Control system, control device, and control method

Abstract

A control system (101) comprises: an acquisition unit (110) that acquires state information indicating the state of an object on the basis of information detected by a sensor; a determination unit (111) that determines whether the state information satisfies a plurality of conveyance conditions for a moving body to start conveying the object; and a control unit (113) that controls the moving body in accordance with the determination result of the determination unit (111). In response to a determination that the state information satisfies at least a portion of the plurality of conveyance conditions, the control unit (113) causes the moving body to start moving to a conveyance start region in which the object is positioned, and in response to a determination that the state information satisfies the plurality of conveyance conditions, the control unit causes the moving body to start conveying the object.

Description

Control system, control device, and control method

[0001] The present disclosure relates to a control system, a control device, and a control method.

[0002] Recently, a technology has been known for controlling a mobile object that transports an object when a preset transport start condition is satisfied. Patent Document 1 (JP-A-2005-102626) discloses a related technology, which monitors the load status of a cart and controls a transport robot in accordance with the load status. The system controls the transport robot to transport the cart when the transport start condition is satisfied, i.e., when the ratio of the capacity of the cart to the amount of loaded luggage is equal to or greater than a threshold.

[0003] Japanese Patent Application Laid-Open No. 2022-39254

[0004] In the technology disclosed in Patent Document 1, if the transport robot is located away from the wagon, and the transport robot is directed to the wagon after the transport start conditions are met, it takes time for the transport robot to move, resulting in poor transport efficiency.

[0005] In view of the above-mentioned problems, an object of the present disclosure is to provide a control system, a control device, and a control method that are capable of efficiently moving a moving body that transports an object.

[0006] The control system according to the present disclosure comprises an acquisition means for acquiring status information indicating the status of an object based on information detected by a sensor; a determination means for determining whether the status information satisfies a plurality of transport conditions for a moving body to start transporting the object; and a control means for controlling the moving body in accordance with the determination result of the determination means, wherein the control means causes the moving body to start moving to a transport start area where the object is located in accordance with the determination that the status information satisfies at least some of the plurality of transport conditions, and causes the moving body to start transporting the object in accordance with the determination that the status information satisfies the plurality of transport conditions.

[0007] The control device according to the present disclosure comprises: an acquisition means for acquiring status information indicating the status of an object based on information detected by a sensor; a determination means for determining whether the status information satisfies a plurality of transport conditions for a moving body to start transporting the object; and a control means for controlling the moving body in accordance with the determination result of the determination means, wherein the control means causes the moving body to start moving to a transport start area where the object is located in accordance with the determination that the status information satisfies at least some of the plurality of transport conditions, and causes the moving body to start transporting the object in accordance with the determination that the status information satisfies the plurality of transport conditions.

[0008] The control method according to the present disclosure includes acquiring status information indicating the status of an object based on information detected by a sensor, determining whether the status information satisfies multiple transport conditions for a moving body to start transporting the object, and controlling the moving body in accordance with the determination result of whether the status information satisfies the multiple transport conditions, and controlling the moving body by causing the moving body to start moving to a transport start area where the object is located in accordance with the determination that the status information satisfies at least some of the multiple transport conditions, and causing the moving body to start transporting the object in accordance with the determination that the status information satisfies the multiple transport conditions.

[0009] The present disclosure makes it possible to provide a control system, a control device, and a control method that are capable of efficiently moving a moving body that transports an object.

[0010] 1 is a block diagram showing the configuration of a control system according to a first embodiment; FIG. 2 is a flowchart showing processing performed by the control system according to the first embodiment; FIG. 3 is a diagram showing the configuration of a transport system according to a second embodiment; FIG. 4 is a block diagram showing the configuration of a control device according to the second embodiment; FIG. 5 is a diagram showing an example of status information according to the second embodiment; FIG. 6 is a diagram showing an example of condition information according to the second embodiment; and FIG. 7 is a flowchart showing processing performed by the control device according to the second embodiment. A block diagram illustrating the hardware configuration of a computer that realizes a control system or the like.

[0011] The problem to be solved by the present disclosure will now be described in detail. For example, an object to be transported is recognized based on information acquired by a sensor, and it is determined whether the object is in a state where it can be transported. In such a case, multiple determination conditions may be set for making this determination. Examples of the multiple determination conditions include whether the object is stable and whether the object is correctly positioned within a predetermined area for transport. By setting multiple determination conditions, it is possible to accurately determine whether the object is in a state where it can be transported.

[0012] On the other hand, if only one judgment condition is set, after the moving body has moved to the position of the object due to the satisfaction of that one judgment condition, it may be determined that the object is actually in a state where it cannot be transported, and transportation of the object may be stopped, for example. If transportation is attempted when the object is not in a state where it can be transported, the safety of the transportation may be reduced due to the object tipping over or falling. Examples of states where an object cannot be transported include when the object is shaking or tilted.

[0013] For example, when a mobile object transports a cart loaded with cargo, depending on the shape and placement of the cargo, it may take time to determine from information acquired by a sensor that the cargo is ready for transport. In such a case, if the mobile object starts moving only after all of the multiple determination conditions are satisfied, it takes time for the mobile object to reach the transport start area where the transport begins. This results in low transport efficiency. The present disclosure solves this problem and improves transport efficiency by efficiently moving a mobile object transporting an object.

[0014] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each drawing, the same or corresponding elements are designated by the same reference numerals. For clarity of explanation, duplicated explanations will be omitted as necessary.

[0015] First Embodiment First, a first embodiment will be described. Fig. 1 is a block diagram showing the configuration of a control system 101 according to this embodiment. The control system 101 is a control system that controls a mobile object that transports an object. The object may be, for example, luggage or merchandise. Furthermore, a cart carrying such an object may also be included in the object.

[0016] The mobile object moves in an environment where the object to be transported exists, and transports the object. The environment where the object to be transported exists is, for example, a warehouse, a logistics center, a factory, a store, or the like where packages or products are stored.

[0017] For example, the moving object waits in a predetermined waiting area in advance, and moves to a transfer start area to start the transfer under the control of the control system 101. In this disclosure, the term "area" refers to a section when dividing an environment in which an object exists or an environment in which the moving object moves. The waiting area is an area in which the moving object waits when it has not received an instruction for transfer or the like. The waiting area may be fixed or may be changed as appropriate.

[0018] The transfer start area is an area where the moving body starts transferring an object. The transfer start area is set at a predetermined position within the environment. The object to be transferred is placed in the transfer start area. The transfer start area may be fixed or may be changed as appropriate. For example, the transfer start area may be dynamically set by detecting the position of the object using a camera or the like. When the transfer start area is set using a camera or the like, a specific location within the angle of view may be set as the transfer start area. Alternatively, the transfer start area may be set by photographing a landmark set in the environment with a camera or the like and identifying the transfer start area. When the moving body transfers an object, it first moves to the transfer start area.

[0019] The moving body starts transporting the object in the transport start area. The moving body may be, for example, a remotely controlled robot, a vehicle, a drone, or the like. These moving bodies may be capable of moving autonomously. The moving body may be, for example, an autonomous mobile robot (AMR), an automated guided vehicle (AGV), an automated guided forklift, a drone, or the like.

[0020] (Configuration of Control System 101) Next, a description will be given of the configuration of the control system 101. As shown in FIG.

[0021] The acquisition unit 110 acquires status information indicating the status of an object based on information from a sensor (not shown) that detects the object. The status information may include, for example, the tilt of the object, the movement of the object, the position of the object, the shape of the object, the presence or absence of information related to transportation attached to the object, and surrounding information indicating the situation around the object. The status information may also include other information. The multiple transportation conditions described below can be set using conditions related to this status information.

[0022] The sensor is a detection device that detects sensor information for detecting status information. The sensor is, for example, a camera, LiDAR, depth sensor, laser sensor, radar sensor, weight sensor, beacon, or the like installed in the environment. For example, the camera captures an object from a predetermined direction in the environment. The camera outputs the captured image obtained by capturing the image to the control system 101. The captured image may be a moving image or a still image. Furthermore, if the acquisition unit 110 is a depth sensor or the like, information regarding the depth acquired by the sensor may be output to the control system 101. Note that in the present disclosure, the term "captured image" may refer to captured image data, which is data of the captured image.

[0023] The acquisition unit 110 may acquire the status information by detecting the status information based on sensor information, or may acquire the status information from a system other than the control system 101. For example, if the sensor is a camera, the acquisition unit 110 detects the status information from the captured image using well-known image recognition technology. For example, the acquisition unit 110 is configured to be able to detect at least two of the following from the captured image: the tilt of the object, the movement of the object, the position of the object, the shape of the object, the presence or absence of information related to transportation assigned to the object, and surrounding information indicating the situation around the object. This allows the acquisition unit 110 to acquire multiple types of status information.

[0024] The acquisition unit 110 may acquire multiple types of state information at different times or at the same time. For example, the acquisition unit 110 may acquire the tilt of the object at a first time and then acquire the movement of the object at a second time. Alternatively, the acquisition unit 110 may acquire both the tilt and movement of the object at the first time.

[0025] The determination unit 111 determines whether the status information acquired by the acquisition unit 110 satisfies multiple transport conditions for the moving body to start transporting an object. For example, the determination unit 111 determines whether the status information satisfies each of the multiple transport conditions, thereby determining whether the status information satisfies the multiple transport conditions.

[0026] Here, the "transport conditions" refer to conditions that must be satisfied by the object to be transported or conditions that must be satisfied by the surrounding circumstances of the object to be transported. Furthermore, "status information satisfies multiple transport conditions" includes the state information satisfying all of the multiple transport conditions. Without being limited to this, "status information satisfies multiple transport conditions" may also include the state information satisfying multiple transport conditions, including a predetermined transport condition, among the multiple transport conditions. Furthermore, the determination unit 111 determines whether the status information satisfies at least some of the multiple transport conditions. Note that the multiple transport conditions can be arbitrarily set using the state information that the acquisition unit 110 can acquire.

[0027] The control unit 113 controls the moving body in accordance with the determination result of the determination unit 111. In accordance with the determination that the status information satisfies at least some of the multiple transport conditions, the control unit 113 causes the moving body to start moving to a transport start area where the object is located. In addition, in accordance with the determination that the status information satisfies the multiple transport conditions, the control unit 113 causes the moving body to start transporting the object.

[0028] The control system 101 includes a processor, a memory, and a storage device (not shown). The storage device stores a computer program that implements the processing according to this embodiment. The processor can load the computer program from the storage device into the memory and execute the computer program. In this way, the processor realizes the functions of the acquisition unit 110, the determination unit 111, and the control unit 113.

[0029] Alternatively, the acquisition unit 110, the determination unit 111, and the control unit 113 may each be realized by dedicated hardware, or may be realized by a single piece of hardware. Furthermore, some or all of the components of each device may be realized by a general-purpose or dedicated circuit, processor, etc., or a combination thereof. These may be configured by a single chip, or by multiple chips connected via a bus. Some or all of the components of each device may be realized by a combination of the above-mentioned circuits, etc., and a program.

[0030] Note that the configuration of the control system 101 shown in FIG. 1 is merely an example and may be modified as appropriate. For example, when some or all of the components of the control system 101 are realized by multiple information processing devices, circuits, etc., the multiple information processing devices, circuits, etc. may be centrally or decentralized. For example, the information processing devices, circuits, etc. may be realized as a client-server system, a cloud computing system, or the like, in a form in which each is connected via a communication network. Furthermore, the functions of the control system 101 may be provided in a SaaS (Software as a Service) format.

[0031] (Processing of Control System 101) Next, the processing performed by the control system 101 will be described with reference to Fig. 2. Fig. 2 is a flowchart showing the processing performed by the control system 101.

[0032] First, the acquisition unit 110 acquires status information indicating the status of the object based on the sensor information (S1). Next, the determination unit 111 determines whether the status information satisfies at least some of the multiple transport conditions (S2). For example, if there are three transport conditions, the determination unit 111 determines whether the status information satisfies one or more of the transport conditions. If it is determined that the status information satisfies at least some of the multiple transport conditions (YES in S2), the control unit 113 causes the moving object to start moving toward the transport start area where the object is located (S3). The control unit 113 also proceeds to step S4. If it is determined that the status information does not satisfy any of the multiple transport conditions (NO in S2), the process ends. For example, if it is determined that the status information does not satisfy any of the three transport conditions, the process ends.

[0033] Next, the determination unit 111 determines whether the status information satisfies multiple transport conditions (S4). For example, if there are three transport conditions, the determination unit 111 determines whether the status information satisfies all three transport conditions. If it is determined that the status information satisfies multiple transport conditions (YES in S4), the control unit 113 causes the moving body to start transporting the object (S5). If it is determined that the status information does not satisfy multiple transport conditions (NO in S4), the processing ends. For example, if it is determined that the status information does not satisfy one or more of the three transport conditions, the processing ends.

[0034] As described above, the control system 101 according to this embodiment first determines whether the status information satisfies at least some of the multiple transport conditions. In response to the determination that the status information satisfies at least some of the multiple transport conditions, the control system 101 causes the moving body to start moving to the transport start area. Then, the control system 101 determines whether the status information satisfies all of the multiple transport conditions. Note that determining whether the status information satisfies all of the multiple transport conditions is merely an example and is not limited to this. The control system 101 may also determine whether the status information satisfies multiple transport conditions, including a predetermined transport condition, among the multiple transport conditions. In response to the determination that the status information satisfies the multiple transport conditions, the control system 101 causes the moving body to start transporting the object.

[0035] In this way, the moving body starts moving before the timing when all of the plurality of transfer conditions are satisfied, and therefore the control system 101 can efficiently move the moving body that transfers the object. For example, since the moving body can be moved to the transfer start area before the shaking of the object placed in the transfer start area has settled, the timing when the moving body starts to transfer the object can be advanced.

[0036] <Embodiment 2> Next, embodiment 2 will be described. Embodiment 2 is a specific example of embodiment 1 described above. Furthermore, embodiment 1 has been described mainly using an example in which a moving body starts moving in response to status information satisfying some of a plurality of transport conditions, and a moving body starts transporting an object in response to status information satisfying all of the plurality of transport conditions. As described in embodiment 1, the condition for causing a moving body to start transporting an object is not limited to status information satisfying all of the plurality of transport conditions, but may also include status information satisfying a plurality of transport conditions, including a predetermined transport condition, among the plurality of transport conditions. In this embodiment, the control method according to the present disclosure will be described in more detail, including this point.

[0037] In the following description, the condition under which the moving body starts moving to the transfer start area where the object is located is referred to as the first condition, and the condition under which the moving body starts transferring the object is referred to as the second condition. The second condition includes the first condition.

[0038] First, the configuration and overview of a transport system 100 according to this embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram showing the configuration of the transport system 100. Note that the one-way arrows shown in the figure simply indicate the flow of information (data, signals, etc.) and do not exclude the two-way nature of information.

[0039] (Configuration and Overview of Transport System 100) The transport system 100 includes a transport object 3, a transport robot 5, a sensor 20, and a control device 1. The transport robot 5, the sensor 20, and the control device 1 are connected to each other via a network (not shown). The network is a wired or wireless communication line.

[0040] In the transfer system 100, the control device 1 controls the transfer robot 5 to transfer the transfer target object 3. Specifically, the transfer robot 5 first waits in advance in a waiting area P1. The waiting area P1 is an area where the transfer robot 5 waits while not moving for transfer.

[0041] The control device 1 determines whether the status information indicating the status of the transport object 3 satisfies a first condition for the transport robot 5 to start moving, based on the sensor information detected by the sensor 20. If it is determined that the first condition is satisfied, the control device 1 causes the transport robot 5 to start moving to a transport start area P2 where the transport object 3 is located. The transport start area P2 is an area where the transport object 3 is placed. The transport start area P2 will be described in detail later.

[0042] The control device 1 also determines whether the status information satisfies a second condition for the transfer robot 5 to start transferring the transfer object 3. If it is determined that the second condition is satisfied, the control device 1 causes the transfer robot 5 to start transferring the transfer object 3 in the transfer start area P2.

[0043] In this way, by satisfying the first condition, the control device 1 can cause the transfer robot 5 to start moving to the transfer start area P2 regardless of whether the second condition is satisfied at the timing of determining the first condition. Therefore, the control device 1 can move the transfer robot 5 efficiently.

[0044] The numbers of the transport objects 3, the transport robots 5, and the sensors 20 are not limited to those shown in the figure. The transport system 100 may include a plurality of the transport objects 3, the transport robots 5, and the sensors 20. When the transport system 100 includes a plurality of the transport robots 5, the control device 1 controls the plurality of the transport robots 5.

[0045] Furthermore, multiple waiting areas P1 and multiple transfer start areas P2 may be provided within the environment. The waiting areas P1 and the transfer start areas P2 may be fixed or may be changed as appropriate. For example, the waiting areas P1 and the transfer start areas P2 may be dynamically set by detecting the positions of objects or people using a camera.

[0046] Next, the configurations of the transport object 3, the transport robot 5, the sensor 20, and the control device 1 provided in the transport system 100 will be described in detail.

[0047] (Transportation Object 3) The transportation object 3 is an example of the object described above. The transportation object 3 is an object to be transported by the transport robot 5. As shown in the figure, the transportation object 3 has, for example, a cart 31 and luggage 32. The luggage 32 is placed on the cart 31. The cart 31 has a placement section on which the transportation object 3 is placed and wheels for moving within the environment.

[0048] For example, the object 3 to be transported is prepared in an environment in a state ready for transport by a worker who performs work related to the transport. The worker places the luggage 32 to be transported on the cart 31, bringing the object 3 closer to a state ready for transport. Note that, although the description here uses the luggage 32 as part of the object 3 to be transported, the luggage 32 may be a product or other item. Also, the luggage 32 need not be present. In other words, the object 3 to be transported may consist only of the cart 31. Note that, although the description here uses the cart 31 as a platform on which the luggage 32 is placed, something other than the cart 31 may be used. Alternatively, depending on the transport method of the transport robot 5, the luggage 32 may be placed directly in the transport start area P2 without providing the cart 31 or a substitute therefor.

[0049] (Transfer robot 5) The transfer robot 5 is an example of the mobile body described above. The transfer robot 5 is, for example, a robot such as an AMR that is capable of autonomous movement. Other mobile bodies such as a vehicle or a drone may be used instead of the transfer robot 5. The transfer robot 5 waits in the waiting area P1 in advance, and moves to the transfer start area P2 under the control of the control device 1. The transfer robot 5 also transfers the transfer target object 3 from the transfer start area P2 to another location.

[0050] The transport robot 5 is composed of, for example, a main body, a moving part, and a support part. The main body is equipped with, for example, a control device for operating the transport robot 5 under the control of the control device 1. The moving part is, for example, wheels for moving the transport robot 5. A driving means other than wheels may be used for the moving part. The support part supports the transport object 3. The transport robot 5 transports the transport object 3 by moving with the support part supporting the transport object 3. The transport robot 5 can transport the transport object 3 by, for example, hooking a part of the transport object 3 with a hook or the like, scooping up the transport object 3 and transporting it, or sandwiching both sides of the transport object 3 and transporting it.

[0051] Note that multiple transport robots 5 may be used to transport one transport object 3. For example, two paired transport robots 5 may be configured to sandwich the transport object 3 from the left and right and transport the transport object 3. Alternatively, three or more transport robots 5 may be configured to transport one transport object 3. Conversely, one transport robot 5 may be configured to transport multiple transport objects 3.

[0052] (Sensor 20) The sensor 20 is a detection device that detects sensor information for detecting status information. In the figure, a camera 21 is shown as an example of the sensor 20. The camera 21 is an imaging device installed in the environment. For example, it is assumed that the conveyance system 100 is used in a warehouse. The camera 21 can be installed on a ceiling, wall, pillar, or the like in a place where a mobile object moves, such as in a warehouse.

[0053] The camera 21 captures images from a predetermined direction within a capture range that includes at least a portion of the transfer start region P2 where the transfer of the transfer object 3 begins. For example, the camera 21 may be provided at a position substantially directly above the transfer start region P2. This allows the camera 21 to capture images toward the transfer start region P2 located substantially directly below. The camera 21 may also be provided at a position that allows it to capture images from substantially directly above the center of the transfer start region P2.

[0054] In this way, the camera 21 can photograph the object 3 to be transferred placed near the center of the transfer start area P2 from approximately directly above. This allows the camera 21 to accurately detect the tilt of the object 3 to be transferred placed near the center of the transfer start area P2 with respect to the vertical direction. However, the camera 21 may be provided at a position where it can photograph the object 3 to be transferred from an oblique direction. Furthermore, multiple cameras 21 may be provided in the environment.

[0055] The camera 21 outputs the captured images obtained by the capture to the control device 1. The captured images may be moving images or still images. The camera 21 may output the captured images to the control device 1 at predetermined time intervals.

[0056] The sensor 20 is not limited to the camera described above. A ranging sensor may be used as the sensor 20. The ranging sensor captures an image of the transport object 3 and detects distance information indicating the distance from the transport object 3. The ranging sensor is, for example, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) sensor or a ToF (Time of Flight) sensor. The ranging sensor may be provided, for example, on a ceiling or a wall in the environment, similar to the camera 21. The sensor 20 may include both the camera 21 and a ranging sensor. Alternatively, another sensor may be provided as the sensor 20.

[0057] (Control device 1) Next, the configuration of the control device 1 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing the configuration of the control device 1. The control device 1 is an example of the control system 101 described above. The control device 1 includes an acquisition unit 10, a determination unit 111a, a control unit 13, a notification unit 14, a communication unit 15, and a storage unit 19. The determination unit 111a is an example of the determination unit 111 according to the first embodiment. The determination unit 111a includes a first determination unit 11 and a second determination unit 12. The control device 1 can be configured, for example, as a PC (Personal Computer) or a tablet terminal.

[0058] The acquisition unit 10 is an example of the acquisition unit 110 described above. The acquisition unit 10 acquires status information indicating the status of the transport object 3 based on sensor information detected by the sensor 20. The status information may include, for example, the inclination of the transport object 3, the movement of the transport object 3, the position of the transport object 3, the shape of the transport object 3, the presence or absence of transport-related information assigned to the transport object 3, or surrounding information indicating the situation around the transport object 3. For example, it is assumed that a camera 21 is used as the sensor 20. The acquisition unit 10 detects the status information regarding the transport object 3 described above from the captured image using well-known image recognition technology. As a result, the acquisition unit 10 acquires status information indicating the status of the transport object 3.

[0059] The status information may be information indicating the status of a part of the transport object 3. For example, the status information may be information regarding the luggage 32 out of the cart 31 and luggage 32 that constitute the transport object 3. Therefore, the status information may include the inclination of the luggage 32, the movement of the luggage 32, the position of the luggage 32, the shape of the luggage 32, the presence or absence of information regarding transportation assigned to the luggage 32, or surrounding information indicating the situation around the luggage 32. In the same manner as described above, the acquisition unit 10 detects the status information regarding the luggage 32 from the captured image. As a result, the acquisition unit 10 acquires the status information indicating the status of the luggage 32.

[0060] The acquisition unit 10 is configured to be able to detect at least two of these pieces of information. This allows the acquisition unit 10 to acquire multiple types of status information. Note that the above-described status information is an example, and other information may be acquired as status information.

[0061] Furthermore, examples of the state information acquired by the acquisition unit 10 may be stored in advance in the storage unit 19. Here, it is assumed that the state information is stored in the storage unit 19 as state information 191. For example, when the acquisition unit 10 acquires any of the state information included in the state information 191, it outputs the state information to the first determination unit 11 or the second determination unit 12. The first determination unit 11 and the second determination unit 12 accept the state information output from the acquisition unit 10 and make a determination using the first condition and the second condition, respectively.

[0062] Here, the status information will be described in detail with reference to FIG. 5. FIG. 5 is a diagram showing an example of the status information 191 stored in the storage unit 19. Here, each status information will be described using the status ID shown in the diagram. The status ID is information that identifies the status information. As shown in the diagram, the status information 191 includes status information a1 to a6 and b1 to b3. The status information a1 to a6 mainly indicates object information A related to the transport object 3 itself, and the status information b1 to b3 mainly indicates surrounding information B that indicates the situation around the transport object 3.

[0063] The status information a1 indicates that the inclination of the luggage 32 is equal to or less than a predetermined value. The status information a2 is information regarding the movement of the luggage 32. Here, the status information a2 indicates that the swaying of the luggage 32 is equal to or less than a predetermined value. When the status of the luggage 32 satisfies the status information a1 and a2, the posture of the luggage 32 is stable.

[0064] Status information a3 and a4 are information relating to the position of the transport object 3. Status information a3 indicates that the luggage 32 is within the transport start area P2. Status information a4 indicates that the distance between the center of the transport start area P2 and the center of the luggage 32 is equal to or less than a predetermined value. When the state of the luggage 32 satisfies status information a3 or a4, the transport robot 5 can properly pick up the transport object 3. For example, status information a3 indicates a state in which the entire luggage 32 is contained within the transport start area P2 in an image taken from approximately directly above.

[0065] Here, the transfer start area P2 will be described in detail. The transfer start area P2 may be set, for example, by attaching tape or the like visible to the worker to the floor surface in the environment, or may be set on the software of the control device 1. When set on the software, for example, the control device 1 virtually realizes an area corresponding to the actual floor surface on the software. The control device 1 sets the transfer start area P2 using the virtually realized area. In this way, the control device 1 can set the transfer start area P2 without attaching tape or the like to the actual floor surface. Tape visible to the worker may be attached to the area on the floor corresponding to the transfer start area P2 set on the software.

[0066] The transport start area P2 may also be configured by attaching magnetic tape or the like to the floor surface. In this case, the acquisition unit 10 detects the transport start area P2 using sensor information detected by a magnetic sensor.

[0067] Although the transport start area P2 is shown as a rectangle in FIG. 3 , the transport start area P2 may be configured in any shape. For example, the shape of the transport start area P2 may be a polygon other than a rectangle. Furthermore, the shape of the transport start area P2 may be an oval, a circle, or the like, as long as the accuracy required for detecting the status information is acceptable. The shape of the transport start area P2 may also be a shape other than those described above. For example, when the transport start area P2 is set by attaching tape to the floor surface, the tape may be attached so as to indicate the entire outline of the transport start area P2, or may be attached so as to indicate part of the outline. For example, the tape may be attached so as to indicate each vertex of the polygon indicating the transport start area P2 using crosshairs or the like.

[0068] Furthermore, instead of the conveyance start region P2, a conveyance start position indicated by the intersection of crosshairs or the like may be used. In this case, for example, the status information may be set to indicate that the distance between the intersection of the crosshairs and the center of the baggage 32 is equal to or less than a predetermined value.

[0069] Continuing the explanation with reference to Fig. 5, the status information a5 indicates that the transport object 3 is in a shape that can be transported. When the status of the transport object 3 satisfies the status information a5, the risk of the transport object 3 being transported in an untransportable shape is reduced.

[0070] The status information a6 indicates that a marker containing destination information is attached to the luggage 32. When the status of the luggage 32 satisfies the status information a6, the transport robot 5 can transport the transport target object 3 to the correct destination. The marker may be, for example, a slip containing the address of the destination, the details of the transport work, or the contents of the luggage 32. A worker or the like can obtain information about the transport by reading the written contents. Alternatively, the marker may be an IC (Integrated Circuit) tag whose information can be read by the transport robot 5 or the sensor 20. Note that, although an example in which a marker containing destination information is attached to the luggage 32 has been described here, this is not limiting. The status information a6 may also indicate that destination information is attached to the transport start area P2. In this case, the acquisition unit 10 acquires the status information a6 by, for example, receiving a notification from another system linked to the transport system 100 indicating that destination information is attached to the transport start area P2.

[0071] The status information b1 to b3 indicates surrounding information that indicates the situation around the transport object 3. When the situation around the transport object 3 satisfies the status information b1 to b3, the transport robot 5 can transport the transport object 3 safely.

[0072] For example, the status information b1 indicates that a worker performing work related to the transportation of the transport object 3 has left the transport object 3. The worker may be, for example, a person performing work for transporting the transport object 3 within the environment, or a manager managing the transportation of the transport object 3 inside or outside the environment. The status information b2 indicates that there are no obstacles around the transport start area P2. The status information b2 may also indicate that there are no obstacles in the direction in which the transport object 3 is transported from the transport start area P2. The status information b2 may also indicate that there are no obstacles on the path for the transport robot 5 to approach the transport object 3. The status information b3 indicates that there are no hazardous objects around the transport start area P2. The status information b3 may also indicate that there are no hazardous objects on the path for the transport robot 5 to approach the transport object 3.

[0073] Examples of various pieces of information that can be acquired as status information by the acquisition unit 10 have been described above with reference to FIG. 5 . This information that can be acquired as status information can be used to set multiple transfer conditions under which the transfer robot 5 starts transferring the transfer object 3. In this embodiment, the multiple transfer conditions constitute second conditions. Therefore, the information that can be acquired as status information by the acquisition unit 10 can be used to set the second condition under which the transfer robot 5 starts transferring the transfer object 3.

[0074] Specifically, the second condition may be set to include at least two of the conditions related to the inclination of the transport object 3, the movement of the transport object 3, the position of the transport object 3, the shape of the transport object 3, the presence or absence of transport-related information attached to the transport object 3, and surrounding information indicating the situation around the transport object 3. Furthermore, the first condition for the transport robot 5 to start moving to the transport start area P2 may be set using at least a part of the second condition.

[0075] 5, the second condition is set to include at least two of the conditions related to the information indicated by the status information a1 to a6 and b1 to b3. For example, the second condition is set to include three conditions: "The inclination of the luggage is equal to or less than a predetermined value" in the status information a1, "The swaying of the luggage is equal to or less than a predetermined value" in the status information a2, and "The luggage is within the conveyance start area" in the status information a3. In this case, the first condition is set to include, for example, only the status information a1 and a2.

[0076] The acquisition unit 10 may acquire information other than the above-described status information. For example, the acquisition unit 10 may further acquire worker information related to a worker. The worker information may include, for example, worker position information indicating the position of the worker.

[0077] Specifically, the acquisition unit 10 extracts a worker from an image captured by the camera 21. Based on the captured image, the acquisition unit 10 measures the distance between the extracted worker and the transport object 3 using a known image recognition technique or the like. The acquisition unit 10 also identifies the positional relationship between the extracted worker and the transport object 3. As a result, the acquisition unit 10 acquires worker position information. The acquisition unit 10 may acquire the worker position information via a worker terminal used by the worker. The worker terminal may be, for example, a smartphone, a mobile phone terminal, a tablet terminal, or a PC.

[0078] The worker information may also include change information indicating that the state of the transport object 3 has been changed or is scheduled to be changed by the worker. For example, the worker may change the state of the transport object 3 in response to a warning indicating that the transport object 3 is in a state where it cannot be transported. For example, the worker changes the state of the transport object 3 by correcting the inclination of the luggage 32 or by repositioning the luggage 32. The worker uses the worker terminal to notify the control device 1 that the state of the transport object 3 has been changed. Alternatively, the worker may notify the control device 1 that the state of the transport object 3 is scheduled to be changed.

[0079] The acquisition unit 10 may also acquire change information from another system linked to the conveyance system 100. For example, the other system is equipped with a push button for notifying the control device 1 that the placement of the object 3 to be conveyed has been completed. The worker corrects, for example, the inclination of the luggage 32, and presses the push button when the placement of the object 3 to be conveyed is completed. The push button may be provided near the conveyance start area P2. The other system detects that the push button has been pressed, and transmits a signal indicating that the placement of the object 3 to be conveyed has been completed to the control device 1. The control device 1 receives the signal at the communication unit 15. As a result, the acquisition unit 10 acquires change information indicating that the state of the object 3 to be conveyed has been changed.

[0080] The other system may be provided with a push button for notifying the control device 1 that the position of the transport object 3 is scheduled to be changed. The push button may be a call button for the transport robot 5, or the like. The worker presses the push button before correcting, for example, the tilt of the luggage 32. The other system detects that the push button has been pressed and transmits a signal to the control device 1 indicating that the position of the transport object 3 is scheduled to be completed. The control device 1 receives the signal at the communication unit 15. As a result, the acquisition unit 10 acquires change information indicating that the state of the transport object 3 is scheduled to be changed.

[0081] Although the example of a push button has been described here, other systems may be provided with other input devices instead of push buttons. For example, other systems may be provided with a voice input device such as a microphone. Other systems may detect voice input from the worker, such as "I've placed the package. Please come and pick it up," and send a signal to the control device 1 indicating that placement of the transport target object 3 has been completed. Other systems may accept input from the worker via an input device such as a keyboard or a worker terminal. However, other systems may also accept explicit instructions from the worker.

[0082] Returning to Fig. 4, the explanation will be continued. The determination unit 111a is an example of the determination unit 111 described above. The determination unit 111a includes a first determination unit 11 and a second determination unit 12. Each of the first determination unit 11 and the second determination unit 12 determines whether the state information satisfies a plurality of transport conditions for the moving body to start transporting an object.

[0083] The first determination unit 11 determines whether or not the status information satisfies a first condition for the transfer robot 5 to start moving. Furthermore, when the control device 1 controls multiple transfer robots 5, the first determination unit 11 determines whether or not the status information satisfies the first condition for the multiple transfer robots 5 to start moving.

[0084] The first condition is a condition for the transfer robot 5 to start moving from the waiting area P1 toward the transfer start area P2. The first condition can be set using at least a part of the second condition. The first condition is, for example, that a predetermined number or more types of status information have been acquired by the acquisition unit 10. The first condition may also be, for example, that a specific type of status information has been acquired by the acquisition unit 10. Furthermore, the first condition may include both that a predetermined number or more types of status information have been acquired and that a specific type of status information has been acquired. The first condition is not limited to these and can be set arbitrarily using status information that can be acquired by the acquisition unit 10. Specific examples of the first condition will be described later.

[0085] The second determination unit 12 determines whether or not the status information satisfies a second condition for the transport robot 5 to start transporting the transport object 3. Furthermore, when the control device 1 controls multiple transport robots 5, the second determination unit 12 determines whether or not the status information satisfies the second condition for the multiple transport robots 5 to start transporting the transport object 3.

[0086] If the second determination unit 12 determines that the status information satisfies the second condition, the transport object 3 is in a state where it can be transported. Conversely, if the status information does not satisfy the second condition, the transport object 3 is in a state where it cannot be transported. If the transport object 3 is in a state where it cannot be transported, an operator must take action such as changing the status of the transport object 3. Alternatively, the second condition may be satisfied over time, for example, when the shaking of the transport object 3 naturally subsides.

[0087] The second condition is a condition for the transport robot 5 to start transporting the transport target object 3 in the transport start area P2. Like the first condition, the second condition is, for example, that a predetermined number or more types of status information have been acquired by the acquisition unit 10. The second condition may also be, for example, that a specific type of status information has been acquired by the acquisition unit 10. Furthermore, the second condition may include both that a predetermined number or more types of status information have been acquired and that a specific type of status information has been acquired.

[0088] Furthermore, the second condition may be set using a relationship with the first condition. For example, the second condition may include that more types of status information than the first condition are acquired. Furthermore, the second condition may include that the first condition is included. Without being limited to these, the second condition may be set arbitrarily using status information that can be acquired by the acquisition unit 10.

[0089] The first and second conditions can be set in advance by, for example, an administrator of the transport system 100. Here, it is assumed that the first and second conditions are set in advance and stored as the condition information 192.

[0090] Here, the condition information 192 will be described in detail with reference to Fig. 6. Fig. 6 is a diagram showing an example of the condition information 192 stored in the storage unit 19. Here, each condition will be described using the condition IDs shown in Fig. 6. The condition ID is information for identifying the condition information. Furthermore, the first and second conditions shown in Fig. 6 correspond to the state IDs shown in Fig. 5.

[0091] The condition information 192 shown in FIG. 6 shows multiple example combinations of the first condition and the second condition. The first determination unit 11 and the second determination unit 12 can set the first and second conditions by selecting one from the multiple combinations and make a determination using the set first and second conditions. Alternatively, the first determination unit 11 and the second determination unit 12 may make a determination using fixed first and second conditions. Alternatively, the first determination unit 11 and the second determination unit 12 may set the first and second conditions by accepting a selection from an administrator or the like.

[0092] An example of the conditions used for the determination will be specifically described using condition C1 shown in FIG. 6 . In condition C1, the first condition is "a1 + a2." This indicates that the status information indicating the status of the transport object 3 includes status information a1 and a2. Specifically, if, in the status information of the transport object 3 acquired by the acquisition unit 10, the tilt of the luggage 32 is equal to or less than a predetermined value and the swaying of the luggage 32 is equal to or less than a predetermined value, the status information of the transport object 3 satisfies the first condition of condition C1. In this case, the control unit 13 starts the movement of the transport robot 5.

[0093] Furthermore, in condition C1, the second condition is "a1 + a2 + b1 to b3." This indicates that the status information indicating the status of the transport object 3 includes status information a1, a2, b1, b2, and b3. Specifically, if the status information of the transport object 3 acquired by the acquisition unit 10 satisfies the above-mentioned two conditions, and also indicates that the worker is away from the luggage, there are no obstacles around the transport start area P2, and there are no dangerous objects around the transport start area P2, the status information satisfies the second condition of condition C1. In this case, the control unit 13 causes the transport robot 5 to start transporting the transport object 3.

[0094] As shown in the figure, the first and second conditions may be set to include a predetermined number or more types of status information, or may be set to include a specific type of status information. Alternatively, the first and second conditions may be set to include a predetermined number or more types of status information and a specific type of status information. Furthermore, for example, the second condition may be set to include more types of status information than the first condition. Alternatively, for example, the second condition may be set to include the first condition.

[0095] Returning to Fig. 4 , the explanation will be continued. The control unit 13 is an example of the control unit 113 described above. The control unit 13 controls the transport robot 5 in accordance with the judgment result of the first judgment unit 11 or the second judgment unit 12. When the first judgment unit 11 judges that the status information satisfies the first condition, the control unit 13 causes the transport robot 5 to start moving to the transport start area P2 where the transport object 3 is located. Furthermore, when the control unit 13 judges that the status information satisfies the second condition, the control unit 13 causes the transport robot 5 to start transporting the transport object 3.

[0096] Furthermore, when the second determination unit 12 determines that the status information does not satisfy the second condition, the control unit 13 stops the transport robot 5 or moves the transport robot 5 to an area different from the transport start area P2. For example, the control unit 13 moves the transport robot 5 to the waiting area P1.

[0097] The control unit 13 also acquires the elapsed time from the timing at which the determination process in the second determination unit 12 is started. The control unit 13 moves the transport robot 5 to an area different from the transport start area P2 according to the elapsed time and a predetermined threshold. The timing at which the determination process in the second determination unit 12 is started may be the timing at which the process for determination in the second determination unit 12 is started, or may be the timing at which the acquisition unit 10 acquires the status information. The timing at which the determination process in the second determination unit 12 is ended may be, for example, the timing at which the determination result is obtained in the second determination unit 12.

[0098] If the determination process has not finished even after a predetermined time has elapsed since the start of the determination process in the second determination unit 12, the control unit 13 causes the transport robot 5 to return to the standby area P1. If the determination process is taking a long time like this, it is assumed that an abnormality has occurred in the transport system 100. In such a case, it is not possible to determine whether the transport object 3 can be transported. Therefore, by causing the transport robot 5 to return to the standby area P1, the control unit 13 prioritizes having the transport robot 5 transport the transport object 3 in another area.

[0099] Furthermore, the control unit 13 causes the transport robot 5 to wait near the transfer start area P2 in response to the determination by the second determination unit 12 that the status information does not satisfy the second condition and the worker information. The vicinity of the transfer start area P2 is an area within a predetermined distance from the transfer start area P2. The predetermined distance may be set in advance. For example, the manager of the transport system 100 may set in advance a predetermined location near the transfer start area P2 as a waiting location for the transport robot 5. For example, the manager may identify a location located within a predetermined distance from the transfer start area P2 using map information and set the identified location as a waiting location.

[0100] For example, the control unit 13 causes the transport robot 5 to wait near the transfer start area P2 in accordance with the worker position information and the position information of the transfer start area P2. The control unit 13 determines whether the worker is within a predetermined range from the transfer start area P2 based on the worker position information. If the control unit 13 determines that the worker is within the predetermined range from the transfer start area P2, it causes the transport robot 5 to wait near the transfer start area P2. Alternatively, if the transport robot 5 is moving, the control unit 13 causes the transport robot 5 to continue moving. In this manner, after the worker near the transfer start area P2 changes the state of the transport target object 3, the transport robot 5 can be caused to start transporting the target object 3 promptly.

[0101] Furthermore, the control unit 13 causes the transport robot 5 to wait near the transport start area P2 in response to acquiring change information indicating that the state of the transport object 3 has been changed or is scheduled to be changed by the worker. In this way, the control unit 13 can cause the transport robot 5 to start transporting the object 3 promptly after the worker changes the state of the object 3.

[0102] Furthermore, when the control device 1 controls multiple transfer robots 5, the control unit 13 controls the multiple transfer robots 5 according to the judgment result of the first judgment unit 11 or the second judgment unit 12. When the control unit 13 judges that the status information satisfies the first condition, it causes the multiple transfer robots 5 to start moving to the transfer start area P2. When the control unit 13 judges that the status information satisfies the second condition, it causes the multiple transfer robots 5 to start transferring the transfer object 3 in the transfer start area P2. In this way, the control unit 13 can, for example, move two paired transfer robots 5 at the same time. This allows efficient transfer when two robots are transferring one transfer object 3.

[0103] The notification unit 14 notifies information related to the transport. For example, when it is determined that the status information satisfies the second condition, the notification unit 14 notifies the environment of the start of transport of the transport object 3. The notification unit 14 may be, for example, a speaker that outputs audio information to notify the start of transport of the transport object 3. The notification unit 14 outputs, for example, a message such as "Transportation of the package will begin" by voice. Without being limited to this, the notification unit 14 may be configured as a buzzer or the like. The notification unit 14 may also be configured as a display device that displays using a lamp, an image, or the like. Furthermore, the notification unit 14 may, for example, identify the worker terminal of a worker who is near the transport start area P2 and notify the worker terminal.

[0104] In this way, the worker in the environment can recognize that the transport target object 3 has been accurately placed in the transport start area P2, and therefore the worker does not need to watch the operation of the transport robot 5 to check the status of the transport target object 3.

[0105] The notification unit 14 may issue a warning to change the state of the transport object 3, depending on the determination result of the second determination unit 12. The notification unit 14 may issue a warning depending on the state information acquired by the acquisition unit 10. For example, the notification unit 14 outputs a message such as "The luggage is tilted. Please reposition the luggage" by voice. In this way, by notifying the worker that the transport object 3 cannot be transported and the state information, the worker can quickly change the state of the transport object 3.

[0106] The communication unit 15 communicates with the camera 21 and the transport robot 5 via a network (not shown). The communication unit 15 may be a communication interface for performing wired or wireless communication.

[0107] The storage unit 19 is a storage device that stores programs for realizing the functions of the control device 1. The storage unit 19 also stores the above-mentioned state information 191 and condition information 192.

[0108] The configuration of the conveying system 100 according to this embodiment has been described above. Note that the configuration of the conveying system 100 is merely an example and may be modified as appropriate. For example, similar to the control system 101 in the first embodiment, when some or all of the components of the control device 1 are realized by a plurality of information processing devices, circuits, etc., the plurality of information processing devices, circuits, etc. may be centrally or decentralized.

[0109] For example, in the above description, an example has been shown in which the status information 191 and the condition information 192 are stored in the storage unit 19 of the control device 1, but the status information 191 and the condition information 192 may be stored in a device other than the control device 1. Also, for example, in the above description, the first determination unit 11 and the second determination unit 12 are shown separately, but the control device 1 may be provided with a determination unit that has the functions of both the first determination unit 11 and the second determination unit 12.

[0110] Furthermore, for example, in the above description, the first determination unit 11 and the second determination unit 12 each made a determination using the state information 191 and the condition information 192, but this is not limited to this. For example, the first determination unit 11 and the second determination unit 12 may make the determination using a trained model that has been trained in advance. For example, the first determination unit 11 may make the determination using a trained model that has been trained to receive state information as input, estimate whether the state information satisfies a first condition, and output the estimation result. Similarly, the second determination unit 12 may make the determination using a trained model that has been trained to receive state information as input, estimate whether the state information satisfies a second condition, and output the estimation result.

[0111] (Processing of Control Device 1) Next, the processing performed by the control device 1 will be described with reference to Fig. 7. Fig. 7 is a flowchart showing the processing performed by the control device 1. It is assumed that the transport robot 5 is already waiting in the waiting area P1.

[0112] First, the acquisition unit 10 acquires status information based on sensor information detected by the sensor 20 (S11). The status information is, for example, information on the inclination, movement, position, shape, and presence or absence of information related to transportation of the transport object 3 or the luggage 32. The status information may also include surrounding information that indicates the situation around the transport object 3.

[0113] The first determination unit 11 determines whether or not the status information satisfies a first condition for starting movement of the transfer robot 5 (S12). The first determination unit 11 can determine whether or not the status information satisfies the first condition by, for example, referring to the status information 191 and the condition information 192 described with reference to FIGS.

[0114] If it is determined that the status information does not satisfy the first condition (NO in S12), the control unit 13 returns to the process of step S11 and repeats the process. If it is determined that the status information satisfies the first condition (YES in S12), the control unit 13 causes the transfer robot 5 to start moving to the transfer start area P2 where the transfer target object 3 is located (S13).

[0115] Next, the control unit 13 determines whether or not the status information satisfies a second condition for the transfer robot 5 to start transferring the transfer target object 3 (S14). The second determination unit 12 can determine whether or not the status information satisfies the second condition by referring to, for example, the status information 191 and the condition information 192 described with reference to FIGS.

[0116] The second condition may be the same as the first condition, or may be a condition that is more difficult to satisfy than the first condition. For example, the second condition may include a condition that more types of state information are satisfied than the first condition, or that all of the first conditions are included.

[0117] If it is determined that the status information satisfies the second condition (YES in S14), the control unit 13 determines whether the transport robot 5 has arrived at the transport start area P2 (S15). If it is determined that the transport robot 5 has not arrived (NO in S15), the control unit 13 repeats step S15. As a result, the control unit 13 waits for the transport robot 5 to arrive at the transport start area P2.

[0118] If it is determined that the transport robot 5 has arrived at the transport start area P2 (YES in S15), the control unit 13 causes the transport robot 5 to start transporting the transport object 3 in the transport start area P2 (S16). The notification unit 14 notifies the worker that the transport of the transport object 3 has started (S17).

[0119] If it is determined in step S14 that the status information does not satisfy the second condition (NO in S14), the control unit 13 acquires the elapsed time from the timing when the determination process was started, and determines whether the elapsed time is equal to or greater than a predetermined threshold (S18). If it is determined that the elapsed time is less than the predetermined threshold (NO in S18), the control unit 13 returns to step S14 and repeats the process.

[0120] If it is determined that the elapsed time is equal to or greater than the predetermined threshold value (YES in S18), the control unit 13 determines whether the state of the transport object 3 has been changed by the worker (S19). Specifically, if the control unit 13 receives change information from the worker terminal indicating that the state of the transport object 3 has been changed, the control unit 13 determines that the state of the transport object 3 has been changed. Note that the change information may indicate that the state of the transport object 3 is scheduled to be changed. Alternatively, the control unit 13 may extract the worker's actions from the image captured by the camera 21, and if an action that changes the state of the transport object 3 is detected, determine that the state of the transport object 3 has been changed.

[0121] When it is determined that the state of the transport object 3 has been changed by the worker (YES in S19), the control unit 13 causes the transport robot 5 to wait near the transport start area P2 (S20). When it is determined that the state of the transport object 3 has not been changed by the worker (NO in S19), the control unit 13 determines whether or not the worker is near the transport start area P2 (S21). Specifically, the control unit 13 acquires worker position information indicating the position of the worker, and determines whether or not the worker is within a predetermined range from the transport object 3 based on the worker position information.

[0122] If it is determined that the worker is near the transfer start area P2 (YES in S21), the control unit 13 causes the transfer robot 5 to wait near the transfer start area P2 (S20). On the other hand, if it is determined that the worker is not near the transfer start area P2 (NO in S21), the control unit 13 causes the transfer robot 5 to move to the standby area P1 (S22). As a result, the transfer robot 5 returns to the original standby area P1 and waits. Note that, although the control unit 13 moved the transfer robot 5 to the standby area P1 when the second condition is not satisfied here, the control unit 13 may, for example, stop the transfer robot 5.

[0123] The order of the above-described processes may be changed as appropriate. For example, the control device 1 may perform steps S16 and S17 in the reverse order.

[0124] As described above, the transfer system 100 according to this embodiment includes the control device 1 that controls the transfer robot 5. In the control device 1, the acquisition unit 10 acquires status information indicating the status of the transfer object 3 based on sensor information detected by a sensor such as the camera 21. Furthermore, the first determination unit 11 of the determination unit 111a determines whether the status information satisfies a first condition for the transfer robot 5 to start moving. Furthermore, the second determination unit 12 of the determination unit 111a determines whether the status information satisfies a second condition for the transfer robot 5 to start transferring the transfer object 3.

[0125] Then, the control unit 13 controls the transport robot 5 in accordance with the judgment result of the first judgment unit 11 or the second judgment unit 12. Specifically, when the control unit 13 judges that the status information satisfies the first condition, it causes the transport robot 5 to start moving to the transport start area P2 where the transport object 3 is located. Furthermore, when the control unit 13 judges that the status information satisfies the second condition, it causes the transport robot 5 to start transporting the transport object 3 in the transport start area P2.

[0126] With this configuration, the control device 1 according to this embodiment can achieve the same effects as the control system 101 according to the first embodiment. That is, the control device 1 first determines whether or not a first condition for the transfer robot 5 to start moving is satisfied, and then determines whether or not a second condition for the transfer robot 5 to start transferring the transfer target object 3 is satisfied. When the first condition is satisfied, the transfer robot 5 can start moving to the transfer start area P2, regardless of whether or not the second condition is satisfied at the timing when the first condition is determined.

[0127] In this way, since the moving body starts moving before the timing at which the second condition is satisfied, the transport system 100 can efficiently move the transport robot 5 that transports the transport object 3.

[0128] Furthermore, in this embodiment, the control device 1 can control the movement of the transport robot 5 depending on whether the first or second condition is satisfied or not, thereby enabling efficient movement of the transport robot 5. For example, when the control device 1 determines that the status information does not satisfy the second condition, it causes the transport robot 5 to return to the standby area P1. This allows the transport robot 5 to be used to transport other objects 3 to be transported.

[0129] Furthermore, when the worker is within a predetermined range from the transport object 3 or when the worker changes the state of the transport object 3, the control device 1 causes the transport robot 5 to wait near the transport start area P2. In this way, when the transport object 3 changes from an untransportable state to a transportable state, the transport robot 5 can be caused to quickly start transporting. The control device 1 can also notify the worker about the transport. Furthermore, the control device 1 can also control multiple transport robots 5.

[0130] In this way, the conveyance system 100 according to this embodiment can start the movement of the moving body before the object is ready for conveyance, and therefore can move the moving body efficiently.

[0131] <Example of Hardware Configuration> Each functional component of the control system 101 and the control device 1 (hereinafter referred to as "control system 101, etc.") may be realized by hardware that realizes each functional component (e.g., a hardwired electronic circuit, etc.), or may be realized by a combination of hardware and software (e.g., a combination of an electronic circuit and a program that controls it). Below, a case where each functional component of the control system 101, etc., is realized by a combination of hardware and software will be further described.

[0132] 8 is a block diagram illustrating an example of the hardware configuration of a computer 900 that realizes the control system 101, etc. The computer 900 may be a dedicated computer designed to realize the control system 101, etc., or may be a general-purpose computer. The computer 900 may also be a portable computer such as a smartphone or a tablet terminal.

[0133] For example, by installing a predetermined application on the computer 900, the computer 900 realizes each function of the control system 101, etc. The application is configured by a program for realizing the functional components of the control system 101, etc.

[0134] The computer 900 has a bus 902, a processor 904, a memory 906, a storage device 908, an input / output interface 910, and a network interface 912. The bus 902 is a data transmission path for the processor 904, the memory 906, the storage device 908, the input / output interface 910, and the network interface 912 to transmit and receive data to and from each other. However, the method of connecting the processor 904 and other components to each other is not limited to a bus connection.

[0135] The processor 904 is a variety of processors, such as a central processing unit (CPU), a graphics processing unit (GPU), a field-programmable gate array (FPGA), or a quantum processor (quantum computer control chip). The memory 906 is a main storage device realized using a random access memory (RAM) or the like. The storage device 908 is an auxiliary storage device realized using a hard disk, a solid state drive (SSD), a memory card, a read only memory (ROM), or the like.

[0136] The input / output interface 910 is an interface for connecting the computer 900 with input / output devices. For example, the input / output interface 910 is connected to an input device such as a keyboard and an output device such as a display device.

[0137] The network interface 912 is an interface for connecting the computer 900 to a network. This network may be a LAN (Local Area Network) or a WAN (Wide Area Network).

[0138] The storage device 908 stores programs (programs that realize the above-mentioned applications) that realize the various functional components of the control system 101, etc. The processor 904 reads these programs into the memory 906 and executes them to realize the various functional components of the control system 101, etc.

[0139] Each processor executes one or more programs containing instructions for causing a computer to perform the algorithms described with reference to the figures. The programs contain instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The programs may be stored on various types of non-transitory computer-readable or tangible storage media. By way of example and not limitation, non-transitory computer-readable or tangible storage media include RAM, ROM, flash memory, SSD, or other memory technologies, CD-ROM, DVD (digital versatile disc), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage devices. The programs may also be transmitted over various types of transitory computer-readable or communication media. By way of example and not limitation, transitory computer-readable or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0140] The present disclosure is not limited to the above-described embodiments, and can be modified as appropriate within the scope of the present disclosure.

[0141] Some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes. (Supplementary Note A1) A control system comprising: acquisition means for acquiring status information indicating the status of an object based on information detected by a sensor; determination means for determining whether the status information satisfies a plurality of transfer conditions for a moving body to start transferring the object; and control means for controlling the moving body in accordance with the determination result of the determination means, wherein the control means causes the moving body to start moving to a transfer start area where the object is located in accordance with the determination that the status information satisfies at least some of the plurality of transfer conditions, and causes the moving body to start transferring the object in accordance with the determination that the status information satisfies the plurality of transfer conditions. (Supplementary Note A2) The control system described in Supplementary Note A1, wherein the control means stops the moving body or moves the moving body to an area different from the transfer start area in accordance with the determination that the status information does not satisfy the plurality of transfer conditions. (Appendix A3) The control system according to Appendices A1 or A2, wherein the plurality of transport conditions include at least two of conditions related to the inclination of the object, the movement of the object, the position of the object, the shape of the object, the presence or absence of transport-related information assigned to the object, and peripheral information indicating the situation around the object. (Appendix A4) The control system according to any one of Appendices A1 to A3, wherein the control means moves the moving object to an area different from the transport start area in accordance with the elapsed time from the timing when the determination process in the determination means is started and a predetermined threshold. (Appendix A5) The control system according to any one of Appendices A1 to A4, wherein the acquisition means further acquires worker information related to a worker performing work related to the transport of the object, and the control means causes the moving object to wait near the transport start area in accordance with the worker information and the fact that it is determined that the status information does not satisfy the plurality of transport conditions. (Appendix A6) The control system described in Appendix A5, wherein the worker information includes worker position information indicating the position of the worker, and the control means causes the moving body to wait near the transfer start area according to the worker position information and position information of the transfer start area.(Appendix A7) The control system according to appendix A5 or A6, wherein the worker information includes change information indicating that the state of the object has been changed by the worker or that the state of the object is scheduled to be changed, and the control means makes the moving body wait near the transfer start area in response to acquiring the change information. (Appendix A8) The control system according to any one of appendices A1 to A7, further comprising notification means for notifying start of transfer of the object when it is determined that the state information satisfies the plurality of transfer conditions. (Appendix A9) The control system described in any one of Appendices A1 to A8, wherein the control system controls a plurality of moving bodies that transport the object; the determination means determines whether the status information satisfies the plurality of transport conditions for the plurality of moving bodies to start transporting the object; the control means controls the plurality of moving bodies in accordance with the determination result of the determination means; the control means causes the plurality of moving bodies to start moving to a transport start area where the object is located in accordance with the determination that the status information satisfies at least some of the plurality of transport conditions, and causes the plurality of moving bodies to start transporting the object in accordance with the determination that the status information satisfies the plurality of transport conditions. (Appendix B1) A control device comprising: an acquisition means for acquiring status information indicating the status of an object based on information detected by a sensor, a determination means for determining whether the status information satisfies a plurality of transfer conditions for a moving body to start transferring the object, and a control means for controlling the moving body in accordance with a determination result of the determination means, wherein the control means causes the moving body to start moving to a transfer start area where the object is located in accordance with determining that the status information satisfies at least some of the plurality of transfer conditions, and causes the moving body to start transferring the object in accordance with determining that the status information satisfies the plurality of transfer conditions. (Appendix B2) A control device according to Appendix B1, wherein the control means stops the moving body or moves the moving body to an area different from the transfer start area in accordance with determining that the status information does not satisfy the plurality of transfer conditions.(Appendix B3) The control device according to Appendices B1 or B2, wherein the plurality of transport conditions include at least two of conditions related to an inclination of the object, a movement of the object, a position of the object, a shape of the object, the presence or absence of transport-related information assigned to the object, and peripheral information indicating a situation around the object. (Appendix B4) The control device according to any one of Appendices B1 to B3, wherein the control means moves the moving object to an area different from the transport start area in accordance with an elapsed time from a timing when the determination process in the determination means is started and a predetermined threshold. (Appendix B5) The control device according to any one of Appendices B1 to B4, wherein the acquisition means further acquires worker information related to a worker performing work related to the transport of the object, and the control means makes the moving object wait near the transport start area in accordance with a determination that the status information does not satisfy the plurality of transport conditions and the worker information. (Appendix B6) The control device according to Appendix B5, wherein the worker information includes worker position information indicating a position of the worker, and the control means causes the moving body to wait near the transfer start area in accordance with the worker position information and position information of the transfer start area. (Appendix B7) The control device according to Appendix B5 or B6, wherein the worker information includes change information indicating that a state of the object has been changed by the worker or that a state of the object is scheduled to be changed, and the control means causes the moving body to wait near the transfer start area in accordance with acquiring the change information. (Appendix C1) A control method comprising: acquiring status information indicating the status of an object based on information detected by a sensor; determining whether the status information satisfies a plurality of transport conditions for a moving body to start transporting the object; controlling the moving body in accordance with the determination result of whether the status information satisfies the plurality of transport conditions; and controlling the moving body by causing the moving body to start moving to a transport start area where the object is located in accordance with the determination that the status information satisfies at least some of the plurality of transport conditions, and causing the moving body to start transporting the object in accordance with the determination that the status information satisfies the plurality of transport conditions.(Supplementary Note C2) The control method according to Supplementary Note C1, wherein, in controlling the moving body, the moving body is stopped or moved to an area different from the transfer start area in response to a determination that the status information does not satisfy the plurality of transfer conditions. (Supplementary Note C3) The control method according to Supplementary Note C1 or C2, wherein the plurality of transfer conditions include at least two of conditions related to an inclination of the object, a movement of the object, a position of the object, a shape of the object, the presence or absence of information related to transfer assigned to the object, and peripheral information indicating a situation around the object. (Supplementary Note C4) The control method according to any one of Supplements C1 to C3, wherein, in controlling the moving body, the moving body is moved to an area different from the transfer start area in response to a predetermined threshold and an elapsed time from a timing when a determination process for determining whether the status information satisfies the plurality of transfer conditions is started. (Appendix C5) The control method according to any one of Appendices C1 to C4, wherein acquiring the status information further acquires worker information about a worker performing work related to the transportation of the object, and controlling the mobile body includes making the mobile body wait near the transport start area in accordance with a determination that the status information does not satisfy the plurality of transport conditions and the worker information. (Appendix C6) The control method according to Appendices C5, wherein the worker information includes worker position information indicating a position of the worker, and controlling the mobile body includes making the mobile body wait near the transport start area in accordance with the worker position information and position information of the transport start area. (Appendix C7) The control method according to Appendices C5 or C6, wherein the worker information includes change information indicating that the worker has changed a state of the object or that a state of the object is scheduled to be changed, and controlling the mobile body includes making the mobile body wait near the transport start area in accordance with the acquisition of the change information.(Appendix D1) A non-transitory computer-readable medium having stored thereon a program that causes a computer to execute the following: an acquisition process that acquires status information indicating a status of an object based on information detected by a sensor; a determination process that determines whether the status information satisfies a plurality of transfer conditions for a moving body to start transferring the object; and a control process that controls the moving body in accordance with a determination result of the determination process, wherein the control process causes the moving body to start moving to a transfer start area where the object is located in accordance with a determination that the status information satisfies at least some of the plurality of transfer conditions, and causes the moving body to start transferring the object in accordance with a determination that the status information satisfies the plurality of transfer conditions. (Appendix D2) The non-transitory computer-readable medium according to Appendix D1, wherein the control process stops the moving body or moves the moving body to an area different from the transfer start area in accordance with a determination that the status information does not satisfy the plurality of transfer conditions. (Appendix D3) The non-transitory computer-readable medium according to Appendix D1 or D2, wherein the plurality of transport conditions include at least two of conditions related to the inclination of the object, the movement of the object, the position of the object, the shape of the object, the presence or absence of transport-related information assigned to the object, and peripheral information indicating the situation around the object. (Appendix D4) The non-transitory computer-readable medium according to any one of Appendix D1 to D3, wherein the control process moves the moving object to an area different from the transport start area in accordance with the elapsed time from the timing when the determination process was started in the determination process and a predetermined threshold. (Appendix D5) The non-transitory computer-readable medium according to any one of Appendix D1 to D4, wherein the acquisition process further acquires worker information related to a worker performing work related to the transport of the object, and the control process causes the moving object to wait near the transport start area in accordance with the worker information and the fact that it is determined that the status information does not satisfy the plurality of transport conditions.(Appendix D6) The non-transitory computer-readable medium according to Appendix D5, wherein the worker information includes worker position information indicating a position of the worker, and the control process causes the moving body to wait near the transfer start area in accordance with the worker position information and position information of the transfer start area. (Appendix D7) The non-transitory computer-readable medium according to Appendix D5 or D6, wherein the worker information includes change information indicating that a state of the object has been changed by the worker or that a state of the object is scheduled to be changed, and the control process causes the moving body to wait near the transfer start area in accordance with acquisition of the change information.

[0142] 1 Control device 3 Transport object 5 Transport robot 10 Acquisition unit 11 First determination unit 12 Second determination unit 13 Control unit 14 Notification unit 15 Communication unit 19 Memory unit 20 Sensor 21 Camera 31 Cart 32 Baggage 100 Transport system 101 Control system 110 Acquisition unit 111, 111a Determination unit 113 Control unit 191 Status information 192 Condition information 900 Computer 902 Bus 904 Processor 906 Memory 908 Storage device 910 Input / output interface 912 Network interface A Object information a1 to a6 Status information B Peripheral information b1 to b3 Status information C1 to C4 Condition P1 Waiting area P2 Transport start area

Claims

1. An acquisition means for acquiring state information indicating the state of an object based on information detected by a sensor, The state information includes a determination means for determining whether the moving body satisfies a plurality of transport conditions for starting the transport of the object, The system comprises control means for controlling the moving body according to the determination result of the determination means, The control means, when it is determined that the state information satisfies at least some of the plurality of transport conditions, causes the moving body to start moving to the transport start area where the object is located, and when it is determined that the state information satisfies the plurality of transport conditions, causes the moving body to start transporting the object. Control system.

2. The control means, in response to the determination that the state information does not satisfy the plurality of transport conditions, stops the moving body or moves the moving body to a region different from the transport start region. The control system according to claim 1.

3. The aforementioned multiple transport conditions include at least two of the following conditions: the tilt of the object, the movement of the object, the position of the object, the shape of the object, the presence or absence of transport information attached to the object, and the surrounding information indicating the conditions around the object. The control system according to claim 1 or 2.

4. The control means moves the moving body to a region different from the transport start region, according to the elapsed time from the start of the determination process in the determination means and a predetermined threshold. The control system according to claim 1 or 2.

5. The acquisition means further acquires worker information relating to the worker performing the work related to the transport of the object, The control means, in response to the determination that the status information does not satisfy the plurality of transport conditions and the operator information, causes the moving body to wait near the transport start area. The control system according to claim 1 or 2.

6. The worker information includes worker location information indicating the location of the worker, The control means causes the moving body to wait near the transport start area, according to the worker's position information and the transport start area's position information. The control system according to claim 5.

7. The worker information includes change information indicating that the state of the object has been changed by the worker, or that the state of the object is scheduled to be changed. The control means, upon acquisition of the change information, causes the moving body to wait near the transport start area. The control system according to claim 5.

8. An acquisition means for acquiring state information indicating the state of an object based on information detected by a sensor, The state information includes a determination means for determining whether the moving body satisfies a plurality of transport conditions for starting the transport of the object, The system comprises control means for controlling the moving body according to the determination result of the determination means, The control means, when it is determined that the state information satisfies at least some of the plurality of transport conditions, causes the moving body to start moving to the transport start area where the object is located, and when it is determined that the state information satisfies the plurality of transport conditions, causes the moving body to start transporting the object. Control device.

9. The control means, in response to the determination that the state information does not satisfy the plurality of transport conditions, stops the moving body or moves the moving body to a region different from the transport start region. The control device according to claim 8.

10. Based on the information detected by the sensor, state information indicating the state of the object is obtained. The state information determines whether the moving body satisfies multiple transport conditions for starting the transport of the object. The moving body is controlled according to the determination result of whether the state information satisfies the plurality of transport conditions. In the control of the moving body, when it is determined that the state information satisfies at least some of the multiple transport conditions, the moving body is instructed to start moving to the transport start area where the object is located, and when it is determined that the state information satisfies the multiple transport conditions, the moving body is instructed to start transporting the object. Control method.