be traveled in both directions within a predetermined area, and the width occupied by the area used by the target device, which is one of the multiple transport devices. The system comprises a travel control unit that controls the travel of each of the aforementioned multiple transport devices, The setting unit sets the width of the occupied area based on the type of the target device when the target device is not transporting any objects, and sets the width of the occupied area based on the type of the target device and the transport mode of the objects when the target device is transporting any objects. The plurality of conveying devices include a second-end conveying device that travels along the bidirectional path from the first end to the second end, and a first-end conveying device that travels along the bidirectional path from the second end to the first end. The travel control unit determines whether or not to allow the first end-bound transport device and the second end-bound transport device to pass each other in the bidirectional path, based on the width of the passage, the first width of the occupied area used by the first end-bound transport device, and the second width of the occupied area used by the second end-bound transport device. The travel control unit, even when the first end-bound transport device is traveling along the bidirectional path, will cause the second end-bound transport device to enter the bidirectional path from the first end if the passage width is wider than the sum of the first width and the second width. Transport control system.

2. A transport control system that controls the transport operations of multiple transport devices, The transport control system is A setting unit sets the width of the passage of a bidirectional path that can be traveled in both directions within a predetermined area, and the width occupied by the area used by the target device, which is one of the multiple transport devices. The system comprises a travel control unit that controls the travel of each of the aforementioned multiple transport devices, The setting unit sets the width of the occupied area based on the type of the target device when the target device is not transporting any objects, and sets the width of the occupied area based on the type of the target device and the transport mode of the objects when the target device is transporting any objects. The plurality of conveying devices include a second-end conveying device that travels along the bidirectional path from the first end to the second end, and a first-end conveying device that travels along the bidirectional path from the second end to the first end. The travel control unit determines whether or not to allow the first end-bound transport device and the second end-bound transport device to pass each other in the bidirectional path, based on the width of the passage, the first width of the occupied area used by the first end-bound transport device, and the second width of the occupied area used by the second end-bound transport device. The travel control unit shall not permit the first end-bound transport device and the second end-bound transport device to pass each other if, while the first end-bound transport device is traveling along the bidirectional path, the distance between the first end-bound transport device and the second end-bound transport device is less than a predetermined distance required for the first end-bound transport device and the second end-bound transport device to change their travel position in order to pass each other. Transport control system.

3. A transport control system that controls the transport operations of multiple transport devices, The transport control system is A setting unit sets the width of the passage of a bidirectional path that can be traveled in both directions within a predetermined area, and the width occupied by the area used by the target device, which is one of the multiple transport devices. The system comprises a travel control unit that controls the travel of each of the aforementioned multiple transport devices, The setting unit sets the width of the occupied area based on the type of the target device when the target device is not transporting any objects, and sets the width of the occupied area based on the type of the target device and the transport mode of the objects when the target device is transporting any objects. The plurality of conveying devices include a second-end conveying device that travels along the bidirectional path from the first end to the second end, and a first-end conveying device that travels along the bidirectional path from the second end to the first end. The travel control unit determines whether or not to allow the first end-bound transport device and the second end-bound transport device to pass each other in the bidirectional path, based on the width of the passage, the first width of the occupied area used by the first end-bound transport device, and the second width of the occupied area used by the second end-bound transport device. The first end-bound transport device and the second end-bound transport device each have obstacle sensors for detecting obstacles located ahead in the direction of travel. When the travel control unit causes the first end-bound transport device and the second end-bound transport device to travel in the bidirectional path, it limits the detection range of the obstacle sensors that the first end-bound transport device and the second end-bound transport device each have to the width of the occupied area. Transport control system.

4. A transport control system that controls the transport operations of multiple transport devices, The transport control system is A setting unit sets the width of the passage of a bidirectional path that can be traveled in both directions within a predetermined area, and the width occupied by the area used by the target device, which is one of the multiple transport devices. The system comprises a travel control unit that controls the travel of each of the aforementioned multiple transport devices, The setting unit sets the width of the occupied area based on the type of the target device when the target device is not transporting any objects, and sets the width of the occupied area based on the type of the target device and the transport mode of the objects when the target device is transporting any objects. The plurality of conveying devices include a second-end conveying device that travels along the bidirectional path from the first end to the second end, and a first-end conveying device that travels along the bidirectional path from the second end to the first end. The travel control unit determines whether or not to allow the first end-bound transport device and the second end-bound transport device to pass each other in the bidirectional path, based on the width of the passage, the first width of the occupied area used by the first end-bound transport device, and the second width of the occupied area used by the second end-bound transport device. As for the type of the aforementioned conveying device, A first conveying device that is capable of traveling in all directions (forward, backward, left, and right) and has a first connecting part at least on the front and rear for connecting the conveyed object, A second transport device that is capable of traveling in all directions (forward, backward, left, and right) and has a second connecting part for connecting the transported object on at least one of its front and rear ends, and on at least one of its left and right ends, A third conveying device that is capable of traveling forward and backward and has a third connecting part for connecting the conveyed object to at least one of its front and rear ends, If the conveying device is the first conveying device, the setting unit sets the length of the shorter side of the occupied area used by the first conveying device as the width of the occupied area when the first conveying device is viewed from above. If the conveying device is the second conveying device and the second conveying device is conveying the object, the setting unit sets the width of the occupied area used by the second conveying device to be the longer of the length of the shorter side of the occupied area of ​​the second conveying device when viewed from above while the second conveying device is not conveying, and the length of the shorter side of the object being conveyed by the second conveying device. If the transport device is the third transport device, the setting unit sets the width of the occupied area to the length in the left-right direction of the occupied area used by the third transport device when viewed from above. Transport control system.

5. The second conveying device travels along the bidirectional path in such a manner that the direction of the shorter side of the occupied area used by the second conveying device aligns with the direction of the width of the passage of the bidirectional path. The transport control system according to claim 4.

6. A transport control system that controls the transport operations of multiple transport devices, The transport control system is A setting unit sets the width of the passage of a bidirectional path that can be traveled in both directions within a predetermined area, and the width occupied by the area used by the target device, which is one of the multiple transport devices. The system comprises a travel control unit that controls the travel of each of the aforementioned multiple transport devices, The setting unit sets the width of the occupied area based on the type of the target device when the target device is not transporting any objects, and sets the width of the occupied area based on the type of the target device and the transport mode of the objects when the target device is transporting any objects. The plurality of conveying devices include a second-end conveying device that travels along the bidirectional path from the first end to the second end, and a first-end conveying device that travels along the bidirectional path from the second end to the first end. The travel control unit determines whether or not to allow the first end-bound transport device and the second end-bound transport device to pass each other in the bidirectional path, based on the width of the passage, the first width of the occupied area used by the first end-bound transport device, and the second width of the occupied area used by the second end-bound transport device. The type of conveying device includes a lift-type conveying device that conveys the object while lifting at least a portion of it. The first end-bound conveying device and the second end-bound conveying device are the lift-type conveying devices, When the first end-to-end conveying device is conveying the conveyed object and the second end-to-end conveying device is not conveying, and in the height direction, the conveyed object being conveyed by the first end-to-end conveying device does not interfere with the second end-to-end conveying device, the setting unit sets the first width of the occupied area of ​​the first end-to-end conveying device to a value equal to half the width of the occupied area of ​​the first end-to-end conveying device including the conveyed object plus half the width of the occupied area of ​​the first end-to-end conveying device alone. Transport control system.

7. The transport control system is A first acquisition unit that acquires state information related to the state of the target device from the target device, which is one of the plurality of transport devices, A first setting unit sets, on the map of the predetermined area, the range including the location of the target device based on the status information, as the occupied area used by the target device. The system further includes a second acquisition unit that acquires information on the width of the bidirectional path that is passable in both directions within the predetermined area, The aforementioned setting unit is a second setting unit. A transport control system according to any one of claims 1 to 6.

8. The first setting unit sets the area used by the target device and the transported object being transported by the target device as the occupied area in the transport state. The transport control system according to claim 7.

9. The second acquisition unit acquires information about the width of the passage based on at least one of first information relating to structures on both sides of the bidirectional path and second information relating to a no-entry area set adjacent to the bidirectional path. The transport control system according to claim 7.

10. The travel control unit controls the first end-bound transport device and the second end-bound transport device to travel in a passing position on the bidirectional path if the passage width is wider than the sum of the first width and the second width. A transport control system according to any one of claims 1 to 6.

11. In the non-transport state, a predetermined safety distance is ensured between the outer edge of the occupied area and the target device. In the transport state, the safety distance is ensured between the outer edge of the occupied area and the target device and the transported object. A transport control system according to any one of claims 1 to 6.

12. The first end-bound conveying device and the second end-bound conveying device travel along the bidirectional path in such a manner that the orientation of the first width and the second width are aligned with the orientation of the passage width of the bidirectional path. A transport control system according to any one of claims 1 to 6.

13. The system further includes a third setting unit for setting whether or not to prohibit passing on the aforementioned bidirectional path, If the third setting unit has set the bidirectional path to prohibit passing, the travel control unit will not permit the first end-bound transport device and the second end-bound transport device to pass each other on the bidirectional path. The transport control system according to claim 7.

14. A transport control system according to any one of claims 1 to 6, The plurality of conveying devices and, The transport control system controls the transport operations of the plurality of transport devices. Conveyor system.

15. A transport control method for controlling the transport operations of multiple transport devices, A travel control step that controls the travel of each of the plurality of transport devices, The process includes a setting step of setting the width of the passage of a bidirectional path that can be traveled in both directions within a predetermined area, and the width occupied by the area used by the target device, which is one of the plurality of transport devices, In the setting step, when the target device is not transporting any objects, the width of the occupied area is set based on the type of the target device; when the target device is transporting any objects, the width of the occupied area is set based on the type of the target device and the transport mode of the objects. The plurality of conveying devices include a second-end conveying device that travels along the bidirectional path from the first end to the second end, and a first-end conveying device that travels along the bidirectional path from the second end to the first end. In the aforementioned travel control step, based on the width of the passage, the first width of the occupied area used by the first end-bound transport device, and the second width of the occupied area used by the second end-bound transport device, it is determined whether or not to allow the second end-bound transport device and the first end-bound transport device to pass each other in the bidirectional path. In the aforementioned travel control step, even if the first end-bound transport device is traveling along the bidirectional path, if the passage width is wider than the sum of the first width and the second width, the second end-bound transport device is moved into the bidirectional path from the first end. A method for controlling transport.

16. A transport control method for controlling the transport operations of multiple transport devices, A travel control step that controls the travel of each of the plurality of transport devices, The process includes a setting step of setting the width of the passage of a bidirectional path that can be traveled in both directions within a predetermined area, and the width occupied by the area used by the target device, which is one of the plurality of transport devices, In the setting step, when the target device is not transporting any objects, the width of the occupied area is set based on the type of the target device; when the target device is transporting any objects, the width of the occupied area is set based on the type of the target device and the transport mode of the objects. The plurality of conveying devices include a second-end conveying device that travels along the bidirectional path from the first end to the second end, and a first-end conveying device that travels along the bidirectional path from the second end to the first end. In the aforementioned travel control step, based on the width of the passage, the first width of the occupied area used by the first end-bound transport device, and the second width of the occupied area used by the second end-bound transport device, it is determined whether or not to allow the second end-bound transport device and the first end-bound transport device to pass each other in the bidirectional path. In the aforementioned travel control step, if the distance between the first end-bound conveyor and the second end-bound conveyor is less than a predetermined distance required for the first end-bound conveyor and the second end-bound conveyor to change their travel positions in order to pass each other while the first end-bound conveyor and the second end-bound conveyor are traveling along the bidirectional path, then passing each other is not permitted. A method for controlling transport.

17. A transport control method for controlling the transport operations of multiple transport devices, A travel control step that controls the travel of each of the plurality of transport devices, The process includes a setting step of setting the width of the passage of a bidirectional path that can be traveled in both directions within a predetermined area, and the width occupied by the area used by the target device, which is one of the plurality of transport devices, In the setting step, when the target device is not transporting any objects, the width of the occupied area is set based on the type of the target device; when the target device is transporting any objects, the width of the occupied area is set based on the type of the target device and the transport mode of the objects. The plurality of conveying devices include a second-end conveying device that travels along the bidirectional path from the first end to the second end, and a first-end conveying device that travels along the bidirectional path from the second end to the first end. In the aforementioned travel control step, based on the width of the passage, the first width of the occupied area used by the first end-bound transport device, and the second width of the occupied area used by the second end-bound transport device, it is determined whether or not to allow the second end-bound transport device and the first end-bound transport device to pass each other in the bidirectional path. The first end-bound transport device and the second end-bound transport device each have obstacle sensors for detecting obstacles located ahead in the direction of travel. In the aforementioned travel control step, when the first end-bound transport device and the second end-bound transport device are to travel in a passing direction on the bidirectional path, the detection range of the obstacle sensors that the first end-bound transport device and the second end-bound transport device each have is limited to the width of the occupied area. A method for controlling transport.

18. A first acquisition step involves acquiring state information related to the state of the target device from the target device, which is one of the plurality of transport devices, A set area setting step in which, on the map of the predetermined area, based on the status information, the range including the location of the target device is set as the occupied area used by the target device, A second acquisition step of acquiring information on the width of the bidirectional path that is passable in both directions within the predetermined area, further comprising: A transport control method according to any one of claims 15 to 17.

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