Route planning device, route plan creation method, route planning program, and automatic conveyance system

Abstract

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

Description

Path planning device, path planning method, path planning program, and automated transport system

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

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

[0003] Patent Document 1 describes a route planning method for avoiding deadlocks and replanning routes when multiple automated guided vehicles in operation block each other's routes, causing a deadlock in which the automated guided vehicles are unable to move.

[0004] Patent No. 7160110

[0005] However, in the route planning method described in Patent Document 1, route replanning is initiated after detecting that multiple moving objects have actually been stationary for a predetermined period of time and determining that a deadlock has occurred, resulting in wasted time and making it impossible to move the moving objects efficiently.

[0006] The present disclosure has been made in view of the above, and aims to provide a path planning device that enables a moving object to move efficiently while avoiding deadlock.

[0007] In order to solve the above-mentioned problems and achieve the objectives, the route planning device of the present disclosure includes a deadlock detection unit that predicts the occurrence of a deadlock on the travel route of a moving body that is to be evaluated for deadlock, based on taxiway information including information on the layout of the travel route on the taxiway and information on stopping positions on the taxiway, information on the travel route from the departure point to the destination of the moving body that is to be evaluated for deadlock on the taxiway, information on the travel routes from the departure point to the destination of other moving bodies other than the moving body that is to be evaluated for deadlock on the taxiway, and current position information of the other moving bodies on the taxiway, and a movement planning unit that creates movement plans for the other moving bodies to avoid the occurrence of the deadlock predicted by the deadlock detection unit.

[0008] According to the present disclosure, it is possible to obtain an advantageous effect of providing a path planning device that can avoid deadlock and move a moving object efficiently.

[0009] 1 is a diagram showing the configuration of an automatic guided transport system according to a first embodiment; 2 is a diagram showing the configuration of a path planning device included in the automatic guided transport system according to the first embodiment; 3 is a diagram showing the configuration of a mobile object control device included in the automatic guided transport system according to the first embodiment; 4 is a diagram showing the configuration of a mobile object included in the automatic guided transport system according to the first embodiment; 5 is a diagram showing a first example of a layout of a guided transport path included in the automatic guided transport system according to the first embodiment; FIG. 1 is a first diagram showing an example of a movement plan list; FIG. 2 is a second diagram showing an example of a movement plan list for a taxiway of a first example, created by a movement planning unit of a route planning device included in the automated transport system according to the first embodiment; FIG. 3 is a third diagram showing an example of a movement plan list for a taxiway of a first example, created by a movement planning unit of a route planning device included in the automated transport system according to the first embodiment; FIG. 4 is a diagram showing a second example of a layout of a taxiway included in the automated transport system according to the first embodiment; FIG. 5 is a diagram showing an example of an evacuation-requiring moving body list for a taxiway of a second example, created by an evacuation-requiring moving body search unit of a route planning device included in the automated transport system according to the first embodiment;FIG. 1 shows an example of a list of evacuation sites for a taxiway of a second example. FIG. 1 shows an example of a movement plan list for a taxiway of a second example, created by a movement planning unit of a route planning device included in the automated transport system according to the first embodiment. FIG. 2 shows an example of a movement plan list for a taxiway of a second example, created by a movement planning unit of a route planning device included in the automated transport system according to the first embodiment. FIG. 3 shows an example of a movement plan list for a taxiway of a second example, created by a movement planning unit of a route planning device included in the automated transport system according to the first embodiment. FIG. 4 shows an example of a movement plan list for a taxiway of a second example, created by a movement planning unit of a route planning device included in the automated transport system according to the first embodiment. FIG. 1 is a diagram showing an example of an evacuation-requiring moving body list for a taxiway of a third example, created by an evacuation-requiring moving body search unit. FIG. 2 is a diagram showing an example of an evacuation-requiring moving body list for a taxiway of a third example, created by an evacuation-requiring moving body search unit of a route planning device included in an automated transport system according to the first embodiment. FIG. 3 is a diagram showing an example of an evacuation-requiring moving body list for a taxiway of a third example, created by an evacuation-requiring moving body search unit of a route planning device included in an automated transport system according to the first embodiment. FIG. 4 is a diagram showing an example of an evacuation-requiring moving body list for a taxiway of a third example, created again by an evacuation-requiring moving body search unit of a route planning device included in an automated transport system according to the first embodiment.FIG. 1 shows an example of a movement plan list for a taxiway of a third example. FIG. 2 shows an example of a movement plan list for a taxiway of a third example, created by a movement planning unit of a route planning device included in an automated transportation system according to the first embodiment. FIG. 3 shows an example of a movement plan list for a taxiway of a third example, created by a movement planning unit of a route planning device included in an automated transportation system according to the first embodiment. FIG. 4 shows an example of a movement plan list for a taxiway of a third example, created by a movement planning unit of a route planning device included in an automated transportation system according to the first embodiment. FIG. 5 shows an example of a movement plan list for the taxiway of the third example, created by the movement planning unit of the route planning device of the automated transport system according to the first embodiment. FIG. 6 shows an example of a movement plan list for the taxiway of the third example, created by the movement planning unit of the route planning device of the automated transport system according to the first embodiment. FIG. 7 shows an example of a movement plan list for the taxiway of the third example, created by the movement planning unit of the route planning device of the automated transport system according to the first embodiment.

[0010] A path planning device, a path planning method, a path planning program, and an automated transport system according to embodiments will be described in detail below with reference to the accompanying drawings.

[0011] 1 is a diagram showing the configuration of an automated guided transport system according to a first embodiment. The automated guided transport system 1 according to the first embodiment is a system in which a plurality of mobile bodies 13, which are unmanned guided vehicles, travel on a guideway 12 to automatically transport objects. The automated guided transport system 1 includes a path planning device 10, a mobile body control device 11, the guideway 12, and the mobile bodies 13.

[0012] 2 is a diagram showing the configuration of a path planning device included in the automated guided transport system according to embodiment 1. The path planning device 10 is a path planning device that creates a path plan that is a plan of a path along which a moving object 13 will travel, and is a path planning device that creates a path plan that avoids the occurrence of deadlock.

[0013] The route planning device 10 has a computer on which a route planning program is installed. The route planning program is a program for implementing a deadlock detection step of predicting the occurrence of a deadlock on the travel route of the mobile body 13 to be evaluated for a deadlock, based on taxiway information including the layout of travel routes on the taxiway 12 and information on stop positions on the taxiway 12, travel route information from the departure point to the destination of the mobile body 13 to be evaluated for a deadlock on the taxiway 12, travel route information from the departure point to the destination of other mobile bodies 13 other than the mobile body 13 to be evaluated for a deadlock on the taxiway 12, and current position information of the other mobile bodies 13 on the taxiway 12. The route planning device 10 creates a route plan in accordance with the route planning program.

[0014] As shown in FIG. 2, the route planning device 10 includes an evacuation-requiring mobile body search unit 101, an evacuation site search unit 102, a deadlock detection unit 103, an evacuation site search range expansion unit 104, a movement planning unit 105, a planning device communication unit 106, a planning device memory unit 107, and a planning device control unit 108.

[0015] The evacuation-requiring mobile body search unit 101 searches for a mobile body 13 that interferes with the mobile body 13 for which a movement plan is to be created, within a travel route from the departure point to the destination of the mobile body 13 for which a movement plan is to be created. The mobile body 13 searched for by the evacuation-requiring mobile body search unit 101 is called an evacuation-requiring mobile body.

[0016] The evacuation-requiring mobile body is a mobile body 13 that needs to be evacuated from the travel route from the departure point to the destination of the mobile body 13 for which a movement plan is to be created.

[0017] As will be described later, the mobile body 13 for which a movement plan is to be created is the mobile body 13 to which the instruction unit 111 of the mobile body control device 11 has sent movement command information this time, the mobile body 13 that is the target of the movement command of the movement command information received from the instruction unit 111 of the mobile body control device 11, and in other words, the mobile body 13 that is the target of evaluation of a deadlock on the running path on the taxiway 12 in the route planning device 10.

[0018] The movement command information is instruction information for the instruction unit 111 of the mobile object control device 11 to move the mobile object 13 to a target location.

[0019] The evacuation site search unit 102 searches for an evacuation site on the taxiway 12 for evacuating the evacuation-requiring mobile object outside the travel route of the mobile object 13 for which a movement plan is to be created.

[0020] The evacuation site is a stopping position 14 for evacuating a mobile body requiring evacuation that has been identified as such by the evacuation-requiring mobile body search unit 101 to outside the travel route from the departure point to the destination of the mobile body 13 for which a movement plan is to be created on the taxiway 12.

[0021] The deadlock detection unit 103 compares the number of evacuation-requiring mobile units with the number of evacuation sites to determine whether the travel route from the departure point to the destination of the mobile unit 13 for which a movement plan is to be created is in a deadlock state. That is, the deadlock detection unit 103 predicts the occurrence of a deadlock on the travel route of the mobile unit 13 for which a deadlock is to be evaluated, based on information on the taxiway 12 including information on the layout of the travel route on the taxiway 12 and information on the stopping positions 14 on the taxiway 12, information on the travel route from the departure point to the destination of the mobile unit 13 for which a deadlock is to be evaluated on the taxiway 12, information on the travel routes from the departure points to the destination of other mobile units 13 other than the mobile unit 13 for which a deadlock is to be evaluated on the taxiway 12, and current position information of the other mobile units 13 on the taxiway 12.

[0022] When the deadlock detection unit 103 determines that a deadlock state exists, the evacuation site search range expansion unit 104 treats the mobile bodies 13 other than the evacuation-requiring mobile body as evacuation-requiring mobile bodies or sets a waypoint for the mobile body 13 that is the target of deadlock evaluation, thereby expanding the search range for evacuation sites on the taxiway 12. In other words, when the deadlock detection unit 103 predicts the occurrence of a deadlock state, the evacuation site search range expansion unit 104 expands the search range for evacuation sites on the taxiway 12.

[0023] The movement planning unit 105 creates movement plans for moving bodies other than the moving body 13 that is the target of deadlock evaluation in order to avoid the occurrence of a deadlock predicted by the deadlock detection unit 103. When the deadlock detection unit 103 determines that a deadlock state is not occurring, the movement planning unit 105 creates a movement plan for moving all of the evacuation-requiring moving bodies to any of the evacuation locations, and a movement plan for moving the moving body 13 that is the target of deadlock evaluation to a destination. When the deadlock detection unit 103 determines that a deadlock state is occurring, the movement planning unit 105 creates a movement plan for moving all of the evacuation-requiring moving bodies to any of the evacuation locations, including the evacuation locations searched for by the evacuation location search range expansion unit 104, and a movement plan for moving the moving body 13 that is the target of deadlock evaluation to a destination.

[0024] The planning device communication unit 106 communicates with a control device communication unit 112 (described later) of the mobile body control device 11. The planning device communication unit 106 receives various information from the mobile body control device 11, such as movement command information representing an instruction to move the moving body 13 that is the target of deadlock evaluation to a target location, current position information of other moving bodies 13 other than the target moving body 13, and information on movement plans of other moving bodies 13 other than the target moving body 13. In addition, the planning device communication unit 106 transmits information on the movement plan created by the path planning device 10 to an instruction unit 111 (described later) of the mobile body control device 11.

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

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

[0027] Next, the mobile body control device 11 will be described with reference to Fig. 3. Fig. 3 is a diagram showing the configuration of the mobile body control device included in the automatic transport system according to the first embodiment. The mobile body control device 11 transmits movement command information representing an instruction to move the mobile body 13 to the mobile body 13, thereby controlling the movement of the mobile body 13.

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

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

[0030] The control device communication unit 112 communicates with the planner communication unit 106 of the path planning device 10 and with a mobile device communication unit 134 (described later) of the mobile device 13. The control device communication unit 112 receives information about the state of the mobile device 13, such as information about the current location of the mobile device 13, from the mobile device 13. The control device communication unit 112 also receives information about the movement plan created by the path planning device 10 from the path planning device 10. The control device communication unit 112 also transmits various information to the path planning device 10, such as movement command information indicating an instruction to move the mobile device 13 that is the target of deadlock evaluation to a target location, current position information of other mobile devices 13 other than the mobile device 13, and information about the movement plans of the other mobile devices 13 other than the mobile device 13. The control device communication unit 112 also transmits the movement command information to the mobile device 13.

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

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

[0033] Next, the mobile body 13 according to the first embodiment will be described with reference to Fig. 4. Fig. 4 is a diagram showing the configuration of the mobile body included in the automatic transport system according to the first embodiment. The mobile body 13 acquires movement command information from the mobile body control device 11, moves along the guide path 12 to a target location in accordance with the acquired movement command information, and transports the transported object. Examples of the mobile body 13 include an unmanned guided vehicle, an autonomous vehicle, and a robot.

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

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

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

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

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

[0039] The mobile object storage unit 135 stores various information used to control the mobile object 13 .

[0040] The mobile unit control unit 136 controls the overall operation of the mobile unit 13. The mobile unit control unit 136 controls the movement unit 133 to control the movement of the mobile unit 13 on the taxiway 12, and moves the mobile unit 13 to a target location or a waiting area.

[0041] Next, the guideway 12 according to the first embodiment will be described with reference to FIG. 5 . FIG. 5 is a diagram illustrating a first example of the layout of a guideway included in the automated guideway system according to the first embodiment. As described above, the automated guideway system 1 includes the guideway 12. In the automated guideway system 1, a mobile object 13 moves along the guideway 12 to transport an object. The automated guideway system 1 includes a plurality of mobile objects 13, namely, mobile object 13 (M1) to mobile object 13 (M4), that move along the guideway 12 to transport an object. FIG. 5 also illustrates the mobile objects 13. In FIG. 5, the guideway 12 and the mobile objects 13 are illustrated schematically. In FIG. 5, a route (R_M1) along which the mobile object 13 (M1) travels from the stop position 14 (P2), which is the starting point, to the stop position 14 (P116), which is the destination, is illustrated by a medium-thick dashed line.

[0042] The taxiway 12 has a plurality of stopping positions 14. The mobile body 13 moves forward, backward, or changes direction on the taxiway 12, and stops at any of the stopping positions 14 from stopping position 14 (P1) to stopping position 14 (P116), where the transported goods are transferred.

[0043] Between a stop position 14 and another stop position 14 adjacent to the stop position 14, there is one path along which the mobile object 13 can move forward or backward. A stop position 14 that is not a branch point has two or fewer adjacent stop positions in total. A stop position 14 that is a branch point has three or more adjacent stop positions in total.

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

[0045] The taxiway 12 has one primary flow path, three secondary flow paths connected to the primary flow path, and two tertiary flow paths connected to the secondary flow paths. That is, the taxiway 12 is composed of five flow paths. A flow path is one or more routes of flow located on the same line.

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

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

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

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

[0050] Next, we will explain the operation of the automatic transport system 1. Here, we will explain the case where the mobile object 13 (M1) is moved from the stopping position 14 (P2) which is the starting point to the stopping position 14 (P116) which is the destination, that is, the case where the mobile object 13 (M1) is moved along the route (R_M1).

[0051] In this case, the instruction unit 111 of the mobile object control device 11 generates movement command information to move the mobile object 13 (M1) from the stop position 14 (P2), which is the departure point, to the stop position 14 (P116), which is the destination. The instruction unit 111 transmits the generated movement command information to the mobile object control unit 136 of the mobile object 13 (M1). At the same time as transmitting the movement command information to the mobile object control unit 136, the instruction unit 111 transmits the movement command information and information on the taxiway 12 to the evacuation-requiring mobile object search unit 101 of the route planning device 10. The movement command information includes the name of the mobile object 13 that is the target of the movement command, information on the departure point, and information on the destination. The information on the taxiway 12 includes information on the layout of the travel route on the taxiway 12 and information on the stop position 14. The name of the mobile object 13 that is the target of the movement command is the name of the mobile object 13 that is the target of deadlock evaluation.

[0052] Furthermore, the instruction unit 111 of the mobile body control device 11 transmits, for a mobile body 13 other than the mobile body 13 (M1) among the multiple mobile bodies 13 possessed by the automatic guided transport system 1, movement command information for the mobile body 13 and current position information of the mobile body 13 to the evacuation-requiring mobile body search unit 101 of the path planning device 10. Note that the instruction unit 111 of the mobile body control device 11 may transmit the above-mentioned various information to the planning device control unit 108 of the path planning device 10. In this case, the evacuation-requiring mobile body search unit 101 acquires the various information from the planning device control unit 108.

[0053] 6 is a flowchart showing an example of a processing procedure of the path planning device included in the automatic guided vehicle system according to the embodiment 1. Upon receiving movement command information, the evacuation-requiring moving body search unit 101 performs processing in accordance with the flowchart shown in FIG.

[0054] In step S110, an evacuation-requiring mobile object searching step is performed. Specifically, when the evacuation-requiring mobile object searching unit 101 receives the movement command information, it searches for a mobile object 13 that interferes with the mobile object 13 (M1) within the route (R_M1), which is the travel route from the departure point to the destination of the mobile object 13 (M1) that is the target of the movement command, using predetermined evacuation-requiring mobile object determination conditions and various information acquired from the instruction unit 111 of the mobile object control device 11.

[0055] The evacuation-requiring mobile body search unit 101 searches for a mobile body 13 that satisfies one of the following two conditions, Condition 1 and Condition 2, which are evacuation-requiring mobile body determination conditions, from among the multiple mobile bodies 13 other than the mobile body 13 (M1) among the multiple mobile bodies 13 possessed by the automatic transport system 1. Then, the evacuation-requiring mobile body search unit 101 recognizes the mobile body 13 that satisfies one of the two conditions, Condition 1 and Condition 2, as an evacuation-requiring mobile body that needs to be evacuated from the route (R_M1), and adds it to the evacuation-requiring mobile body list L_M.

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

[0057] The evacuation-requiring mobile object determination condition is a determination condition used by the evacuation-requiring mobile object search unit 101 to determine whether a mobile object is one that requires evacuation.

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

[0059] The evacuation-requiring mobile body list L_M is a list in which the names of the mobile bodies 13 that have been identified as evacuation-requiring mobile bodies by the evacuation-requiring mobile body search unit 101 are registered. The evacuation-requiring mobile body list L_M may be stored in the evacuation-requiring mobile body search unit 101, or may be stored in the planning device storage unit 107.

[0060] The evacuation-requiring mobile body search unit 101 repeats the above process until it adds all of the mobile bodies 13 other than the mobile body 13 (M1) among the multiple mobile bodies 13 included in the automatic transport system 1 that satisfy either of the two conditions, Condition 1 and Condition 2, to the evacuation-requiring mobile body list L_M. That is, the evacuation-requiring mobile body search unit 101 determines whether or not the mobile bodies 13 (M2) to 13 (M4), which are the mobile bodies 13 other than the mobile body 13 (M1) among the mobile bodies 13 included in the automatic transport system 1, satisfy either of the two conditions, Condition 1 and Condition 2. Then, the process proceeds to step S120.

[0061] 7 is a diagram showing an example of an evacuation-requiring moving body list for the first example guideway, which is created by the evacuation-requiring moving body search unit of the route planning device included in the automatic guideway system according to embodiment 1. Fig. 7 shows a state in which the names of moving bodies 13 (M2) and 13 (M3), which are moving bodies 13 identified as evacuation-requiring moving bodies by the evacuation-requiring moving body search unit 101, are added to the evacuation-requiring moving body list L_M.

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

[0063] The evacuation site search unit 102 searches for a stop position 14 that satisfies the following four conditions, Condition 3 to Condition 6, which are evacuation site determination conditions, from among the multiple stop positions 14 that the taxiway 12 has. Then, the evacuation site search unit 102 determines that the stop position 14 that satisfies the four conditions, Condition 3 to Condition 6, is an evacuation site for evacuating the evacuation-requiring mobile body outside the travel route of the route (R_M1), and adds the stop position 14 to the evacuation site list L_E.

[0064] Condition 3: The stopping position 14 is adjacent to a stopping position 14 included in the route R_M1. Condition 4: The stopping position 14 is not included in the route R_M1 or the evacuation location list L_E. Condition 5: No mobile body 13 other than the evacuation-requiring mobile body is waiting at the stopping position 14. Condition 6: No mobile body 13 other than the evacuation-requiring mobile body is moving to the stopping position 14 as its destination.

[0065] The evacuation site determination condition is a determination condition that the evacuation site search unit 102 uses to determine an evacuation site from among the multiple stop positions 14 that the taxiway 12 has.

[0066] The "mobile body 13 other than the evacuation-requiring mobile body" in Conditions 5 and 6 corresponds to the mobile body 13 that is the subject of evaluation for deadlock on the taxiway 12, and corresponds to "the mobile body 13 whose destination was just set and which is attempting to move along the route R_M1 but is still waiting." In the example shown in FIG. 5, this corresponds to the mobile body 13 (M1) stopped at the stop position 14 (P2).

[0067] Furthermore, "a mobile body 13 waiting outside the route R_M1" corresponds to "a mobile body 13 other than a mobile body requiring evacuation" in conditions 5 and 6. Furthermore, "a mobile body 13 other than a mobile body requiring evacuation" in conditions 5 and 6 corresponds to "a mobile body 13 traveling to a stop position 14 other than a stop position 14 included in the route R_M1".

[0068] Furthermore, route R_M1 does not include the "stopping position where a mobile body 13, whose destination has just been set and which is about to move along route R_M1, is waiting," i.e., the departure point of the mobile body 13 being evaluated for deadlock on taxiway 12.

[0069] As described above, the evacuation site is a stopping position 14 for evacuating a mobile body requiring evacuation that has been identified as such by the evacuation-requiring mobile body search unit 101 to outside the travel route from the departure point to the destination of the mobile body 13 that is the target of the movement command on the taxiway 12.

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

[0071] The evacuation site search unit 102 repeats the above process until it adds to the evacuation site list L_E all of the stop positions 14 on the taxiway 12 that satisfy the above four conditions, Condition 3 to Condition 6. That is, the evacuation site search unit 102 determines whether or not all of the stop positions 14 included in the taxiway 12 that are not included in the route (R_M1) satisfy the above four conditions, Condition 3 to Condition 6.

[0072] The evacuation site search unit 102 adds all of the stopping positions 14 on the taxiway 12 that satisfy the above four conditions, Condition 3 to Condition 6, to the evacuation site list L_E, and then searches for stopping positions 14 that satisfy the following four conditions, Condition 7 to Condition 10, which are evacuation site determination conditions.The evacuation site search unit 102 then determines that the stopping positions 14 that satisfy the four conditions, Condition 7 to Condition 10, are evacuation sites for evacuating the evacuation-requiring mobile body outside the travel route of the route (R_M1), and adds the stopping positions 14 to the evacuation site list L_E.Note that Conditions 8 to 10 are the same conditions as Conditions 4 to 6 described above.

[0073] Condition 7: The stopping position 14 is adjacent to a stopping position 14 included in the evacuation location list L_E. Condition 8: The stopping position 14 is not included in the route R_M1 or the evacuation location list L_E. Condition 9: No mobile body 13 other than the evacuation-requiring mobile body is waiting at the stopping position 14. Condition 10: No mobile body 13 other than the evacuation-requiring mobile body is moving to the stopping position 14 as its destination.

[0074] The evacuation site search unit 102 repeats the above process until it adds to the evacuation site list L_E all of the stop positions 14 on the taxiway 12 that satisfy the above four conditions, Condition 7 to Condition 10. In other words, the evacuation site search unit 102 determines whether or not all of the stop positions 14 that are not included in the current evacuation site list L_E and that are included in the taxiway 12 but are not included in the route (R_M1) satisfy the above four conditions, Condition 7 to Condition 10.

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

[0076] The evacuation site search unit 102 determines an evacuation site through the above-described process and registers it in the evacuation site list L_E. This allows the evacuation site search unit 102 to sequentially register stopping positions 14 located closer to the route R_M1 in the evacuation site list L_E. Then, as described below, the evacuation site search unit 102 selects the evacuation site closest to the current location of the evacuation-requiring mobile object from among the multiple evacuation sites registered in the evacuation site list L_E, and moves the evacuation-requiring mobile object to the selected evacuation site, thereby minimizing the travel distance of the evacuation-requiring mobile object and evacuating the evacuation-requiring mobile object outside the route R_M1. Then, the process proceeds to step S130.

[0077] 8 is a diagram showing an example of an evacuation area list for the first example taxiway, which is created by the evacuation area search unit of the route planning device included in the automated guideway system according to embodiment 1. Fig. 8 shows a state in which the names of stop positions 14 (P7) and 14 (P26), which are stop positions 14 determined to be evacuation areas by the evacuation area search unit 102, are added to the evacuation area list L_E.

[0078] Here, the stopping position 14 (P2), which is the departure point of the mobile unit 13 (M1), which is the mobile unit 13 being evaluated for deadlock on the taxiway 12, is adjacent to the route R_M1, and therefore satisfies condition 3. In other words, the stopping position 14 (P2), which is the departure point of the "mobile unit 13, whose destination was set just before and which is attempting to move along the route R_M1 but is still waiting," is adjacent to the route R_M1 and therefore satisfies condition 3. However, since the "mobile unit 13, whose destination was set just before and which is attempting to move along the route R_M1 but is still waiting," is waiting at the stopping position 14 (P2), the stopping position 14 (P2) does not satisfy condition 5, and is not added to the evacuation site list L_E.

[0079] If the stopping position 14 (P2) which is the departure point is not added to the evacuation point list L_E, the stopping position 14 (P12) which is adjacent only to the stopping position 14 (P2) which is the departure point does not satisfy condition 3 and is not added to the evacuation point list L_E.

[0080] In step S130, a deadlock determination step is performed. Specifically, the deadlock detection unit 103 determines whether the route (R_M1) on the taxiway 12 is in a deadlock state by using the evacuation-requiring moving object list L_M and the evacuation site list L_E.

[0081] 9 is a flowchart showing an example of a processing procedure of the deadlock detection unit of the path planning device included in the automatic guided transport system according to the embodiment 1. Hereinafter, the deadlock determination processing in the deadlock detection unit 103 will be described with reference to FIG.

[0082] First, in step S210, the deadlock detection unit 103 calculates the number of moving bodies 13 included in the evacuation-requiring moving body list L_M. Specifically, the deadlock detection unit 103 acquires the evacuation-requiring moving body list L_M and acquires information on the number of moving bodies 13 included in the evacuation-requiring moving body list L_M, i.e., information on the number of evacuation-requiring moving bodies. Then, the process proceeds to step S220.

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

[0084] In step S230, the deadlock detection unit 103 compares the acquired number of evacuation-requiring mobile objects with the number of evacuation locations, and determines whether the number of evacuation-requiring mobile objects is greater than the number of evacuation locations. That is, the deadlock detection unit 103 determines whether the relationship (number of evacuation-requiring mobile objects) > (number of evacuation locations) holds.

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

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

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

[0088] In the example of the evacuation-requiring moving body list L_M shown in Figure 7 and the evacuation location list L_E shown in Figure 8, the number of moving bodies 13 included in the evacuation-requiring moving body list L_M is two, while the number of stopping positions 14 included in the evacuation location list L_E is also two, so the number of evacuation-requiring moving bodies is less than or equal to the number of evacuation locations. Therefore, the deadlock detection unit 103 determines that the route (R_M1) on the taxiway 12 is not in a deadlock state.

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

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

[0091] First, the movement planning unit 105 focuses on the first moving body 13 (M2) among the evacuation-requiring moving bodies. That is, the movement planning unit 105 focuses on the first moving body 13 (M2) among the moving bodies 13 included in the evacuation-requiring moving body list L_M. Among the evacuation locations, the one closest to the stopping position 14 (P3) where the moving body 13 (M2) is waiting is the stopping position 14 (P7). That is, among the stopping positions 14 included in the evacuation location list L_E, the one closest to the stopping position 14 (P3) where the moving body 13 (M2) is waiting is the stopping position 14 (P7).

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

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

[0094] 10 is a first diagram showing an example of a movement plan list for the first example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 10 shows a state in which a movement plan for a moving body 13 (M3) has been added.

[0095] The movement plan list shown in FIG. 10 has the following items: "No.", "Mobile object," "Departure point," "Destination," and "Driving route." "No." is a management number assigned to each mobile object 13 that is the subject of the movement plan. "Mobile object" is the mobile object 13 that is the subject of the movement plan. "Departure point" is the departure point of the mobile object 13 that is the subject of the movement plan. "Destination" is the destination of the mobile object 13 that is the subject of the movement plan. "Driving route" is the driving route of the mobile object 13 that is the subject of the movement plan, and is indicated by the stopping positions 14 that the mobile object 13 passes through when moving from the departure point to the destination and the stopping position 14 at the destination.

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

[0097] 11 is a second diagram showing an example of a movement plan list for the first example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 11 shows a state in which a movement plan for a moving body 13 (M2) has been added.

[0098] In this manner, a movement plan is created to evacuate all of the moving bodies 13 included in the evacuation-requiring moving body list L_M to any of the stopping positions 14 included in the evacuation site list L_E.

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

[0100] 12 is a third diagram showing an example of a movement plan list for the first example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 12 shows a state in which a movement plan for a moving body 13 (M1) has been added.

[0101] The path planning device 10 transmits information about the movement plan created as described above to the instruction unit 111 of the mobile body control device 11. The instruction unit 111 of the mobile body control device 11 controls the movement of the multiple evacuation-requiring moving bodies, including the order of movement of the multiple evacuation-requiring moving bodies, based on the movement plan created by the path planning device 10. That is, the instruction unit 111 of the mobile body control device 11 transmits movement command information to the multiple evacuation-requiring moving bodies, taking into account the order of movement of the multiple evacuation-requiring moving bodies, to control the movement of the multiple moving bodies 13. Note that when there is only one evacuation-requiring moving body, the instruction unit 111 of the mobile body control device 11 only needs to transmit movement command information to the single evacuation-requiring moving body.

[0102] As a result, the automated guided transport system 1 moves the moving bodies 13 in order according to the movement plan created by the route planning device 10, so that the moving body 13 (M1) can be moved to the destination stop position 14 (P116) without interfering with other moving bodies 13. Note that step S150 will be described with reference to another example described later.

[0103] Next, another example of the guideway 12 according to the first embodiment will be described with reference to FIG. 13 . FIG. 13 is a diagram illustrating a second example of the layout of the guideway of the automated guideway system according to the first embodiment. In FIG. 13 , similar to the case of FIG. 5 , a route (R_M1) along which the moving object 13 (M1) travels from the stop position 14 (P2) as the starting point to the stop position 14 (P116) as the destination is indicated by a medium-thick dashed line. In the example illustrated in FIG. 13 , a case will be described in which the moving object 13 (M5) is waiting at the stop position 14 (P5) in addition to the state illustrated in FIG. 5 . In this case, the path planning device 10 also performs processing according to the flowchart illustrated in FIG. 6 .

[0104] As described above, in step S110, the evacuation-requiring moving body list L_M is created by the evacuation-requiring moving body search unit 101. Fig. 14 is a diagram showing an example of the evacuation-requiring moving body list for the second example guideway, created by the evacuation-requiring moving body search unit of the route planning device included in the automatic guideway system according to the first embodiment. Fig. 14 shows a state in which the names of moving bodies 13 (M2), 13 (M3), and 13 (M5), which are moving bodies 13 identified as evacuation-requiring moving bodies by the evacuation-requiring moving body search unit 101, have been added to the evacuation-requiring moving body list L_M.

[0105] Next, in step S120, the evacuation area list L_E is created by the evacuation area search unit 102. Fig. 15 is a diagram showing an example of the evacuation area list for the second example taxiway, created by the evacuation area search unit of the route planning device included in the automated guided vehicle system according to the first embodiment. Fig. 15 shows a state in which the names of stop positions 14 (P7) and 14 (P26), which are stop positions 14 identified as evacuation areas by the evacuation area search unit 102, have been added to the evacuation area list L_E.

[0106] Next, in step S130, the deadlock detection unit 103 uses the evacuation-requiring mobile object list L_M and the evacuation site list L_E to determine whether the route (R_M1) on the taxiway 12 of the second example is in a deadlock state. The deadlock detection unit 103 performs processing in accordance with the flowchart shown in FIG. 9, as in the case of the taxiway 12 of the first example.

[0107] In the example of the evacuation-requiring moving body list L_M shown in Figure 14 and the evacuation location list L_E shown in Figure 15, the number of moving bodies 13 included in the evacuation-requiring moving body list L_M is three, while the number of stopping positions 14 included in the evacuation location list L_E is two, meaning that the number of evacuation-requiring moving bodies is greater than the number of evacuation locations. Therefore, the deadlock detection unit 103 determines that the route (R_M1) on the taxiway 12 in the second example is in a deadlock state.

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

[0109] In step S150, a retreat location search range expansion step is performed. Specifically, the retreat location search range expansion unit 104 first adds moving bodies 13 other than the retreat-requiring moving body to the retreat-requiring moving body list L_M. That is, the retreat location search range expansion unit 104 adds moving bodies 13 other than the moving body 13 (M1) that is the moving body 13 that is the target of the movement command and is not registered in the retreat-requiring moving body list L_M to the retreat-requiring moving body list L_M. That is, the retreat location search range expansion unit 104 recognizes and treats one or more moving bodies 13 other than the moving body 13 determined as the retreat-requiring moving body as retreat-requiring moving bodies.

[0110] For example, consider a case where a mobile body 13 (M4) is focused on as a mobile body 13 other than the evacuation-requiring mobile body. First, the evacuation location search range expansion unit 104 adds the mobile body 13 other than the evacuation-requiring mobile body to the evacuation-requiring mobile body list L_M.

[0111] 16 is a diagram showing an example of an evacuation-requiring moving body list for the second example guideway, which is re-created by the evacuation-requiring moving body searching unit of the route planning device of the automatic guideway system according to embodiment 1. Fig. 16 shows a state in which the names of the moving bodies 13 (M2), 13 (M3), and 13 (M5), which are moving bodies 13 recognized as evacuation-requiring moving bodies by the evacuation-requiring moving body searching unit 101, and the moving body 13 (M4) added by the evacuation site search range expanding unit 104, are added to the evacuation-requiring moving body list L_M.

[0112] Next, the evacuation site searching unit 102 creates the evacuation site list L_E again using the evacuation-requiring mobile object list L_M shown in FIG.

[0113] 17 is a diagram showing an example of the evacuation area list for the second example taxiway, which is re-created by the evacuation area search unit of the route planning device of the automated guided vehicle system according to embodiment 1. Fig. 17 shows a state in which the names of stop positions 14 (P7) and 14 (P26), which are stop positions 14 determined as evacuation areas by the evacuation area search unit 102 in step S120, and stop positions 14 (P14) and 14 (P24), which are stop positions 14 newly determined as evacuation areas by the evacuation area search unit 102, are added to the evacuation area list L_E.

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

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

[0116] First, the movement planning unit 105 focuses on the first moving body 13 (M2) among the evacuation-requiring moving bodies. That is, the movement planning unit 105 focuses on the first moving body 13 (M2) among the moving bodies 13 included in the evacuation-requiring moving body list L_M. Among the evacuation locations, the one closest to the stopping position 14 (P3) where the moving body 13 (M2) is waiting is the stopping position 14 (P14). That is, among the stopping positions 14 included in the evacuation location list L_E, the one closest to the stopping position 14 (P3) where the moving body 13 (M2) is waiting is the stopping position 14 (P14).

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

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

[0119] 18 is a first diagram showing an example of a movement plan list for the second example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 18 shows a state in which a movement plan for a moving body 13 (M4) has been added.

[0120] The movement planning unit 105 then proceeds in the same manner as described above to assign one of the stopping positions 14 included in the evacuation location list L_E to the destination of the remaining moving bodies 13 included in the evacuation-requiring moving body list L_M.

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

[0122] 19 is a second diagram showing an example of a movement plan list for a second example guideway created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 19 shows a state in which a movement plan for a moving body 13 (M3) has been added.

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

[0124] 20 is a third diagram showing an example of a movement plan list for the second example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 20 shows a state in which a movement plan for a moving body 13 (M5) has been added.

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

[0126] 21 is a fourth diagram illustrating an example of a movement plan list for the second example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list illustrated in FIG. 21 illustrates a state in which a movement plan for a moving body 13 (M2) has been added.

[0127] In this manner, a movement plan is created to evacuate all of the moving bodies 13 included in the evacuation-requiring moving body list L_M to any of the stopping positions 14 included in the evacuation site list L_E.

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

[0129] 22 is a fifth diagram illustrating an example of a movement plan list for the second example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list illustrated in FIG. 22 illustrates a state in which a movement plan for a moving body 13 (M1) has been added.

[0130] The path planning device 10 transmits information about the movement plan created as described above to the instruction unit 111 of the mobile body control device 11. The instruction unit 111 of the mobile body control device 11 controls the movement of the multiple evacuation-requiring moving bodies, including the order of movement of the multiple evacuation-requiring moving bodies, based on the movement plan created by the path planning device 10. That is, the instruction unit 111 of the mobile body control device 11 transmits movement command information to the multiple evacuation-requiring moving bodies, taking into account the order of movement of the multiple evacuation-requiring moving bodies, to control the movement of the multiple moving bodies 13.

[0131] As a result, the automatic conveying system 1 can move the moving body 13 in sequence according to the movement plan created by the route planning device 10, so that the moving body 13 (M1) can be moved to the destination stopping position 14 (P116) without interfering with other moving bodies 13.

[0132] Next, another example of the guideway 12 according to the first embodiment will be described with reference to FIG. 23 . FIG. 23 is a diagram illustrating a third example of the layout of the guideway of the automated guideway system according to the first embodiment. In FIG. 23 , similar to the case of FIG. 5 , a route (R_M1) along which the moving object 13 (M1) travels from the stop position 14 (P2) serving as the starting point to the stop position 14 (P116) serving as the destination is indicated by a medium-thick dashed line. In the example illustrated in FIG. 23 , a case will be described in which the moving object 13 (M6) is waiting at the stop position 14 (P6) in addition to the state illustrated in FIG. 13 . In this case as well, the route planning device 10 performs processing according to the flowchart illustrated in FIG. 6 .

[0133] As described above, in step S110, the evacuation-requiring moving body list L_M is created by the evacuation-requiring moving body search unit 101. Fig. 24 is a diagram showing an example of the evacuation-requiring moving body list for the third example guideway, created by the evacuation-requiring moving body search unit of the route planning device included in the automatic guideway system according to the first embodiment. Fig. 24 shows a state in which the names of moving bodies 13 (M2), moving body 13 (M3), moving body 13 (M5), and moving body 13 (M6), which are moving bodies 13 identified as evacuation-requiring moving bodies by the evacuation-requiring moving body search unit 101, have been added to the evacuation-requiring moving body list L_M.

[0134] Next, in step S120, the evacuation area search unit 102 creates an evacuation area list L_E. Fig. 25 is a diagram showing an example of the evacuation area list for the third example taxiway, created by the evacuation area search unit of the route planning device included in the automated guided vehicle system according to the first embodiment. Fig. 25 shows a state in which the names of stop positions 14 (P7) and 14 (P26), which are stop positions 14 identified as evacuation areas by the evacuation area search unit 102, have been added to the evacuation area list L_E.

[0135] Next, in step S130, the deadlock detection unit 103 uses the evacuation-requiring mobile object list L_M and the evacuation site list L_E to determine whether the route (R_M1) on the taxiway 12 of the third example is in a deadlock state. The deadlock detection unit 103 performs processing in accordance with the flowchart shown in FIG. 9, as in the case of the taxiway 12 of the first example.

[0136] In the example of the evacuation-requiring moving body list L_M shown in Fig. 24 and the evacuation location list L_E shown in Fig. 25, the number of moving bodies 13 included in the evacuation-requiring moving body list L_M is four, while the number of stopping positions 14 included in the evacuation location list L_E is two, meaning that the number of evacuation-requiring moving bodies is greater than the number of evacuation locations. Therefore, the deadlock detection unit 103 determines that the route (R_M1) on the taxiway 12 in the third example is in a deadlock state.

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

[0138] In step S150, a shelter location search range expansion step is performed. Specifically, the shelter location search range expansion unit 104 first adds the moving bodies 13 other than the evacuation-requiring moving bodies to the evacuation-requiring moving body list L_M. That is, the shelter location search range expansion unit 104 adds the moving bodies 13 other than the moving body 13 (M1) that is the moving body 13 that is the target of the movement command and is not registered in the evacuation-requiring moving body list L_M to the evacuation-requiring moving body list L_M.

[0139] For example, as in the case of the taxiway 12 in the second example, consider a case where attention is focused on the moving body 13 (M4) as a moving body 13 other than the evacuation-requiring moving body. First, the evacuation site search range expansion unit 104 adds the moving body 13 other than the evacuation-requiring moving body to the evacuation-requiring moving body list L_M.

[0140] 26 is a diagram showing an example of an evacuation-requiring moving body list for the third example guideway, which is created by the evacuation-requiring moving body searching unit of the route planning device of the automatic guideway system according to embodiment 1. Fig. 26 shows a state in which the names of the moving bodies 13 (M2), 13 (M3), 13 (M5), and 13 (M6), which are moving bodies 13 recognized as evacuation-requiring moving bodies by the evacuation-requiring moving body searching unit 101, and the moving body 13 (M4) added by the evacuation site search range expanding unit 104, are added to the evacuation-requiring moving body list L_M.

[0141] Next, the evacuation site searching unit 102 creates the evacuation site list L_E again using the evacuation-requiring mobile object list L_M shown in FIG.

[0142] 27 is a diagram showing an example of the evacuation area list for the taxiway of the third example, which is created again by the evacuation area search unit of the route planning device of the automated guided vehicle system according to embodiment 1. Fig. 27 shows a state in which the names of stop positions 14 (P7) and 14 (P26), which are stop positions 14 determined as evacuation areas by the evacuation area search unit 102 in step S120, and stop positions 14 (P14) and 14 (P24), which are stop positions 14 newly determined as evacuation areas by the evacuation area search unit 102, are added to the evacuation area list L_E.

[0143] Next, the deadlock detection unit 103 uses the evacuation-requiring moving object list L_M and the evacuation location list L_E to again determine whether the route (R_M1) on the taxiway 12 is in a deadlock state. In the example of the evacuation-requiring moving object list L_M shown in FIG. 26 and the evacuation location list L_E shown in FIG. 27, the number of moving objects 13 included in the evacuation-requiring moving object list L_M is five, while the number of stopping positions 14 included in the evacuation location list L_E is four, meaning that the number of evacuation-requiring moving objects is greater than the number of evacuation locations. Therefore, the deadlock detection unit 103 determines that the route (R_M1) on the taxiway 12 in the third example is in a deadlock state.

[0144] In the third example, if the route (R_M1) on the taxiway 12 is determined to be in a deadlock state and there is no mobile object 13 that can be added to the list of mobile objects requiring evacuation L_M, the evacuation destination search range expansion unit 104 sets a waypoint for the mobile object 13 (M1). When setting a waypoint, the mobile object 13 added above is not taken into consideration.

[0145] The waypoint is a stop position 14 other than the route (R_M1) that the mobile object 13 (M1) passes through on the way from the stop position 14 (P2) that is the departure point to the stop position 14 (P116) that is the destination.

[0146] The evacuation destination search range expansion unit 104 first searches for a route through which the mobile unit 13 (M1) can move without becoming deadlocked on the taxiway 12 of the third example. The evacuation destination search range expansion unit 104 searches for a route through which the mobile unit 13 (M1) can move without becoming deadlocked, starting from a stop position 14 that is close to the stop position 14 (P2) where the mobile unit 13 (M1) is stopped. For example, the stop position 14 (P1) is one of the route through which the mobile unit 13 (M1) can move without becoming deadlocked. The route through which the mobile unit 13 (M1) can move without becoming deadlocked can be confirmed by using the evacuation-requiring mobile unit search unit 101, the evacuation destination search unit 102, and the deadlock detection unit 103. The evacuation destination search range expansion unit 104 repeatedly searches for a route through which the mobile unit 13 (M1) can move without becoming deadlocked.

[0147] Next, the evacuation destination search range expansion unit 104 checks whether a deadlock will occur when the moving body 13 (M1) is moved to the stop position 14 (P1) searched as a waypoint. When the moving body 13 (M1) moves from the stop position 14 (P1) to the destination stop position 14 (P116), the evacuation-requiring moving body search unit 101 creates the evacuation-requiring moving body list L_M in the same manner as described above.

[0148] Fig. 28 is a diagram showing an example of an evacuation-requiring moving body list for the third example guideway, which is re-created by the evacuation-requiring moving body searching unit of the route planning device of the automatic guideway system according to embodiment 1. Fig. 28 shows a state in which the names of moving bodies 13 (M2), moving body 13 (M3), moving body 13 (M5), and moving body 13 (M6), which are moving bodies 13 recognized as evacuation-requiring moving bodies by the evacuation-requiring moving body searching unit 101, have been added to the evacuation-requiring moving body list L_M.

[0149] Next, the evacuation site searching unit 102 creates the evacuation site list L_E again using the evacuation-requiring mobile object list L_M shown in FIG.

[0150] 29 is a diagram showing an example of the evacuation area list for the taxiway of the third example, which is re-created by the evacuation area search unit of the route planning device of the automated guided vehicle system according to embodiment 1. Fig. 29 shows a state in which the names of stop positions 14 (P7) and stop position 14 (P26), which are stop positions 14 determined as evacuation areas by the evacuation area search unit 102 in step S120, and stop positions 14 (P12), stop position 14 (P22), and stop position 14 (P112), which are stop positions 14 newly determined as evacuation areas by the evacuation area search unit 102, are added to the evacuation area list L_E.

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

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

[0153] First, the movement planning unit 105 creates a first movement plan for moving the moving object 13 (M1) to a waypoint. The movement planning unit 105 assigns the stop position 14 (P1), which is the waypoint, to the destination of the moving object 13 (M1) and adds it to the movement plan list.

[0154] 30 is a first diagram showing an example of a movement plan list for the third example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 30 shows a state in which a movement plan for a moving body 13 (M1) has been added.

[0155] Next, the movement planning unit 105 focuses on the first moving body 13 (M2) among the evacuation-requiring moving bodies. That is, the movement planning unit 105 focuses on the first moving body 13 (M2) among the moving bodies 13 included in the evacuation-requiring moving body list L_M shown in FIG. 28. Among the evacuation locations, the one closest to the stopping position 14 (P3) where the moving body 13 (M2) is stopped is the stopping position 14 (P12). That is, among the stopping positions 14 included in the evacuation location list L_E shown in FIG. 29, the stopping position 14 closest to the stopping position 14 (P3) where the moving body 13 (M2) is waiting is the stopping position 14 (P12).

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

[0157] 31 is a second diagram showing an example of a movement plan list for the third example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 31 shows a state in which a movement plan for a moving body 13 (M2) has been added.

[0158] Next, the movement planning unit 105 focuses on the second moving body 13 (M3) among the evacuation-requiring moving bodies. That is, the movement planning unit 105 focuses on the second moving body 13 (M3) among the moving bodies 13 included in the evacuation-requiring moving body list L_M shown in FIG. 28. Of the remaining evacuation locations, the stopping position 14 closest to the stopping position 14 (P4) where the moving body 13 (M3) is stopped is stopping position 14 (P7). That is, of the remaining stopping positions 14 included in the evacuation location list L_E shown in FIG. 29, the stopping position 14 closest to the stopping position 14 (P4) where the moving body 13 (M3) is stopped is stopping position 14 (P7).

[0159] Here, in order for the moving body 13 (M3) to move from the stop position 14 (P4) to the stop position 14 (P7), it must pass through the stop position 14 (P5). However, the moving body 13 (M5) is stopped at the stop position 14 (P5). Also, the moving body 13 (M6) is stopped at the stop position 14 (P6). In this case, the moving body 13 (M3) cannot move to the stop position 14 (P7) because it interferes with the moving body 13 (M5) and the moving body 13 (M6). Therefore, before moving the moving body 13 (M3) to the stop position 14 (P7), the moving body 13 (M5) and the moving body 13 (M6) must first be moved to another stop position 14.

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

[0161] 32 is a third diagram showing an example of a movement plan list for a third example of a guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 32 shows a state in which a movement plan for a moving body 13 (M6) has been added.

[0162] Next, the movement planning unit 105 focuses again on the moving body 13 (M3). Of the remaining evacuation sites, the stop position 14 closest to the stop position 14 (P4) where the moving body 13 (M3) is stopped is the stop position 14 (P26). In other words, of the remaining stop positions 14 included in the evacuation site list L_E shown in FIG. 29 , the stop position 14 closest to the stop position 14 (P4) where the moving body 13 (M3) is stopped is the stop position 14 (P26).

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

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

[0165] 33 is a fourth diagram showing an example of a movement plan list for the third example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 33 shows a state in which a movement plan for a moving body 13 (M5) has been added.

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

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

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

[0169] 34 is a fifth diagram showing an example of a movement plan list for the third example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list shown in FIG. 34 shows a state in which the destination of the moving object 13 (M2) has been changed to the stopping position 14 (P22).

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

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

[0172] 35 is a sixth diagram illustrating an example of a movement plan list for the third example guideway, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list illustrated in FIG. 35 illustrates a state in which a movement plan for a moving body 13 (M3) has been added.

[0173] In the manner described above, a movement plan is created to evacuate all of the moving bodies 13 included in the list of moving bodies requiring evacuation L_M shown in FIG. 28 to any of the stopping positions 14 included in the evacuation location list L_E shown in FIG. 29.

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

[0175] 36 is a seventh diagram illustrating an example of a movement plan list for the guideway of the third example, created by the movement planning unit of the route planning device included in the automated guideway system according to embodiment 1. The movement plan list illustrated in FIG. 36 illustrates a state in which a movement plan for a moving body 13 (M1) has been added.

[0176] The path planning device 10 transmits information about the movement plan created as described above to the instruction unit 111 of the mobile body control device 11. The instruction unit 111 of the mobile body control device 11 controls the movement of the multiple evacuation-requiring moving bodies, including the order of movement of the multiple evacuation-requiring moving bodies, based on the movement plan created by the path planning device 10. That is, the instruction unit 111 of the mobile body control device 11 transmits movement command information to the multiple evacuation-requiring moving bodies, taking into account the order of movement of the multiple evacuation-requiring moving bodies, to control the movement of the multiple moving bodies 13.

[0177] As a result, the automatic conveying system 1 can move the moving body 13 in sequence according to the movement plan created by the route planning device 10, so that the moving body 13 (M1) can be moved to the destination stopping position 14 (P116) without interfering with other moving bodies 13.

[0178] Here, the order of the movement plans created as described above, i.e., the "No." in the movement plan list, may be treated as the priority of each moving body 13. In this case, if the stop position 14 to which a certain moving body 13 is to move is not included in the travel route of another moving body 13 with a higher priority, the moving body 13 may be moved regardless of the order of the movement plans. This makes it possible for multiple moving bodies 13 to move to their respective destinations without interfering with each other.

[0179] For example, in the example of the movement plan list shown in Figure 36, the third movement plan in the movement plan list, No. 3, is the movement plan for moving body 13 (M6). The travel route of moving body 13 (M6) is stopping position 14 (P7). The travel route of stopping position 14 (P7) is not included in either the travel route of moving body 13 (M1) in the first movement plan, No. 1, in the movement plan list, or the travel route of moving body 13 (M2) in the second movement plan, No. 2, in the movement plan list. Therefore, even if moving body 13 (M6) starts moving at the same time as moving body 13 (M1), the first movement plan, No. 1, in the movement plan list, starts moving, no interference between the moving bodies 13 occurs.

[0180] The route planning program according to the first embodiment may be a program that causes a computer to execute steps S110 to S150 shown in Fig. 6. By installing and executing the route planning program on a computer, the route planning device 10 and the route plan creating method according to the first embodiment can be realized.

[0181] The path planning program according to the first embodiment may be executed by a computer system constructed by a plurality of computers. In this case, for example, each computer may function as one of the evacuation-requiring mobile object search unit 101, the evacuation site search unit 102, the deadlock detection unit 103, the evacuation site search range expansion unit 104, the movement planning unit 105, and the planning device control unit 108.

[0182] As described above, in the automatic guided transport system 1 according to the first embodiment, when moving the moving body 13 (M1), the instruction unit 111 of the moving body control device 11 transmits movement command information to the moving body control unit 136 of the moving body 13 (M1). Furthermore, the instruction unit 111 transmits the movement command information to the moving body control unit 136 and, at the same time, transmits the movement command information and information on the guide path 12 to the path planning device 10. Furthermore, for moving bodies 13 other than the moving body 13 (M1) among the multiple moving bodies 13 included in the automatic guided transport system 1, the instruction unit 111 of the mobile body control device 11 transmits movement command information for the moving body 13 and current position information of the moving body 13 to the path planning device 10.

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

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

[0185] The instruction unit 111 of the mobile body control device 11 controls the movement of the multiple evacuation-requiring moving bodies, including the order of movement of the multiple evacuation-requiring moving bodies, based on the movement plan created by the path planning device 10. That is, the instruction unit 111 of the mobile body control device 11 controls the movement of the multiple moving bodies 13 by transmitting movement command information to the multiple evacuation-requiring moving bodies, taking into account the order of movement of the multiple evacuation-requiring moving bodies. Note that, when there is only one evacuation-requiring moving body, the instruction unit 111 of the mobile body control device 11 only needs to transmit movement command information to the one evacuation-requiring moving body.

[0186] By performing this processing, the automatic conveying system 1 can move the moving bodies 13 in sequence, thereby moving the moving body 13 (M1) to the destination stopping position 14 (P116) without interfering with other moving bodies 13.

[0187] Furthermore, in the automated transport system 1, when movement command information is transmitted to the moving body 13 (M1), the path planning device 10 can predict the occurrence of a deadlock state of the moving body 13 (M1) and immediately feed back a movement plan that can avoid the deadlock to the instruction unit 111 of the moving body control device 11. This makes it possible to move the moving body requiring evacuation to an evacuation site before a deadlock state of the moving body 13 (M1) actually occurs, thereby preventing the occurrence of a deadlock state of the moving body 13 (M1) in advance.

[0188] The instruction unit 111 of the mobile body control device 11 may transmit movement command information to the route planning device 10 before transmitting the movement command information to the mobile body 13 (M1), and may receive feedback of the movement plan from the route planning device 10. This allows the instruction unit 111 of the mobile body control device 11 to simultaneously transmit movement command information to the mobile body 13 (M1) and the evacuation-requiring mobile body, respectively, and allows for smoother control of the mobile body 13.

[0189] Therefore, as described above, according to the automatic transport system 1 of the first embodiment, it is possible to predict a deadlock state at the stage when movement command information is sent to the moving body, and to create a movement plan that can avoid the deadlock, thereby achieving the effect of avoiding the deadlock and moving the moving body 13 efficiently.

[0190] Second Embodiment In the second embodiment, a modified example of the automated guided vehicle system 1 according to the first embodiment will be described. In the first embodiment, the mobile object 13 can only stop at the stop position 14 on the taxiway 12, and the stop position 14 is also the only target location of the evacuation area searched for by the evacuation area search unit 102 on the taxiway 12. In the second embodiment, the mobile object 13 can also stop at a location other than the stop position 14 on the taxiway 12a described below, and the evacuation area search unit 102 can search for locations other than the stop position 14 on the taxiway 12a as target locations of the evacuation area. That is, in the second embodiment, the range of target locations of the evacuation area searched for by the evacuation area search unit 102 on the taxiway 12a is expanded compared to the taxiway 12 in the first embodiment, and the target locations of the evacuation area searched for by the evacuation area search unit 102 on the taxiway 12a include the evacuation-only stop position 15 described below in addition to the stop position 14.

[0191] Figure 37 is a diagram showing the layout of a taxiway according to the second embodiment. The taxiway 12a according to the second embodiment shown in Figure 37 is obtained by adding an evacuation-only stop position 15 (P34), an evacuation-only stop position 15 (P114), and an evacuation-only stop position 15 (P134) to the taxiway 12 shown in Figure 5 described above. Figure 37 also shows a moving body 13 (M1). That is, in the taxiway 12a according to the second embodiment, the evacuation-only stop position 15 is provided at a position different from the stop position 14 on the route that constitutes the taxiway 12a.

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

[0193] A plurality of the evacuation-only stopping positions 15 may be provided on the route constituting the taxiway 12 a, and one or more of the evacuation-only stopping positions 15 are provided on the taxiway 12 a. That is, the taxiway 12 a according to the second embodiment has a plurality of stopping positions 14 and one or more evacuation-only stopping positions 15.

[0194] The evacuation-only stopping position 15 is separated from the adjacent stopping position 14 and the adjacent evacuation-only stopping position 15 by a distance equal to or greater than the total length of the mobile body 13. In other words, the evacuation-only stopping position 15 is separated from the adjacent stopping position 14 and the adjacent evacuation-only stopping position 15 by a distance equal to or greater than the total length of the mobile body 13.

[0195] Even on the guideway 12a according to the second embodiment, the moving body 13 moves forward, backward, or changes direction, and stops at any one of the stopping positions 14 (P1) to 14 (P116), and the transported goods are transferred.

[0196] Furthermore, in the taxiway 12a according to the second embodiment, the mobile unit 13 can move forward, backward, or change direction, stop at the evacuation-only stopping position 15 to evacuate, and then move from the evacuation-only stopping position 15. However, the evacuation-only stopping position 15 is a position exclusively for the mobile unit 13 to evacuate. For this reason, in the taxiway 12a according to the second embodiment, when the mobile unit 13 stops at the evacuation-only stopping position 15, no transported goods are transferred to or from the mobile unit 13. In other words, no transported goods are transferred to or from the mobile unit 13 at the evacuation-only stopping position 15.

[0197] The evacuation-only stop position 15 is provided between a stop position 14 and another stop position 14 adjacent to the stop position 14. In other words, the evacuation-only stop position 15 is provided on a route that exists between the stop position 14 and another stop position 14 adjacent to the stop position 14. The evacuation-only stop position 15 may also be provided on a route that branches off from the stop position 14. The evacuation-only stop position 15 may also be provided on a route that branches off from the evacuation-only stop position 15.

[0198] 37, the evacuation-only stop position 15 (P34) is provided between the stop position 14 (P4) and the stop position 14 (P14) which is another stop position 14 adjacent to the stop position 14 (P4). In other words, the evacuation-only stop position 15 (P34) is provided on the route between the stop position 14 (P4) and the stop position 14 (P14) which is another stop position 14 adjacent to the stop position 14 (P4).

[0199] 37, the evacuation-only stop position 15 (P114) is provided on a route branching off from the stop position 14 (P14). In this case, the stop position 14 (P14) can be said to be a branch point on the secondary flow path branching off from the stop position 14 (P4) on the taxiway 12a. In other words, the evacuation-only stop position 15 (P114) is provided on the tertiary flow path branching off from the stop position 14 (P14) on the taxiway 12a.

[0200] 37, the evacuation-only stopping position 15 (P134) is provided on a route branching off from the evacuation-only stopping position 15 (P34). In this case, the evacuation-only stopping position 15 (P34) can be said to be a branch point on the secondary flow path branching off from the stop position 14 (P4). In other words, the evacuation-only stopping position 15 (P134) is provided on the tertiary flow path branching off from the evacuation-only stopping position 15 (P34) on the taxiway 12a.

[0201] In the second embodiment, the evacuation-only stopping position 15 is treated in the same way as the stopping position 14 in the evacuation destination searching unit 102, the deadlock detecting unit 103, the evacuation destination searching range expanding unit 104, and the movement planning unit 105. The mobile body 13 can also stop at the evacuation-only stopping position 15, which is a position on the taxiway 12a other than the stopping position 14, and the evacuation destination searching unit 102 can search for positions on the taxiway 12a other than the stopping position 14 as positions to be considered as evacuation destinations. That is, in the second embodiment, the positions to be considered as evacuation destinations on the taxiway 12a that the evacuation destination searching unit 102 searches are expanded compared to the taxiway 12 in the first embodiment, and include the evacuation-only stopping position 15 in addition to the stopping position 14. The evacuation-only stopping position 15 is also treated as a processing target in the same way as the stopping position 14 in the deadlock detecting unit 103, the evacuation destination searching range expanding unit 104, and the movement planning unit 105.

[0202] As a result, the taxiway 12a according to the second embodiment can increase the number of candidate evacuation locations by minimally expanding the layout of the taxiway 12 according to the first embodiment by adding the evacuation-only stop position 15, which is a dedicated position for the mobile body 13 to evacuate, without expanding the layout. As a result, the taxiway 12a according to the second embodiment and the automated guided transport system 1 including the taxiway 12a have the effect of reducing the frequency of deadlocks. Furthermore, the taxiway 12a according to the second embodiment and the automated guided transport system 1 including the taxiway 12a have the effect of shortening the travel time required for the mobile body 13, which is an evacuation-requiring mobile body, to evacuate from the route (R_M1) to outside the route (R_M1). As a result, the taxiway 12a according to the second embodiment and the automated guided transport system 1 including the taxiway 12a have the effect of avoiding deadlocks and efficiently moving the mobile body 13.

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

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

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

[0206] FIG. 39 is a diagram illustrating a configuration in which the functions of the control unit according to the first embodiment are implemented by software. The processing circuit 81 includes a processor 811 that executes a program 81b, a random access memory 812 that the processor 811 uses as a work area, and a storage device 813 that stores the program 81b. The processor 811 deploys the program 81b stored in the storage device 813 on the random access memory 812 and executes it, thereby realizing the functions of the control unit 80. The software or firmware is written in a programming language and stored in the storage device 813. The processor 811 may be, but is not limited to, a central processing unit. The storage device 813 may be a semiconductor memory such as a random access memory (RAM), a read-only memory (ROM), a flash memory, an erasable programmable read-only memory (EPROM), or an electrically erasable programmable read-only memory (EEPROM). The semiconductor memory may be either a non-volatile memory or a volatile memory. In addition to semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc) can be used as the storage device 813. The processor 811 may output data such as calculation results to the storage device 813 for storage, or may store the data in an auxiliary storage device (not shown) via the random access memory 812. By integrating the processor 811, the random access memory 812, and the storage device 813 on a single chip, the functions of the control unit 80 can be realized by a microcomputer.

[0207] The processing circuitry 81 reads and executes the program 81b stored in the storage device 813 to realize the functions of the control unit 80. It can also be said that the program 81b causes the computer to execute the procedures and methods for realizing the functions of the control unit 80.

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

[0209] The processing circuit 81 may be configured so that some of the functions of the control unit 80 are realized by dedicated hardware, and some of the functions of the control unit 80 are realized by software or firmware.

[0210] In this way, the processing circuitry 81 can realize each of the above-described functions by hardware, software, firmware, or a combination of these.

[0211] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention.

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

Claims

1. Route information including the arrangement of the driving route in the guiding path and the information of the stop position in the guiding path, the driving route information of the moving body to be evaluated for deadlock from the departure point to the destination in the guiding path, the driving route information of other moving bodies other than the moving body to be evaluated for deadlock in the guiding path from the departure point to the destination, the current position information of the other moving bodies in the guiding path, and the number of evacuation locations for evacuating the other moving bodies outside the driving route of the moving body to be evaluated for deadlock. Based on these, a deadlock detection unit that predicts the occurrence of deadlock in the driving route of the moving body to be evaluated for deadlock, A movement planning unit that creates a movement plan for the other moving bodies to avoid the occurrence of deadlock predicted by the deadlock detection unit, A route planning device characterized by comprising the above.

2. Based on the information of the guiding path, the driving route information of the moving body to be evaluated for deadlock, the driving route information of the other moving bodies, and the current position information of the other moving bodies, a moving body to be evacuated search unit that searches for a moving body to be evacuated that interferes with the moving body to be evaluated for deadlock within the driving route of the moving body to be evaluated for deadlock, An evacuation location search unit that searches for the evacuation location in the guiding path to evacuate the moving body to be evacuated outside the driving route of the moving body to be evaluated for deadlock, Comprising, When the number of the moving bodies to be evacuated is greater than the number of the evacuation locations, the deadlock detection unit determines that it is a deadlock and predicts the occurrence of deadlock in the driving route of the moving body to be evaluated for deadlock. The route planning device according to claim 1, characterized by the above.

3. The movement planning unit creates a movement plan to evacuate the moving body to be evacuated to the evacuation location and move the moving body to be evaluated for deadlock to the destination. The route planning device according to claim 2, characterized by the above.

4. When the occurrence of deadlock is predicted, it is provided with an evacuation location search range expansion unit that adds one or more other moving bodies other than the moving body determined as the moving body to be evacuated as the moving body to be evacuated, The deadlock detection unit predicts the occurrence of deadlock in the driving route of the moving body to be evaluated for deadlock including the moving body to be evacuated added by the evacuation location search range expansion unit. The route planning device according to claim 3, characterized by

5. When there is no other moving body that can be newly added as the moving body to be evacuated, the evacuation area search range enlarging unit searches for a transit point that is the stop position other than the traveling route of the moving body to be evaluated for deadlock and is a stop position where the moving body to be evaluated for deadlock can move without getting into a deadlock, The movement planning unit first moves the moving body to be evaluated for deadlock to the transit point, then evacuates the moving body to be evacuated to the evacuation area, and creates a movement plan for moving the moving body to be evaluated for deadlock from the transit point to the destination, The route planning device according to claim 4, characterized by

6. The evacuation area is a stop position on the guide path where the moving body stops and the transfer of the conveyed object is performed, The route planning device according to any one of claims 2 to 5, characterized by

7. The evacuation area is a dedicated position where the moving body to be evacuated stops in order to evacuate the moving body to be evacuated outside the traveling route of the moving body to be evaluated for deadlock on the guide path, and is a different position from the stop position on the guide path, and is the stop position, The route planning device according to any one of claims 2 to 5, characterized by

8. A deadlock detection step of predicting the occurrence of a deadlock in the traveling route of the moving body to be evaluated for deadlock based on information on the arrangement of the traveling route on the guide path and information on the guide path including information on the stop position on the guide path, information on the traveling route from the starting point to the destination of the moving body to be evaluated for deadlock on the guide path, information on the traveling route from the starting point to the destination of other moving bodies other than the moving body to be evaluated for deadlock on the guide path, current position information of the other moving bodies on the guide path, and the number of evacuation areas for evacuating the other moving bodies outside the traveling route of the moving body to be evaluated for deadlock; A movement planning step of creating a movement plan for the other moving bodies to avoid the occurrence of the deadlock predicted in the deadlock detection step; A route planning method characterized by including

9. Route information including the arrangement of the driving route on the guiding path and the information of the stop position on the guiding path, the driving route information from the departure point to the destination of the moving object to be evaluated for deadlock on the guiding path, the driving route information from the departure point to the destination of other moving objects other than the moving object to be evaluated for deadlock on the guiding path, the current position information of the other moving objects on the guiding path, and the number of evacuation locations for evacuating the other moving objects outside the driving route of the moving object to be evaluated for deadlock, based on which a deadlock detection step for predicting the occurrence of deadlock in the driving route of the moving object to be evaluated for deadlock; A movement planning step of creating a movement plan for the other moving objects to avoid the occurrence of deadlock predicted in the deadlock detection step; A route planning program characterized by causing a computer to execute the above.

10. A plurality of moving objects moving on a guiding path according to movement command information representing an instruction to move to a target location; A route planning device for creating movement plans for the plurality of moving objects on the guiding path; A movement control device for creating movement command information representing an instruction to move the moving object to a target location based on the movement plan; Comprising; The route planning device is Based on the route information including the arrangement of the driving route on the guiding path and the information of the stop position on the guiding path, the driving route information from the departure point to the destination of the moving object to be evaluated for deadlock on the guiding path, the driving route information from the departure point to the destination of other moving objects other than the moving object to be evaluated for deadlock on the guiding path, the current position information of the other moving objects on the guiding path, and the number of evacuation locations for evacuating the other moving objects outside the driving route of the moving object to be evaluated for deadlock, a deadlock detection unit for predicting the occurrence of deadlock in the driving route of the moving object to be evaluated for deadlock; A movement planning unit for creating a movement plan for the other moving objects to avoid the occurrence of deadlock predicted by the deadlock detection unit; Comprising the above; An automatic conveyance system characterized by the above.