Conveyance system and conveyance method

Abstract

This conveyance system including an unmanned conveyance vehicle is provided with: a reception unit that receives designation of an arrangement area for arranging conveyance objects and designation of an arrangement direction of the conveyance objects in the arrangement area; a conveyance information setting unit that sets a conveyance destination of the conveyance objects in the arrangement area so that the conveyance objects are arranged according to the arrangement direction, and sets a conveyance route from a conveyance source to the conveyance destination on the basis of map information; and a control unit that controls the unmanned conveyance vehicle so as to convey the conveyance objects to the conveyance destination according to the conveyance route.

Description

Transport system and transport method

[0001] This specification discloses a transport system and a transport method.

[0002] A conventional transport system of this type includes a transport robot and a control device that determines a destination of an item and calculates a transport path for the item to remotely control the transport robot (see, for example, Patent Document 1). The control device (route calculation unit) receives a designation of an item placement area and determines one of the small areas included in the item placement area as the destination. The control device (route calculation unit) selects a small area among the small areas in which no items are placed as the destination, or selects a small area close to the entrance / exit of the item placement area as the destination when no items are placed in any of the small areas included in the item placement area.

[0003] International Publication No. 2021 / 039595

[0004] However, the above-described conveying system does not take into consideration the case where multiple articles are placed within a placement area, and it is not possible to arrange multiple articles within the same area as desired.

[0005] A primary object of the present disclosure is to provide a conveying system or a conveying method that can convey a plurality of conveying objects to a placement area in a desired arrangement.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The transport system disclosed herein is a transport system including an automated guided vehicle that transports transport objects, and includes: a reception unit that receives designation of a placement area in which the transport objects are to be placed and designation of an arrangement direction of the transport objects in the placement area; a transport information setting unit that sets a destination of the transport objects within the placement area so that the transport objects are arranged according to the arrangement direction and sets a transport route from the transport source to the transport destination based on map information; and a control unit that controls the automated guided vehicle to transport the transport object to the destination according to the transport route.

[0008] The conveying system disclosed herein accepts specification of a placement area where the objects are to be placed and a specification of the arrangement direction of the objects in the placement area, sets the destination of the objects within the placement area so that the objects are arranged according to the arrangement direction, and sets a transfer route from the source to the destination based on map information, thereby enabling multiple objects to be conveyed to the placement area in a desired arrangement.

[0009] The transport method disclosed herein is a transport method for transporting objects using an automated guided vehicle, comprising the steps of: accepting a specification of a placement area in which the objects are to be placed and a specification of an arrangement direction of the objects in the placement area; setting a destination for the objects so that the objects are arranged in the placement area according to the arrangement direction; setting a transport route from the source to the destination based on map information; and controlling the automated guided vehicle to transport the objects to the destination according to the transport route.

[0010] The transport method of the present disclosure can achieve the same effects as the transport system of the present disclosure.

[0011] 15 is a perspective view of the exterior of a plurality of basket carts arranged in a cart storage area of ​​a store or the like, and an automated guided vehicle that transports the basket carts. FIG. 16 is a perspective view of the exterior of the automated guided vehicle and the basket cart. FIG. 17 is a perspective view of the exterior of the automated guided vehicle. FIG. 18 is a side view of the automated guided vehicle. FIG. 19 is a side view of the automated guided vehicle. FIG. 20 is an explanatory diagram showing a state in which the automated guided vehicle has slipped under the basket cart. FIG. 21 is an explanatory diagram showing a state in which the automated guided vehicle has been coupled to the basket cart. FIG. 22 is a block diagram of a transport system including an automated guided vehicle and a management device. FIG. 23 is an explanatory diagram showing an example of package information. FIG. 24 is an explanatory diagram showing an example of destination area information. FIG. 25 is an explanatory diagram showing an example of obstacle information. FIG. 26 is a flowchart showing an example of destination area setting processing. FIG. 27 is an explanatory diagram showing a map and a destination area. FIG. 28 is a flowchart showing an example of a transport control routine. FIG. 29 is an explanatory diagram showing how a transport destination and a transport route are set when a transport target cart is transported to a destination area. FIG. 29 is an explanatory diagram explaining the coordinate values ​​of the transport destination in FIG. 15. FIG. 29 is an explanatory diagram showing how a transport destination and a transport route are set when a transport target cart is further transported to a destination area where a transported basket cart is arranged. FIG. 18 is an explanatory diagram illustrating coordinate values ​​of the transport destination in FIG. 17 .

[0012] Next, embodiments of the present disclosure will be described with reference to the drawings.

[0013] FIG. 1 is an external perspective view of a plurality of basket carts 100 arranged in a cart storage area L of a store or the like, and an automated guided vehicle 10 that transports the basket carts 100. FIG. 2 is an external perspective view of the basket carts 100 and the automated guided vehicle 10. FIG. 3 is an external perspective view of the automated guided vehicle 10. FIGS. 4 and 5 are side views of the automated guided vehicle 10. FIG. 6 is an explanatory diagram showing a state in which the automated guided vehicle 10 has slipped under the basket cart 100. FIG. 7 is an explanatory diagram showing a state in which the automated guided vehicle 10 is coupled to the basket cart 100. FIG. 8 is a block diagram of a transport system 1 including the automated guided vehicle 10 and a management device 60.

[0014] 1, a transport system 1 of this embodiment is used in a logistics center, warehouse, store, or the like having a plurality of shelves S, and includes one or a plurality of automated guided vehicles 10 and a management device 60 (see FIG. 8) that manages the operation of the automated guided vehicles 10. The automated guided vehicles 10 are autonomously traveling transport robots (AMR: Autonomous Mobile Robot) that are coupled to a basket cart 100 and transport the automated guided vehicles 10 to a designated shelf S.

[0015] As shown in FIG. 2 , the basket cart 100 has a rectangular, mesh-shaped platform 101 capable of carrying cargo C, and a plurality of (four) casters 110 rotatably attached to the four corners of the underside of the platform 101. A marker M, such as an AR marker, a two-dimensional code, or a barcode, for identifying the basket cart 100 is provided on the platform 101 of the basket cart 100 (in the present embodiment, the center of the outer edge front end surface of the platform 101). By reading the marker M, the automated guided vehicle 10 recognizes the basket cart 100 to be transported (transport target vehicle) and the type of cargo C loaded on the platform 101. The marker M may be attached to the cargo C loaded on the platform 101. The identification information for identifying the basket cart 100 and the cargo C is not limited to the marker M. For example, the identification information may be a unique ID for identifying the basket cart 100. The identification information may also be identification information (such as letters or a picture) written on the outer box of the package C.

[0016] As shown in FIG. 3 , the automated guided vehicle 10 of this embodiment has a low, flat, rectangular parallelepiped appearance. The automated guided vehicle 10 includes a vehicle body 11, a plurality of (e.g., four) wheels 21 rotatably attached to the bottom surface of the vehicle body 11, and a plurality of (e.g., four) drive motors 22 (see FIG. 8 ) that rotate and drive the corresponding wheels 21. In this embodiment, the wheels 21 are configured as Mecanum wheels, each having a plurality of rollers on its outer periphery that can rotate around an axis inclined at 45 degrees relative to the rotation axis of the wheel. The automated guided vehicle 10 can move the vehicle body 11 in all directions and turn (such as by making a pivot turn, a pivot turn, or a gentle turn) by independently controlling the rotation direction and rotation speed of the corresponding wheels 21 using the plurality of drive motors 22. The wheels 21 may also be configured as omniwheels having a plurality of rollers that can rotate around an axis that intersects the rotation axis of the wheel. That is, the plurality of wheels 21 may be any type of wheels as long as they can move the vehicle body 11 in a plurality of directions and turn.

[0017] 3 to 5, the automated guided vehicle 10 also includes a connecting unit 30 that is provided on the upper surface of the vehicle body 11 and that can be connected to the cart 100 when the vehicle body 11 is positioned below the cart 100. The connecting unit 30 includes a flat lift plate 31, connecting pins 32, 33, and 34 that extend upward relative to the lift plate 31, and a lifting device 35 that raises and lowers the lift plate 31. The lift plate 31 covers the upper surface of the vehicle body 11 and has a width that is approximately the same as the width of the vehicle body 11 and a front-to-rear width that is slightly shorter than the front-to-rear width of the vehicle body 11. The connecting pin 32 is provided at the front of the lift plate 31, the connecting pin 33 is provided at the rear of the lift plate 31, and the connecting pin 34 is provided in an intermediate portion between the front and rear of the lift plate 31. 6 and 7 , when the vehicle body 11 is submerged under the cart 100 and the lifting plate 31 is raised by the lifting device 35, at least one of the connecting pins 32, 33, 34 engages with the back side of the loading platform 101 of the cart 100. This connects the automated guided vehicle 10 and the cart 100, and the automated guided vehicle 10 can transport (tow) the cart 100.

[0018] As shown in FIGS. 3 to 5 , contact detection sensors 36 (spring sensors) are provided on both the left and right sides of the lift plate 31 to detect when the connecting portion 30 (connecting pins 32, 33, 34) comes into contact with (connects to) the loading platform 101 of the cart truck 100. The contact detection sensors 36 have a plate that is biased upward by a spring, with its upper end at approximately the same height as the connecting pins 32, 33, 34 relative to the lift plate 31. When the connecting pins 32, 33, 34 engage with the loading platform 101 of the cart truck 100, the plate of the contact detection sensor 36 comes into contact with the loading platform 101, and the spring is compressed as it descends relative to the connecting pins 32, 33, 34. The contact detection sensor 36 detects when the connecting portion 30 comes into contact with (connects to) the loading platform 101 of the cart truck 100 by detecting that the plate has descended relatively.

[0019] As shown in FIG. 8 , the automated guided vehicle 10 further includes a control unit 40 that controls the entire system, a storage unit 41 that stores various information including map information 41a, a communication unit 42 that communicates (wirelessly communicates) with a management device 60, a camera unit 51 as an imaging device, sensors 52 and 53, and a light-emitting unit 54 that illuminates the area ahead of the vehicle body 11. The camera unit 51 is installed on the front of the vehicle body 11 to recognize the area ahead of the vehicle body 11. The sensors 52 and 53 are installed on the front and rear of the vehicle body 11, respectively, to detect surrounding objects. The sensors 52 and 53 detect surrounding objects and the distances to the objects. In this embodiment, the sensors 52 and 53 are LiDAR (Light Detection and Ranging) sensors that scan the surroundings with laser light, receive each reflected light, and measure the time it takes for the reflected light to be received, thereby measuring distance data for each scan angle and obtaining two-dimensional point cloud data of the surroundings. The light emitting unit 54 is installed on the front of the vehicle body 11 and illuminates the area ahead, making it easier for the camera unit 51 to recognize surrounding objects in dark places.

[0020] The control unit 40 is configured as a microprocessor centered on a CPU, and in addition to the CPU, includes a ROM for storing processing programs, a RAM for temporarily storing data, a timer, etc. As shown in Fig. 8, the control unit 40 receives inputs such as image signals from the camera unit 51, detection signals from the sensors 52 and 53, and detection signals from the contact detection sensor 36. The control unit 40 outputs control signals to the drive motor 22 and the lifting device 35.

[0021] As shown in FIG. 8 , the management device 60 includes a processing unit 61, a storage unit 62, and a communication unit 63 for communicating (wirelessly communicating) with each automated guided vehicle 10. The management device 60 is also connected to an input unit 65 (such as a mouse or a keyboard), a display unit 66 (such as a liquid crystal display or an organic EL display), a printer, and the like. The processing unit 61 is configured as a microprocessor centered around a CPU, and includes, in addition to the CPU, a ROM for storing processing programs and a RAM for temporarily storing data. The storage unit 62 is a storage device such as an HDD or SSD, and stores various types of information such as map information 62a, parcel information 62b (see FIG. 9 ), destination area information 62c (see FIG. 10 ), and obstacle information 62d (see FIG. 11 ).

[0022] As shown in FIG. 9 , the luggage information 62b is information in which the type of luggage C, a shelf ID identifying the shelf S on which the luggage C is placed, a destination area ID identifying the destination area of ​​the luggage C (basket cart 100), and the orientation of the basket cart 100 at the destination are associated with each other, and is registered in advance by the operator. Furthermore, the management device 60, in response to an instruction from the operator, creates a unique marker M for each type of luggage C and prints (issues) the created marker M using a printer. The operator then affixes the printed marker M to a specified location on the basket cart 100 or to the luggage C loaded on the basket cart 100. This allows the automated guided vehicle 10 to recognize the type of luggage C by reading the marker M with the camera unit 51, and to obtain the destination area and orientation of the basket cart 100 (transport target vehicle) loading the luggage C from the recognized type of luggage C. Here, the destination area is a rectangular area whose position and size can be arbitrarily specified by the operator on the map defined by the map information 62 a. The destination of the cart 100 is set as coordinate values ​​within the destination area in a transport control routine described later.

[0023] As shown in FIG. 10 , the destination area information 62c is information that associates a destination area ID, coordinate values ​​of the destination area, the arrangement direction of the cart 100, and the orientation of the cart 100, and is set by the destination area setting process. FIG. 12 is a flowchart showing an example of the destination area setting process executed by the processing unit 61 of the management device 60. In the destination area setting process, the processing unit 61 first displays a map defined by the map information 62a on the display unit 66 (S10). FIG. 13 shows an example of the map displayed on the display unit 66. Next, the processing unit 61 accepts an area designation on the map (S12) and generates a destination area based on the designated area (S14). The destination area is, for example, a rectangular area with two points as diagonal corners. The area is designated by the operator operating the input unit 65 (e.g., a mouse) to designate two points on the map. Furthermore, the coordinate values ​​of the destination area are given as coordinate values ​​(x, y) of each vertex of the destination area (rectangular area) in an XY Cartesian coordinate system of a map, for example, as shown in FIG. 13 , with a predetermined position (for example, the upper right point of the map) as the origin. Next, the processing unit 61 accepts a designation of the arrangement direction of the carts 100 in the destination area (S16) and also accepts a designation of the orientation of the carts 100 in the destination area (S18). The arrangement direction is the arrangement direction when the carts 100 are arranged in order in the destination area, and includes front-to-front arrangement, in which the carts 100 are arranged from the front, and back-to-back arrangement, in which the carts 100 are arranged from the back. The orientation is the orientation of the carts 100 when they are placed in the destination area, and includes, for example, two directions, positive and negative on the X axis and two directions, positive and negative on the Y axis. Then, the processing unit 61 associates the destination area generated in S14, the arrangement direction specified in S16, and the orientation specified in S18 with the destination area ID and registers them in the destination area information 62c (S20), and terminates the destination area setting process.

[0024] The obstacle information 62d is information about obstacles arranged on the map. As shown in Fig. 11 , the obstacle information 62d associates an obstacle ID that identifies the obstacle, a registration time that is the date and time when the obstacle was registered, the position (x, y) of the obstacle on the map, and the orientation of the obstacle (cart 100). The obstacle is set at the position of the destination when the automated guided vehicle 10 transports the cart 100 to the destination by a transport control routine that will be described later.

[0025] Next, the operation of the transport system 1 of this embodiment configured as described above will be described. In particular, as shown in Fig. 1, the operation of the automated guided vehicle 10 when transporting a plurality of basket carts 100 arranged in a cart storage area L one by one to their respective destinations will be described. Fig. 14 is a flowchart showing an example of a transport control routine executed by the control unit 40 of the automated guided vehicle 10. This process is executed when an instruction to transport a basket cart 100 (baggage) is received from the management device 60.

[0026] When the transport control routine is executed, the control unit 40 first controls the drive motor 22 to move to the cart storage area L (S100). Next, the control unit 40 searches for nearby basket carts 100 (S102). The search for the basket cart 100 is performed, for example, by capturing an image of the area around the vehicle body 11 with the camera unit 51 and processing the captured image to determine whether or not the marker M attached to the basket cart 100 has been recognized. If the control unit 40 determines that it has failed to recognize the marker M (NO in S104), it determines that there is no basket cart 100 to be transported in the cart storage area L, and ends the transport control routine.

[0027] On the other hand, if the control unit 40 determines that the recognition of the marker M was successful (YES in S104), it determines that there is a basket cart 100 to be transported in the cart storage area L, and, regarding the basket cart 100 as the transport target cart, acquires the coordinate values ​​of the destination area to which the transport target cart should be transported, the arrangement direction of the transport target cart in the destination area, and the orientation of the transport target cart at the destination based on the marker ID of the recognized marker M (S106). The processing of S106 is performed, for example, by transmitting the marker ID recognized by the control unit 40 to the management device 60, identifying the type of package C from the received marker ID, and deriving the coordinate values, arrangement direction, and orientation of the corresponding destination area from the package information 62b and the destination area information 62c based on the type of package C, and transmitting them to the control unit 40. Note that the control unit 40 may also identify the type of package C from the marker ID and transmit the identified type of package C to the management device 60. In addition, the control unit 40 may store the luggage information 62b and the destination area information 62c in the memory unit 41, identify the type of luggage C from the marker ID, and obtain the coordinate values, arrangement direction, and orientation of the corresponding destination area from the luggage information 62b and the destination area information 62c based on the identified type of luggage C.

[0028] Next, the control unit 40 acquires obstacle information 62d from the management device 60 (S108). The obstacle information 62d may be stored in the storage unit 41 of the automated guided vehicle 10. The control unit 40 then determines the destination of the target vehicle based on the obstacle information 62d (the position and orientation of the transported cart 100) within the destination area, the arrangement direction of the target vehicle, and the orientation of the target vehicle at the destination, and sets the destination (S110). The destination of the target vehicle is set so that the target vehicle is closely spaced in the arrangement direction within the destination area with a predetermined clearance from the transported cart 100. The control unit 40 then sets a transport route from the current location to the destination based on the obstacle information 62d, avoiding obstacles (transported carts 100) located on the map (S112). The transport route is set as follows. That is, the control unit 40 recognizes the shape of the surroundings based on point cloud data measured by the sensor units 52 and 53 (LiDAR), and recognizes the current location (self-position) of the vehicle by comparing (collating) the recognized shape of the surroundings with the map information stored in the memory unit 41. Next, the control unit 40 performs a route search based on the recognized current location, the set destination, and the map information 41a. Next, the control unit 40 determines whether the automated guided vehicle 10 transporting the cart 100 can travel to the destination for each of the searched routes. In this embodiment, the obstacle information 62d includes the position of the transported cart 100 (obstacle) on the map and the orientation of the cart 100, and the map information 41a includes road width information. Because the size of the cart 100 is known, the control unit 40 can determine whether the searched route is passable based on the size of the automated guided vehicle 10 including the cart 100 coupled thereto, the map information 41a, and the obstacle information 62d.The control unit 40 then sets the passable route with the shortest required time or travel distance as the transport route.This allows the cart to be transported to the destination in a short time without interfering with carts 100 that have already been transported.In addition, the control unit 40 of the unmanned guided vehicle 10 may transmit the current location of the vehicle to the management device 60, so that the management device 60 may set a transport route based on the map information 62a and obstacle information 62d and transmit the route to the unmanned guided vehicle 10.

[0029] Fig. 15 is an explanatory diagram showing how a destination and a transport route are set when a target cart is transported to a destination area. Fig. 16 is an explanatory diagram showing the coordinate values ​​of the destination in Fig. 15. If there are no obstacles (carts 100 that have already been transported) in the destination area to which the cart is to be transported, the destination of the target cart is set as the XY coordinate values ​​of the center of the target cart when the target cart is placed in a specified orientation with a certain clearance from the arrangement direction boundary of the destination area, as shown in the figure. Furthermore, the transport route is set as the shortest route from the cart storage area L to the destination on the map.

[0030] FIG. 17 is an explanatory diagram showing how a destination and a transport route are set when a target cart is transported to a destination area where a transported cart 100 is located. FIG. 18 is an explanatory diagram showing coordinate values ​​of the destination in FIG. 17. When a target cart is transported to a destination area where a transported cart 100 is located, the destination of the target cart is set as the XY coordinate values ​​of the center of the target cart when the target cart is arranged in a specified orientation so as to leave a certain clearance from an obstacle (the transported cart 100) in the destination area and pack the carts in the arrangement direction, as shown in the figure. The transport route is set as the shortest route from the cart storage area L to the destination that can avoid the obstacle (the transported cart 100) on the map. This allows multiple carts 100 to be arranged in the destination area, packing the carts in the arrangement direction in their respective orientations.

[0031] After setting the destination and transport route of the transport target cart, the control unit 40 couples to the transport target cart (S114). This process is performed as follows. That is, the control unit 40 first recognizes the two casters 110 of the transport target cart using the sensor unit 52. Next, the control unit 40 controls the drive motor 22 so that the control unit 40 moves between the two recognized casters 110 and under the transport target cart. Then, the control unit 40 raises the coupling pins 32, 33, and 34 using the lifting device 35 so that they engage with the loading platform 101 of the transport target cart, thereby coupling to the transport target cart.

[0032] When the control unit 40 couples with the target vehicle, it starts transporting the target vehicle according to the set transport route (S116). The control unit 40 then acquires its own position (S118) and determines whether it has arrived at the destination (S120). If the control unit 40 determines that it has not arrived at the destination, it returns to S118. If it determines that it has arrived at the destination, it controls the drive motor 22 (S122) by turning the target vehicle so that its orientation matches the orientation acquired in S106, and stops its travel (S124). The control unit 40 then releases the coupling with the target vehicle (S126), sets an obstacle at the location (destination) to which the target vehicle has been transported (S128), and returns to S100. The obstacle is set by the control unit 40 transmitting the coordinate values ​​and orientation of the target vehicle to the management device 60, and the management device 60 assigns an obstacle ID and a registration time to the coordinate values ​​and orientation of the obstacle (target vehicle) received, and registers them in the obstacle information 62d. As a result, the next time the transport control routine is executed, the obstacle information 62d has been added, so when the next cart cart 100 is transported to the same destination area, the destination of the next cart cart 100 is set to a position closer in the arrangement direction to the cart cart 100 that has already been transported within the destination area. Also, if there is a cart cart 100 that has already been transported between the current location and the destination, the transport route is set to avoid it.

[0033] Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the cart 100 of the present embodiment is an example of a transport object of the present disclosure, the automatic guided vehicle 10 is an example of an automatic guided vehicle, the processing unit 61 of the management device 60 that executes the transport destination area setting process is an example of a reception unit, the control unit 40 that executes the processes of S106 to S112 of the transport control routine is an example of a transport information setting unit, and the control unit 40 that executes the processes of S114 to S126 of the transport control routine is an example of a control unit. Also, the control unit 40 that executes the process of S128 of the transport control routine is an example of an obstacle setting unit.

[0034] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0035] For example, in the above-described embodiment, the automated guided vehicle 10 engages the connecting pin 34 of the connecting portion 30 with the loading platform 101 of the basket cart 100 to tow the basket cart 100. However, the automated guided vehicle 10 may also be configured to lift the basket cart 100 with the connecting portion 30 and transport it.

[0036] As described above, the automated guided vehicle of the present disclosure receives a specification of a placement area where objects are to be placed and a specification of the arrangement direction of the objects in the placement area, sets a destination for the objects within the placement area so that the objects are arranged in accordance with the arrangement direction, and sets a transfer route from the source to the destination based on map information, thereby allowing multiple objects to be transferred to the placement area in a desired arrangement.

[0037] The automated guided vehicle of the present disclosure may further include an obstacle setting unit that sets an obstacle at the position of a transported object, and the transport information setting unit may set a transport route from the transport source to the transport destination so as to avoid the obstacle. In this way, multiple transport objects can be placed within the placement area while preventing interference with the transported object. In this case, the transport information setting unit may set the transport destination so as to have a predetermined clearance in the arrangement direction from the transported object that has been set as the obstacle. In this way, multiple transport objects can be placed in the placement area at appropriate intervals.

[0038] In the conveying system of the present disclosure, the receiving unit may receive a designation of an orientation of the object at the destination, and the control unit may convey the object so that the object faces the designated orientation. This improves the efficiency of work performed by a worker or the like at the destination of the object.

[0039] Although the present disclosure has been applied to a transport system, it may also be applied to a transport method for transporting an object to be transported using an automated guided vehicle.

[0040] The present disclosure is applicable to the automated guided vehicle manufacturing industry and the like.

[0041] 1 conveying system, 10 unmanned guided vehicle, 11 vehicle body, 21 wheels, 22 drive motor, 30 connecting portion, 31 lifting plate, 32, 33, 34 connecting pin, 35 lifting device, 36 contact detection sensor, 40 control portion, 41 memory portion, 41a map information, 42 communication portion, 51 camera portion, 52, 53 sensor portion, 54 light emitting portion, 60 management device, 61 processing portion, 62 memory portion, 62a map information, 62b luggage information, 62c destination area information, 62d obstacle information, 63 communication portion, 65 input portion, 66 display portion, 100 basket cart, 101 loading platform portion, 110 caster, C luggage, L cart storage area, M marker, S shelf.

Claims

1. A transport system including an unmanned transport vehicle that transports objects to be transported, comprising: a reception unit that receives designation of a placement area in which the objects to be transported are to be placed and a designation of an arrangement direction of the objects to be transported in the placement area; a transport information setting unit that sets a destination of the objects to be transported within the placement area so that the objects to be transported are arranged according to the arrangement direction and sets a transport route from the source to the destination based on map information; and a control unit that controls the unmanned transport vehicle to transport the objects to the destination according to the transport route.

2. A conveying system as described in claim 1, further comprising an obstacle setting unit that sets an obstacle at the position of an object to be conveyed that has already been conveyed, and the conveying information setting unit sets a conveying route from the conveying origin to the conveying destination so as to avoid the obstacle.

3. A conveying system as described in claim 2, wherein the conveying information setting unit sets the conveying destination so as to have a predetermined clearance in the arrangement direction from the conveyed object that has already been conveyed and that has been set as the obstacle.

4. A conveying system as claimed in any one of claims 1 to 3, wherein the reception unit receives a specification of an orientation of the object to be conveyed at the destination, and the control unit conveys the object so that the object faces the specified orientation.

5. A method for transporting objects using an unmanned guided vehicle, comprising: receiving a specification of a placement area in which the objects are to be placed and a specification of an arrangement direction of the objects in the placement area; setting a destination for the objects so that the objects are arranged in the placement area according to the arrangement direction; setting a transport route from the source to the destination based on map information; and controlling the unmanned guided vehicle to transport the objects to the destination according to the transport route.

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