Mobile body control system and information processing method

Abstract

The present invention improves the setting of a movement route. This mobile body control system comprises: a storage unit that stores weight setting information in which a plurality of route portions through which mobile bodies pass and weight values indicating movement costs of the route portions are associated with each other, and work information including work orders of the mobile bodies; a weight setting unit that creates a plurality of pieces of weight setting information in accordance with the work information; and a route setting unit that uses the weight setting information corresponding to the work information to set movement routes from the movement start positions of the work orders to the destinations.

Description

Mobile control system and information processing method

[0001] The present disclosure relates to a mobile object control system and an information processing method.

[0002] Control for suppressing interference between moving bodies is known. For example, Patent Literature 1 discloses a configuration in which a movement path for a transport vehicle (moving body) is generated by searching for the shortest path and the transport vehicle is moved along the movement path. Patent Literature 1 discloses that, when there is a risk of interference between transport vehicles, an interference avoidance process is performed in which a transport vehicle with a higher priority is given priority and a transport vehicle with a lower priority is made to wait.

[0003] JP 2016-170580 A

[0004] As in Patent Document 1, always adopting the shortest route to the destination as the travel route may result in delays in reaching the destination or interference with other work being performed in the same work area. Therefore, improvements to travel route setting are desired. Note that interference means that the moving object interferes with the work of the worker or other moving objects.

[0005] The present disclosure has been made in view of the above, and aims to provide a mobile object control system and an information processing method that enable improved travel route setting.

[0006] The mobile body control system according to the present disclosure includes a memory unit that stores weight setting information that associates multiple route segments traveled by a mobile body with weight values ​​indicating the movement costs of the route segments, and work information that includes work orders for the mobile body; a weight setting unit that creates multiple pieces of weight setting information according to the work information; and a route setting unit that sets a movement route from the movement start position of the work order to a destination using the weight setting information according to the work information.

[0007] The information processing method according to the present disclosure includes the steps of acquiring work information including a work order for a mobile body, creating multiple pieces of weight setting information according to the work information, which associate multiple route sections traveled by the mobile body with weight values ​​indicating the movement costs of the route sections, and setting a movement route from a movement start position of the work order to a destination using the weight setting information according to the work information.

[0008] The present disclosure allows for improved travel routing.

[0009] FIG. 1 is a schematic diagram of a mobile object control system according to a first embodiment. FIG. 2 is a schematic diagram of the system configuration of a mobile object control system. FIG. 3 is a schematic diagram of the configuration of a mobile object. FIG. 4 is a schematic block diagram of a mobile object control device. FIG. 5 is a schematic block diagram of a management device. FIG. 6 is a schematic block diagram of an information processing device. FIG. 7 is a diagram showing an example of order information included in work information. FIG. 8 is a schematic diagram showing a first example of weight setting information. FIG. 9 is a schematic diagram showing a second example of weight setting information. FIG. 10 is a flowchart showing an example of an operation of creating weight setting information by a weight setting unit according to the first embodiment. FIG. 11 is a flowchart showing an example of an operation of setting a movement route by a route setting unit according to the first embodiment. FIG. 12 is a diagram explaining the addition of a non-transportation order. FIG. 13 is a flowchart showing an example of processing when an additional work order occurs. FIG. 14 is a schematic diagram showing an example of route setting according to a comparative example. FIG. 15 is a schematic diagram showing an example of route setting according to the first embodiment. FIG. 16 is a schematic diagram showing an example of weight setting information according to size information. FIG. 17 is a diagram showing an example of a work order in the second embodiment. FIG. 18 is a schematic diagram showing an example of route setting according to a comparative example. FIG. 19 is a schematic diagram showing an example of route setting according to the second embodiment. FIG. 20 is a diagram explaining work information in the third embodiment. FIG. 21 is a schematic diagram showing an example of an area where manned work is performed. FIG. 22 is a schematic diagram showing an example of weight setting information when an area where manned work is performed is set. FIG. 23 is a schematic diagram showing an example of route setting according to the third embodiment. FIG. 24 is a schematic diagram explaining weighting according to a modified example of the third embodiment.

[0010] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations in which the respective embodiments are combined.

[0011] [First Embodiment] (Mobility Control System) FIG. 1 is a schematic diagram of a mobile object control system according to a first embodiment. As shown in FIG. 1, the mobile object control system 1 according to the first embodiment is a system that controls a mobile object 10. The mobile object control system 1 includes a management device 12 and an information processing device 14. The mobile object control system 1 is installed in a facility 200 and controls the movement of the mobile object 10 belonging to the facility 200. The facility 200 is a facility that is subjected to logistics management, such as a warehouse, but may be any facility that operates the mobile object 10. In the mobile object control system 1, the mobile object 10 is an automated guided vehicle that transports an object P placed in a work area of ​​the facility 200. The work area is an area where the object P is placed and where the mobile object 10 moves, such as the floor of the facility 200. In the first embodiment, the object P transported by the mobile object 10 is a transport target object in the form of luggage loaded on a pallet. However, the object P is not limited to a pallet with cargo loaded on it, and may be in any form, for example, it may be cargo only without a pallet. Furthermore, the moving body 10 is not limited to a device that transports the object P, and may be a device that moves within the facility 200 for any purpose.

[0012] 1, a work area is set in the facility 200. The work area is an area where the mobile body 10 performs predetermined work such as loading and unloading work. The work area includes a first area AR1 and a second area AR2.

[0013] Hereinafter, one direction along the floor surface of the work area will be referred to as the X direction, and the direction along the floor surface that intersects with the X direction will be referred to as the Y direction. The Y direction is a direction perpendicular to the X direction. The X and Y directions may also be referred to as directions along a horizontal plane. In the X and Y directions, the direction of the arrow will be referred to as the + direction (or + side), and the direction opposite to the + direction will be referred to as the - direction (or - side). Furthermore, the direction perpendicular to the X and Y directions, more specifically the direction pointing vertically upward, will be referred to as the Z direction. Furthermore, unless otherwise specified, "position" refers to a position (coordinate) in a coordinate system on a two-dimensional surface on the work area.

[0014] The first area AR1 is an area where, for example, objects P to be loaded onto a transport vehicle or objects P unloaded from a transport vehicle are placed. A plurality of placement positions for placing the objects P are set in the first area AR1. FIG. 1 illustrates 15 placement positions, e17 to e31. Depending on the status of the equipment 200, objects P may or may not be placed at the placement positions e17 to e31. In the example of FIG. 1, the placement positions e17 to e31 are set as a row of five placement positions along the Y direction, and three rows in the X direction. The arrangement and number of the placement positions may be arbitrary.

[0015] In addition, in the first area AR1, a charging position c1 for charging the mobile body 10, standby positions h1 and h2 for the mobile body 10, etc. are set.

[0016] The second area AR2 is a storage area for storing the object P. In the second area AR2, shelves 5 on which the object P can be placed are arranged, and placement positions e1 to e16 are set for the multiple shelves 5. In the example of FIG. 1 , the shelves 5 extending along the X direction are lined up in four rows in the Y direction, two rows in each row in the X direction. Two placement positions are set for each shelf 5.

[0017] In the work area, a path R through which the mobile object 10 can travel is defined in advance. The path R is a route virtually set in the XY coordinate space for controlling the mobile object 10. The path R may be marked with a mark (such as a travel line or an address marker) that the mobile object 10 can detect, or the mobile object 10 may be controlled to travel along the path R without a mark. The path R is set to connect at least the placement positions e1 to e31, the charging position c1, and the waiting positions h1 and h2. The path R is set to avoid obstacles and installed objects such as shelves 5 in the work area. The path R may be set not only as a route that linearly connects the placement positions, but also as a route that bypasses installed objects such as shelves 5 (such as a route that passes on the +Y direction side of the placement positions e1 to e4).

[0018] The path R is divided into a plurality of path segments Rp along which the mobile object 10 travels. The method of setting the path segments Rp, such as the number of path segments Rp (the number of path segments Rp) and the shape of the path segments Rp, is arbitrary. In the first embodiment, the path segments Rp are defined as segments obtained by dividing the path R into roughly fixed distances. That is, the path R is divided into straight line segments connecting branch points, corners, and each work position (placement position, charging position, waiting position), and each line segment is defined as a path segment Rp. The path segments Rp may also be defined as paths connecting waypoints set at multiple positions (coordinates) in the work area. The waypoints do not necessarily have to be set at fixed distances.

[0019] (System Configuration) FIG. 2 is a schematic diagram of the system configuration of the mobile object control system 1. FIG. 2 shows an example in which two information processing devices 14 are provided. The management device 12 is communicatively connected to each information processing device 14. The management device 12 transmits work information 70 to each information processing device 14. The work information 70 includes order information 72 (see FIG. 7) consisting of multiple work orders. The work orders are information that specify the content of transportation work for each mobile object 10. Each information processing device 14 is communicatively connected to multiple mobile objects 10 under its management. Each information processing device 14 performs operation scheduling so that a group of work orders specified in the order information 72 can be efficiently executed. The operation scheduling includes planning a movement route MV (see FIG. 15) of the mobile object 10 from the movement start position specified in the work order to the destination. The movement route MV is information that specifies the route portion Rp that the mobile object 10 must traverse. Operation scheduling involves determining the scheduled start time of each task based on the priority of the work order and the scheduled duration of the task. A work order includes a transportation task and a cargo handling task as a task unit, and the cargo handling task includes loading and unloading. Each mobile unit 10 performs the task specified in the work order based on the work instructions received from the information processing device 14 that manages the mobile unit 10.

[0020] (Mobile body) FIG. 3 is a schematic diagram of the configuration of the mobile body 10. The mobile body 10 is an unmanned transport device that can move automatically and holds and transports an object P. Furthermore, in the first embodiment, the mobile body 10 is a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift). The mobile body 10 shown in FIG. 3 is an AGF, i.e., a forklift that transports the object P. However, the mobile body 10 is not limited to being a forklift that transports the object P, and may be any device that can move automatically. In the first embodiment, the mobile body 10 is a rechargeable device equipped with a rechargeable battery (not shown), and can be charged at a charging position c1 when the remaining battery power decreases.

[0021] As shown in FIG. 3 , the mobile body 10 includes a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, a fork 24, a sensor 26A, and a control device 28. The straddle legs 21 are a pair of shaft-shaped members provided at one end of the vehicle body 20 in the longitudinal direction and protruding from the vehicle body 20. The wheels 20A are provided at the tip of each straddle leg 21 and on the vehicle body 20. That is, a total of three wheels 20A are provided, but the positions and number of the wheels 20A may be arbitrary. The mast 22 is movably attached to the straddle legs 21 and moves in the longitudinal direction of the vehicle body 20. The mast 22 extends in an up-down direction (here, the Z direction) perpendicular to the longitudinal direction. The fork 24 is attached to the mast 22 movably in the Z direction. The fork 24 may also be movable in the lateral direction of the vehicle body 20 (a direction intersecting the up-down direction and the fore-and-aft direction) relative to the mast 22. The fork 24 has a pair of claws 24A, 24B. The claws 24A, 24B extend from the mast 22 toward the front of the vehicle body 20. The claws 24A and 24B are arranged apart from each other in the lateral direction of the mast 22. Hereinafter, in the fore-and-aft direction, the direction toward the side of the vehicle 10 where the fork 24 is provided is referred to as the forward direction, and the direction toward the side where the fork 24 is not provided is referred to as the rearward direction.

[0022] The sensor 26A detects at least one of the position and posture of an object present around the vehicle body 20. It can also be said that the sensor 26A detects at least one of the position of the object relative to the mobile body 10 and the posture of the object relative to the mobile body 10. In the first embodiment, the sensor 26A is provided at the front end of each straddle leg 21 and on the rear side of the vehicle body 20. However, the positions at which the sensor 26A is provided are not limited thereto, and the sensor 26A may be provided at any position, and the number of sensors provided may also be arbitrary.

[0023] The sensor 26A is, for example, a sensor that emits laser light. The sensor 26A emits laser light while scanning in one direction (here, the horizontal direction), and detects the position and orientation of the target object from the reflected light of the emitted laser light. In other words, the sensor 26A can also be said to be a so-called two-dimensional (2D)-LiDAR (Light Detection and Ranging). However, the sensor 26A is not limited to the above and may be a sensor that detects the target object P by any method, for example, it may be a so-called three-dimensional (3D)-LiDAR that scans in multiple directions, a so-called one-dimensional (1D)-LiDAR that does not scan, or a camera.

[0024] The control device 28 controls the movement of the moving body 10. The control device 28 will be described later.

[0025] FIG. 4 is a schematic block diagram of the control device 28 of the mobile body 10. The control device 28 is a device that controls the mobile body 10. The control device 28 is a computer, and as shown in FIG. 4, includes a communication unit 100, a storage unit 102, and a control unit 104. The communication unit 100 is a module used by the control unit 104 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In the first embodiment, the communication method used by the communication unit 100 is wireless communication, but any communication method may be used. The storage unit 102 is a memory that stores various information such as the calculation contents and programs of the control unit 104, and includes, for example, at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD.

[0026] The control unit 104 is a computing device and includes a computing circuit such as a CPU. The control unit 104 includes a route acquisition unit 110, a movement control unit 112, and an information transmission unit 114. The control unit 104 reads and executes a program (software) from the storage unit 102, thereby realizing the route acquisition unit 110, the movement control unit 112, and the information transmission unit 114 and performing their processing. The control unit 104 may perform these processes using a single CPU, or may be equipped with multiple CPUs and perform the processes using the multiple CPUs. Furthermore, at least a portion of the route acquisition unit 110, the movement control unit 112, and the information transmission unit 114 may be realized by hardware circuits. Furthermore, the program for the control unit 104 stored in the storage unit 102 may be stored on a recording medium readable by the control device 28.

[0027] The route acquisition unit 110 acquires information about the route (travel route MV) along which the mobile body 10 travels, the travel control unit 112 controls the travel mechanisms of the mobile body 10, such as the drive unit and steering, to control the travel of the mobile body 10, and the information transmission unit 114 transmits mobile body information indicating the position of the mobile body 10 and status information of the mobile body 10, including the remaining battery power, to an external device such as an information processing device 14.

[0028] (Management Device) FIG. 5 is a schematic block diagram of the management device 12. The management device 12 is a system that manages logistics in the facility 200. In the first embodiment, the management device 12 is a WCS (warehouse control system) or a WMS (warehouse management system). However, the management device 12 is not limited to a WCS or a WMS and may be any system, such as a back-end system such as a production management system. The management device 12 may be installed in any location, such as within the facility 200, or may be installed at a location remote from the facility 200 to manage the facility 200 from that location. The management device 12 is a computer, and as shown in FIG. 5, includes a communication unit 30, a memory unit 32, and a control unit 34.

[0029] The communication unit 30 is a module used by the control unit 34 to communicate with an external device such as the information processing device 14, and may include, for example, an antenna. The communication method used by the communication unit 30 is wireless communication in the first embodiment, but the communication method may be any.

[0030] The storage unit 32 is a memory that stores various information such as the calculation contents and programs of the control unit 34, and includes at least one of, for example, a RAM, a main storage device such as a ROM, and an external storage device such as an HDD. The storage unit 32 stores work information 70 and weight setting information 80. The work information 70 is a general term for information on work related to the operation of the mobile object control system 1. The work information 70 includes at least a work order (order information 72) for the mobile object 10. The weight setting information 80 is information that associates multiple route segments Rp traversed by the mobile object 10 with weight values ​​W (see FIGS. 8 and 9 ) that indicate the travel cost of the route segments Rp.

[0031] The control unit 34 is a calculation device and includes a calculation circuit such as a CPU. The control unit 34 includes a work order setting unit 40 and a weight setting unit 42. The control unit 34 implements the work order setting unit 40 and executes its processing by reading and executing a program (software) from the storage unit 32. The control unit 34 may execute the processing using a single CPU, or may be equipped with multiple CPUs and execute the processing using these multiple CPUs. At least a portion of the work order setting unit 40 may be implemented using a hardware circuit. The program for the control unit 34 stored in the storage unit 32 may be stored on a recording medium readable by the management device 12.

[0032] The work order setting unit 40 sets a work order for the mobile body 10 for each object P. The work order setting unit 40 causes the communication unit 30 to transmit order information 72 including the set work order. The contents of the work order will be described later.

[0033] The weight setting unit 42 sets a weight value W for each of the plurality of path segments Rp stored in the storage unit 32, thereby creating weight setting information 80. The setting of the weight value W will be described later.

[0034] The management device 12 may also perform processing other than setting the destination position and weighting. For example, the management device 12 may also set information for controlling mechanisms (e.g., elevators, doors, etc.) other than the mobile object 10 provided in the facility 200.

[0035] (Information Processing Device) FIG. 6 is a schematic block diagram of the information processing device 14. The information processing device 14 is a device that processes information related to the movement of the mobile object 10. The information processing device 14 is, for example, a Fleet Control System (FCS), but is not limited thereto and may be any device that processes information related to the movement of the mobile object 10. The information processing device 14 is a computer and, as shown in FIG. 6, includes a communication unit 50, a storage unit 52, and a control unit 54. The communication unit 50 is used by the control unit 54 and is a module that communicates with external devices such as the management device 12 and the mobile object 10, and may include, for example, an antenna. In the first embodiment, the communication method used by the communication unit 50 is wireless communication, but any communication method may be used.

[0036] The storage unit 52 is a memory that stores various information such as the calculation contents and programs of the control unit 54, and includes at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD. The storage unit 52 stores weight setting information 80 that is set by the management device 12.

[0037] The control unit 54 is a computing device and includes a computing circuit such as a CPU. The control unit 54 includes an acquisition unit 60, a path setting unit 62, and a processing unit 64. The control unit 54 implements the acquisition unit 60 and the path setting unit 62 and performs their processing by reading and executing a program (software) from the storage unit 52. The control unit 54 may implement these processes using a single CPU, or may be equipped with multiple CPUs and execute the processes using the multiple CPUs. At least a portion of the acquisition unit 60 and the path setting unit 62 may be implemented using hardware circuits. The program for the control unit 54 stored in the storage unit 52 may be stored in a recording medium readable by the information processing device 14.

[0038] The acquisition unit 60 acquires work orders transmitted from the management device 12. The acquisition unit 60 acquires weight setting information 80 transmitted from the management device 12. The acquisition unit 60 acquires mobile body information transmitted from the mobile body 10. The route setting unit 62 generates transport instruction information for the mobile body 10 based on the work orders. The transport instruction information includes a movement route MV from the movement start position of the mobile body 10 to the destination and the movement start timing. The route setting unit 62 sets a movement route MV corresponding to each work order based on the work orders and the weight setting information 80. The processing unit 64 transmits transport instructions to each mobile body 10 under its management via the communication unit 50 based on the transport instruction information set by the route setting unit 62.

[0039] In the first embodiment, the management device 12 and the information processing device 14 are separate devices, but they may be integrated devices. That is, the management device 12 may have at least some of the functions of the information processing device 14, and the information processing device 14 may have at least some of the functions of the management device 12.

[0040] 7 is a diagram showing an example of order information 72 included in the work information 70. The order information 72 includes a group (plurality of) work orders. Each work order defined in the order information 72 is set for each target object P.

[0041] As shown in FIG. 7 , a work order includes an order ID, information on loading and unloading locations, the priority of the work, and the mobile unit ID of the mobile unit 10 to which the work is assigned. In the example of FIG. 7 , the work order also includes information on pallet width, which will be described later. The loading location is the location where the mobile unit 10 is loaded. The unloading location is the location where the mobile unit 10 is unloaded. For example, order ID = 101 specifies that the mobile unit 10 with ID = 1 will load at placement location e17 and unload at placement location e2. Priority is expressed as a natural number greater than or equal to 1, with a smaller value indicating a higher priority. The work order setting unit 40 groups multiple work orders by mobile unit ID managed by the information processing device 14 and creates order information 72 including a group of work orders. The work order setting unit 40 causes the communication unit 30 to transmit the order information 72 to the corresponding information processing device 14.

[0042] (Weighting) FIG. 8 is a schematic diagram showing a first example of weight setting information 80. FIG. 9 is a schematic diagram showing a second example of weight setting information 80. For ease of explanation, an example is shown in which two weight values ​​W, "low weight" and "high weight", are set. The weight values ​​W are not limited to two types and can take any value. In reality, each weight value W is numerical information that is set individually, and even if the weight values ​​are the same "low weight", the specific numerical values ​​that are set may differ.

[0043] In the examples of Figures 8 and 9, the passageway R in the work area is divided into a total of 71 route segments Rp. In the examples of Figures 8 and 9, the weight value W for each route segment Rp is represented by two types of arrows shown in the legend. In the first embodiment, the weight setting unit 42 creates multiple weight setting information 80 according to the work information 70. Here, two types of weight setting information 80A shown in Figure 8 and weight setting information 80B shown in Figure 9 are shown according to the work information 70. The weight setting information 80A and the weight setting information 80B differ in at least part of the weight value W for each route segment Rp. The weight setting information 80 is a collective term for these multiple weight setting information 80A and 80B.

[0044] Specifically, in the first embodiment, the work orders included in the work information 70 include transport work orders and non-transport orders. The weight setting unit 42 creates different weight setting information 80A and 80B for transport work orders and non-transport orders. The weight setting information 80A in FIG. 8 is weight setting information for transport work orders, and the weight setting information 80B is weight setting information for non-transport orders.

[0045] A transport work order is an order whose content is transport work, which is the main work of the mobile body 10, which is an unmanned transport device. A non-transport order is an order whose content is not transport work. Non-transport orders include, for example, a work order to charge the mobile body 10 (moving to charging position c1). Non-transport orders include, for example, a work order to wait for the mobile body 10 (moving to waiting position h1 or h2). Here, waiting for the mobile body 10 refers to a work order that temporarily waits for the mobile body 10 when there is no work order to be executed for the mobile body 10 at a certain point during operation of the mobile body control system 1.

[0046] The method for setting the weight value W by the weight setting unit 42 is not limited to a specific method. For example, the weight setting unit 42 sets the weight value W for each route portion Rp through an optimization simulation using typical (virtual) order information 72 for the facility 200 or order information 72 executed in the past. The weight setting unit 42 may optimize the weight value W using machine learning or reinforcement learning based on, for example, operation history (record of setting the travel route MV) or history information on past interference occurrences on the travel route MV. The weight setting unit 42 can calculate the weight value W according to a preset calculation algorithm or may set the weight value W in response to an operator's operation input. As shown in FIGS. 8 and 9 , the weight setting unit 42 records a set of weight values ​​W set for all route portions Rp as weight setting information 80 (80A, 80B) in the storage unit 32.

[0047] (Generation of Transport Instruction Information) As shown in FIG. 6 , in the information processing device 14, the communication unit 50 receives the order information 72 and weight setting information 80 transmitted from the management device 12. The acquisition unit 60 acquires the received order information 72 and weight setting information 80. For each work order included in the order information 72, the route setting unit 62 generates transport instruction information for work of the mobile object 10 based on the content of the work order and the weight value W corresponding to each route segment Rp. In the first embodiment, the route setting unit 62 sets a movement route MV from the movement start position of the work order to the destination using weight setting information (80A or 80B) corresponding to the work information 70.

[0048] The route setting unit 62 sets a travel route MV (see FIG. 15 ) from the start position of the mobile object 10 to the destination based on a weight value W for each direction of passage of multiple route segments Rp. The travel route MV is information indicating the route segments Rp that the mobile object 10 passes through from the start position to the destination. When the mobile object 10 executes the first work order, the start position is the initial position of the mobile object 10. When the mobile object 10 executes the second or subsequent work order, the start position is the unloading position of the previous work order. The route setting unit 62 performs route planning using a loading position or unloading position as the destination. The route setting unit 62 sets the travel route MV, for example, by shortest route search. The shortest route search is a route setting method that finds a route from the start position to the destination that has the lowest travel cost. In the first embodiment, the travel cost is represented by a weight value W. Therefore, the route setting unit 62 adopts as the travel route MV the route that has the smallest total weight value W of each route portion Rp that is passed through from the travel start position to the destination.

[0049] Next, the route setting unit 62 determines the scheduled start time for each work order based on the priority of each work order and the scheduled duration of the loading and unloading operations at the loading and unloading locations. The route setting unit 62 then generates transport instruction information for each work order, including the travel route MV and the scheduled start time. The collection of transport instruction information for each work order constitutes the operation schedule for each mobile object 10 in the facility 200.

[0050] If the mobile body 10 with the ID specified in the work order satisfies the work start conditions and the scheduled start time of the work has passed, the processing unit 64 instructs the mobile body 10 to perform the work. The work start conditions refer to, for example, that the mobile body 10 is operating normally and has successfully completed the work instructed in the past (immediately before).

[0051] (Operation of Mobile Body) The mobile body 10 performs work in accordance with the set transport instruction information. As shown in Fig. 4, the movement control unit 112 of the mobile body 10 controls the movement of the mobile body 10 based on the transport instruction information.

[0052] Furthermore, when the mobile unit 10 reaches the loading position, the movement control unit 112 causes the sensor 26A to detect the position and posture of the object P, and based on the detection result, sets a route for approaching the object P. As a result, the mobile unit 10 loads (picks up) the object P according to the set route, and holds the pallet of the object P with a pair of claws 24A, 24B (see FIG. 3).

[0053] After picking up the object P, the movement control unit 112 controls the movement of the mobile object 10 so that it moves toward the unloading position. The route acquisition unit 110 preferably sets a second route (global path) based on a first route (layout path), which is the movement route MV of the transport instruction information transmitted from the information processing device 14. In this case, the route acquisition unit 110 sets the route based on the first route and information on the vehicle specifications of the mobile object 10. The information on the vehicle specifications is, for example, specifications that affect the route that the mobile object 10 can travel, such as the size and minimum turning radius of the mobile object 10.

[0054] The movement control unit 112 sequentially grasps the position information of the moving body 10, and moves the moving body 10 so as to follow the set route (second route). The method of acquiring the position information of the moving body 10 is arbitrary, but for example, in the first embodiment, a detection object (not shown) is provided in the facility 200, and the movement control unit 112 acquires information on the position and attitude of the moving body 10 based on the detection of the detection object. Specifically, the moving body 10 irradiates a laser light toward the detection object and receives the laser light reflected by the detection object, thereby detecting its own position and attitude in the facility 200. The method of acquiring information on the position and attitude of the moving body 10 is not limited to using a detection object, and for example, SLAM (Simultaneous Localization and Mapping) may be used.

[0055] (Operation of the Mobility Control System) FIG. 10 is a flowchart showing an example of the operation of the weight setting unit 42 according to the first embodiment to create weight setting information 80. As shown in FIG. 10 , in the management device 12, the weight setting unit 42 acquires work information 70, including work orders for the mobile object 10, from the storage unit 32 (step S10). The weight setting unit 42 creates weight setting information 80 by setting a weight value W for each route segment Rp according to the work information 70 (step S11). At this time, the weight setting unit 42 creates multiple pieces of weight setting information 80 (80A, 80B) according to the work information 70. The weight setting unit 42 stores the created weight setting information 80A, 80B in the storage unit 32 and transmits it to the information processing device 14 via the communication unit 30 (step S12).

[0056] FIG. 11 is a flowchart illustrating an example of the operation of the route setting unit 62 according to the first embodiment to set a movement route MV. As shown in FIG. 11 , in the information processing device 14, the acquisition unit 60 acquires work information 70 from the management device 12 via the communication unit 50 (step S20). The acquisition unit 60 also acquires information about the route segment Rp (route information) and weight setting information 80A and 80B from the management device 12 via the communication unit 50 (step S21). Either step S20 or S21 can be executed first. The route setting unit 62 sets the movement route MV based on the order information 72 included in the work information 70, the information about the route segment Rp, and the weight setting information 80 (step S22). At this time, the route setting unit 62 sets the movement route MV from the movement start position of the work order to the destination using the weight setting information (80A or 80B) corresponding to the work information 70. That is, the route setting unit 62 sets the travel route MV, for example, by searching for the shortest route, based on the weight value W of the weight setting information 80A or 80B to be used. The route setting unit 62 also generates transport instruction information including the travel route MV and a scheduled start time for each work order. The processing unit 64 transmits a work start instruction to the corresponding mobile object 10 for each work order via the communication unit 50 based on the transport instruction information (step S23).

[0057] (Adding a Work Order and Resetting a Movement Route) Next, an operation accompanying the addition of a non-transport order will be described. In the first embodiment, the weight setting unit 42 creates a non-transport order when an event corresponding to a non-transport order occurs during work.

[0058] FIG. 12 is a diagram illustrating the addition of a non-transport order. In FIG. 12, a decrease in the remaining battery power of a storage battery mounted on a mobile body 10 is used as an example of an event corresponding to a non-transport order. The upper side of FIG. 12 shows order information 72 before the non-transport order is added, and the lower side shows order information 72 after the non-transport order is added. The management device 12 acquires status information for each mobile body 10, including the remaining battery power, via the information processing device 14. The work order setting unit 40 generates a work order (non-transport order) for charging (movement to charging position c1) when the remaining battery power in the status information for any mobile body 10 is at a predetermined low level.

[0059] The work order setting unit 40 adds the non-transport order for charging to the order information 72 so that it will interrupt the currently running work order with the next highest priority, and transmits the order information 72 to the information processing device 14 via the communication unit 30. In FIG. 14 , order ID=201 is the non-transport order to be added.

[0060] When a non-transport order occurs, the route setting unit 62 of the information processing device 14 resets the movement route MV for work orders that have not yet started. That is, when the route setting unit 62 acquires order information 72 to which a non-transport order has been added, it regenerates transport instruction information (resets the movement route MV and the movement start time) for all work orders that have not yet started (i.e., have not yet started), including the non-transport order. That is, the operation schedule is rescheduled.

[0061] FIG. 13 is a flowchart showing an example of processing when an additional work order (non-transport order) occurs.

[0062] As shown in FIG. 13 , first, the route setting unit 62 acquires work information 70 (order information 72) including additional work orders from the management device 12 via the communication unit 50 (step S30). The route setting unit 62 extracts all unstarted work orders, including the newly added non-transport orders, from the work orders included in the order information 72 (step S31). The extracted work orders are to be reset. The route setting unit 62 resets the movement route MV for the work orders to be reset (step S32). At this time, the route setting unit 62 sets the movement route MV for transport work orders among the work orders to be reset using weight setting information 80A (see FIG. 8 ), and sets the movement route MV for non-transport orders using weight setting information 80B (see FIG. 9 ). After resetting the movement route MV, the route setting unit 62 resets the movement start time for each work order and generates transport instruction information. Thereafter, the processing unit 64 transmits a work start instruction to the corresponding mobile object 10 for each work order based on the transport instruction information via the communication unit 50 (step S33).

[0063] (Example of Weight Setting) Next, an example of weight setting in the first embodiment will be described. As described above, in the shortest route search, the lower the weight value W set for a route portion Rp, the more likely that route portion Rp will be adopted as part of the movement route MV of the moving object 10. The higher the weight value W set for a route portion Rp, the less likely that route portion Rp will be adopted as part of the movement route MV of the moving object 10.

[0064] 8 and 9 , in the first embodiment, the weight setting unit 42 creates weight setting information 80B for non-transport orders so that route segments Rp that are likely to be used for movement routes MV are less likely to be used for movement routes MV for non-transport orders based on weight setting information 80A for transport work orders. That is, in the first embodiment, weighting is performed so that the shortest route is used preferentially for transport work orders, which are the main work, and weighting is performed so that a detour route different from the shortest route is used preferentially for other non-transport orders so as not to interfere with the execution of the transport work orders.

[0065] 8, a low weight value W is set uniformly for all route segments Rp in weight setting information 80A for the transport work order. When a shortest route search is performed using this weight setting information 80A, since there is no significant difference in the weight value W, the shortest route that minimizes the travel distance between the travel start position and the destination is adopted as the travel route MV.

[0066] The transport work of the object P in the transport work order is basically of two types: a warehousing work in which the unloaded object P is stored on the shelf 5, and an retrieval work in which the object P stored on the shelf 5 is loaded onto a transport vehicle. In either work, one of the placement positions e17 to e31 in the first area AR1 and one of the placement positions e1 to e16 in the second area AR2 are set as the movement start position or destination.

[0067] Therefore, when setting a route for a transport work order using the weight setting information 80A, the route portion Rp that is likely to be used for the movement route MV corresponds to the route portion Rp that constitutes the shortest route connecting the area of ​​arrangement positions e17 to e31 and the area of ​​arrangement positions e1 to e16. In other words, the route portion Rp included in area MS1 shown in Figure 8 is the route portion Rp that is likely to be used for the movement route MV for a transport work order.

[0068] 9, the weight setting unit 42 creates weight setting information 80B for non-transport orders by setting a large weight value W for the route portion Rp included in the region MS1 ​​and a small weight value W for the other route portion Rp not included in the region MS1. As a result, when route setting is performed using the weight setting information 80B, the route portion Rp included in the region MS1 ​​becomes relatively less likely to be used for the movement route MV, and the other route portion Rp not included in the region MS1 ​​becomes more likely to be used for the movement route MV of the non-transport order.

[0069] Next, the operation when different weight setting information 80A, 80B is set for transport work orders and non-transport orders will be described using a comparative example.

[0070] (Comparative Example) FIG. 14 is a schematic diagram showing an example of route setting according to a comparative example. The comparative example shows an example of route setting when the same weight setting information is used for transport work orders and non-transport orders. In the comparative example, the same weight setting as the weight setting information 80A shown in FIG. 8 is applied. In addition, the order information 72 shown at the bottom of FIG. 12 when a non-transport order is added is taken as an example of a work order. The mobile unit 10 with mobile unit ID = 1 is mobile unit 10-1, and the mobile unit 10 with mobile unit ID = 2 is mobile unit 10-2. In FIG. 14, the mobile unit 10-1, which is the target of order ID = 201 in FIG. 12, has just carried out order ID = 101, and is therefore located at placement position e2, which is its unloading position.

[0071] In the comparative example, the weighting settings in Figure 8 are used, and as a result of the shortest route search, the travel route that connects the travel start position and the destination with the shortest distance is adopted. Therefore, for order ID = 201, the travel route MVA, which is the shortest route, is set as the route from the current position (location position e2) to the charging position (c1). The travel route MVA is a route that starts from the location position e2, passes through route segments Rp7, Rp6, Rp5, Rp4, Rp3, and Rp11, and arrives at the charging position c1.

[0072] 12, the moving object 10-2 is currently executing an order ID of 102. In the comparative example, a movement route MVB, which is the shortest route, is also set for the order ID of 102. The movement route MVB is a route that starts from the placement position e27, passes through the route segments Rp1, Rp2, Rp3, Rp4, Rp5, and Rp6, and arrives at the placement position e3.

[0073] Since the movement routes MVA and MVB are bidirectional routes in the route portions Rp3, Rp4, Rp5, and Rp6, the moving body 10-1 and the moving body 10-2 interfere with each other.

[0074] In this case, for example, interference avoidance control is executed, which prioritizes work orders (order IDs) with higher priority and causes work orders with lower priority to avoid interference. Interference avoidance control involves, for example, having mobile unit 10-1 wait at route portion Rp7 just before the interference point until mobile unit 10-2 passes, or temporarily evacuating mobile unit 10-1 to a retreat position outside the interference point. When interference avoidance control is executed, even if the shortest route is set, the time loss associated with interference avoidance may actually reduce the efficiency of work order processing (number of work orders processed per unit time) by mobile units 10-1 and 10-2.

[0075] (First embodiment) Fig. 15 is a schematic diagram showing an example of route setting according to the first embodiment. In the first embodiment, for the case of the work order in Fig. 12 , which is the same as the comparative example, the route setting unit 62 performs a shortest route search by selectively using the weight setting information 80A and 80B shown in Fig. 8 and Fig. 9 . As a result, the travel routes MV1 and MV2 shown in Fig. 15 are set.

[0076] That is, by using the weight setting information 80B (see FIG. 9 ), the movement route MV1 set for the non-transport order with order ID = 201 becomes a detour route that passes through the route segments Rp21, Rp22, Rp23, Rp24, Rp25, Rp26, Rp27, Rp28, Rp29, Rp30, Rp31, and Rp32 from the placement location e2 to the charging location c1. On the other hand, by using the weight setting information 80A, the movement route MV2 set for the transport work order with order ID = 102 becomes a route that passes through the route segments Rp1, Rp2, Rp3, Rp4, Rp5, and Rp6 from the placement location e27 to the placement location e3. In this example, the movement route MV2 is the same route as the movement route MVB in FIG. 14 . In the case of FIG. 15 , the movement routes MV1 and MV2 do not overlap in the route segments Rp, so no interference occurs. Therefore, no time loss occurs due to interference avoidance, and as a result, even if the individual movement route MV (movement route MV1) is not the shortest distance in terms of movement distance, it is possible to improve the overall processing efficiency of the work order.

[0077] It should be noted that in the first embodiment, a high weight value W is set for non-transport orders (weight setting information 80B) for route segments Rp belonging to region MS1, which are likely to be used in transport work orders, but route segments Rp belonging to region MS1 ​​are not set as prohibited. If a route segment Rp is set as prohibited, generation of a travel route MV becomes impossible when another route segment Rp becomes impassable and the only route available passes through the prohibited route segment Rp. In contrast, in the first embodiment, a large weight value W is set for route segments Rp belonging to region MS1. Therefore, even in cases where route generation is impossible without passing through region MS1, generation of a travel route MV is possible simply by increasing the sum of the weight values ​​W. In other words, the first embodiment achieves high redundancy by enabling route configuration that reduces the frequency of interference between transport work orders and non-transport orders while also enabling route configuration that allows for interference when no other options are available.

[0078] [Second Embodiment] Next, a second embodiment will be described. In the second embodiment, an example of weight setting different from the weight setting according to the type of work order will be described. In the second embodiment, a description of parts of the configuration common to the first embodiment will be omitted.

[0079] In the second embodiment, the weight setting unit 42 creates a plurality of weight setting information 80 according to the size information set for each work order in the order information 72 of the work information 70 .

[0080] That is, in the second embodiment, the work information 70 includes size information of at least one of the object P or the mobile body 10. In the example of FIG. 7 , the work information 70 includes information on the pallet width of the object P for each work order included in the order information 72. The pallet width is an example of size information of the object P. In FIG. 7 , two types of pallet width are set: a "standard" size indicating a width equal to or smaller than a predetermined width, and a "large" size indicating a width larger than the predetermined width. However, there may be three or more types, or the pallet width may be set using a specific numerical value (width dimension).

[0081] The weight setting unit 42 creates different weight setting information 80 when the size information is equal to or smaller than a predetermined value and when the size information is larger than the predetermined value. That is, the weight setting unit 42 creates weight setting information 80A when the palette width is "standard" and weight setting information 80C when the palette width is "large." Fig. 16 is a schematic diagram showing an example of weight setting information 80C according to size information.

[0082] 16, a region MS2 with a narrow passage width exists in a portion of the passage R. It is assumed that the mobile object 10 can pass through region MS2 in a normal manner when transporting an object P with a "standard" pallet width, but must pass through region MS2 at a slower speed than normal when transporting an object P with a "large" pallet width so that the object P does not come into contact with an obstacle (here, shelf 5). This region MS2 includes path portion Rp41 and path portion Rp42.

[0083] In the second embodiment, the weight setting unit 42 creates weight setting information 80C so that when size information is larger than a predetermined value, a predetermined route portion is less likely to be used for the travel route MV. The predetermined route portions are the route portion Rp41 and the route portion Rp42 that belong to the area MS2. In other words, the weight setting unit 42 assigns weights so that the weight values ​​W for the route portion Rp41 and the route portion Rp42 are relatively higher than those for the other route portions Rp. The weighting may be such that the weight values ​​W for the route portion Rp41 and the route portion Rp42 are high, or the weight values ​​W for the route portions Rp other than the route portion Rp41 and the route portion Rp42 are low.

[0084] As a result, when setting a route for a work order with a "large" pallet width, by using the weight setting information 80C, route segments Rp41 and Rp42, to which a relatively large weight value W is set, are less likely to be adopted as the movement route MV of the mobile unit 10. As a result, route segments Rp other than area MS2 are set with a relatively small weight value W, and as a result, are more likely to be adopted as the movement route MV of the mobile unit 10.

[0085] Therefore, if there is a route that can reach the destination without passing through area MS2 (route portions Rp41, Rp42), which requires slow travel when the pallet width is "large," a route that bypasses area MS2 is more likely to be adopted as the travel route MV of the mobile body 10.

[0086] On the other hand, weight setting information 80A for a work order with a "standard" pallet width may be the same as that shown in Fig. 8. This is because when the pallet width is normal, there is no need to travel at a low speed in area MS2, and there is no need to avoid area MS2.

[0087] Next, a comparative example will be used to explain the effect of setting different weight setting information 80 depending on size information (pallet width). Figure 17 is a diagram showing an example of a work order in the second embodiment. Here, an example is used in which a route is set for the work order with order ID = 301 and a pallet width of "large" shown in Figure 17, with the loading position (placement position e17) as the movement start position and the unloading position (placement position e1) as the destination.

[0088] 18 is a schematic diagram showing an example of path setting according to a comparative example. In the comparative example, the same weight setting as the weight setting information 80A shown in FIG. 8 is applied regardless of the size information (pallet width).

[0089] In the comparative example, for a work order with order ID=301 and a pallet width of "large," the shortest route search results in the adoption of a route that connects the movement start position (placement position e17) to the destination position (placement position e1) in the shortest distance. Therefore, as shown in FIG. 18 , a movement route MVC, which is the shortest route, is set for order ID=301. The movement route MVC passes through route portions Rp41 and Rp42 in area MS2. Therefore, the mobile unit 10-1 must travel at a low speed through area MS2. Due to the low speed, the travel time increases despite the shortest route. Furthermore, for example, if another mobile unit 10-2 passes through the same area MS2 with a work order with a pallet width of "standard," if the preceding mobile unit 10-1 travels at a low speed, the mobile unit 10-2 must travel at a low speed to match the traveling speed of the mobile unit 10-1. As a result, the processing efficiency of the work orders by the mobile units 10-1 and 10-2 decreases.

[0090] (Second embodiment) Figure 19 is a schematic diagram showing an example of route setting according to the second embodiment. In the second embodiment, for a work order (order ID = 301) with a pallet width of "large" similar to the comparative example, the route setting unit 62 searches for the shortest route using the weight setting information 80C shown in Figure 16. As a result, the travel route MV3 shown in Figure 19 is set.

[0091] In other words, by using the weight setting information 80C, the movement route MV3 becomes a route on the +X direction side that bypasses the area MS2 (route portions Rp41 and Rp42) without passing through the area MS2. Because the movement route MV3 does not pass through the area MS2, which travels at a slow speed when the pallet width is "large," no time loss occurs due to a decrease in speed. Furthermore, no time loss occurs for the other moving body 10-2, which would otherwise be required to travel at a slow speed to reach the other moving body 10 due to a moving body 10 traveling at a slow speed. As a result, even if the individual movement route MV (movement route MV3) is not the shortest in terms of travel distance, it is possible to improve the processing efficiency of the work order as a whole.

[0092] In the second embodiment, the route portions Rp41 and Rp42 belonging to area MS2 are not set as closed to traffic. Therefore, even when weight setting information 80C is used for a work order with a "large" pallet width, if there is no other detour route, it is possible to generate a travel route MV that passes through area MS2 at a low speed, thereby achieving high redundancy.

[0093] (Variation of Second Embodiment) In the above-described second embodiment, an example was shown in which weight setting information 80A, 80C was set according to size information (pallet width) of the object P, but weight setting information 80A, 80C may also be set according to size information of the mobile body 10. That is, when the mobile bodies 10 installed in the facility 200 include multiple types of mobile bodies 10 with different external dimensions, size information (vehicle width) of the mobile bodies 10 may be set as the work information 70, and for example, for a mobile body 10 whose vehicle width is wider than a predetermined width, weight setting information 80C as shown in FIG.

[0094] For example, in FIG. 19 , assume that a standard-width mobile unit 10-2 can travel through area MS2 at a normal speed, while a large-width mobile unit 10-1 must travel at a slower speed through area MS2. In this case, if the mobile unit 10-1 were to take a route that passes through route segments Rp41 and Rp42, time loss would occur due to slow travel, and if the standard-width mobile unit 10-2 were to follow, the mobile unit 10-2 would also need to travel at a slower speed. Therefore, by using the weight setting information 80C shown in FIG. 16 to set a route for a work order that specifies the large-width mobile unit 10-1 in its mobile unit ID (i.e., a work order that specifies a mobile unit ID of 1), the travel route MV3 that bypasses area MS2 is more likely to be adopted. As a result, the overall processing efficiency of the work order can be improved.

[0095] Additionally, weight setting information 80A and 80C may be set according to both the size information (pallet width) of the object P and the size information (vehicle width) of the mobile body 10. Weight setting information 80A may be applied only to work orders with a "standard" pallet width and a "standard" vehicle width, and weight setting information 80C may be applied to work orders in which the mobile body ID of a mobile body 10 with a "large" pallet width or a large vehicle width is specified.

[0096] [Third Embodiment] Next, a third embodiment will be described. In the third embodiment, a route setting method will be described when a mobile body 10 and a worker work simultaneously. In the third embodiment, a description of parts that are common to the first embodiment will be omitted.

[0097] FIG. 20 is a diagram illustrating work information 70 in the third embodiment. In the third embodiment, the work information 70 includes, for example, information on work performed by a worker. Hereinafter, work performed by a worker will be referred to as "manned work" to distinguish it from work performed unmanned by the mobile body 10. Specifically, the work information 70 includes information on the implementation area MS3 of the work (manned work) performed by the worker. The manned work is not particularly limited, but may be, for example, transportation work performed by a worker aboard a work vehicle 120 (see FIG. 21 ).

[0098] FIG. 21 is a schematic diagram illustrating an example of a manned work area MS3. As shown in FIG. 21, the manned work area MS3 is set within a predetermined range within the work area of ​​the facility 200. The manned work area MS3 is pre-registered in the management device 12 based on a work plan, along with, for example, the work time period (start time, end time), and stored in the memory unit 32 (see FIG. 5). Information about the manned work area MS3 includes location information (coordinates) identifying the work area MS3. In the example of FIG. 21, the work area MS3 is set to cover approximately one-third of the work area on the negative X-axis side and the entire length of the work area in the Y-axis direction. The work area MS3 spans the first area AR1 and the second area AR2. The work area MS3 includes placement locations e1, e2, e5, e6, e9, e10, e13, e14, and e17-e21, as well as multiple route segments Rp for accessing these placement locations.

[0099] When the mobile body 10 travels within the manned work area MS3, it travels at a low speed to prevent contact with a worker or a work vehicle 120 operated by the worker. Furthermore, within the manned work area MS3, the mobile body 10 turns on an alarm lamp (not shown) or outputs an alarm sound, for example, to make the worker aware of the presence of the mobile body 10.

[0100] The weight setting unit 42 creates different weight setting information 80 for a case where a manned work area MS3 is not set and a case where a manned work area MS3 is set (a manned work time period). That is, the weight setting unit 42 creates weight setting information 80A for a case where no manned work is performed and weight setting information 80D (see FIG. 22) for a case where a manned work area MS3 is set. Note that the weighting for a case where no manned work is performed may be the same as the weight setting information 80A in FIG. 8, but may also be different.

[0101] 22 is a schematic diagram showing an example of weight setting information 80D when an implementation area MS3 for manned work is set. As shown in FIG. 22 , the weight setting unit 42 creates the weight setting information 80D so that route segments Rp included in the implementation area MS3 are less likely to be used for the travel route MV. In other words, the weight setting unit 42 assigns weights so that the weight value W for the route segments Rp included in the implementation area MS3 is relatively higher than that for other route segments Rp outside the implementation area MS3. The weighting may be such that the weight value W for the route segments Rp within the implementation area MS3 is higher, or the weight value W for the other route segments Rp outside the implementation area MS3 is lower.

[0102] As a result, by using the weight setting information 80C, the route portion Rp within the implementation area MS3, to which a relatively large weight value W is set, is less likely to be adopted as the movement route MV of the mobile object 10. The route portion Rp outside the implementation area MS3 is set to a relatively small weight value W, and as a result, is more likely to be adopted as the movement route MV of the mobile object 10.

[0103] Therefore, if there is a route that can reach the destination without passing through the manned work implementation area MS3, a route that bypasses the implementation area MS3 is more likely to be adopted as the travel route MV of the mobile body 10.

[0104] 23 is a schematic diagram showing an example of route setting according to the third embodiment. In the third embodiment, when a manned work area MS3 is set, the route setting unit 62 performs a shortest route search using the weight setting information 80D. As a result, as shown in FIG. 23, a travel route MV4 is set for the work order to be performed by the mobile unit 10-1, and a travel route MV5 is set for the work order to be performed by the mobile unit 10-2.

[0105] For work orders executed by the mobile unit 10-1, the loading location is the placement location e17 and the unloading location is the placement location e14. For work orders executed by the mobile unit 10-2, the loading location is the placement location e22 and the unloading location is the placement location e13. For these work orders, the shortest route from the loading location to the unloading location is the route in the -X direction that passes through the route segments Rp51, Rp52, and Rp53. In contrast, in the third embodiment, by using weight setting information 80D in which a large weight value W is set for the route segments Rp51, Rp52, and Rp53 within the execution area MS3, both movement routes MV4 and MV5 are set as routes that detour in the +X direction rather than as the shortest route.

[0106] On the travel routes MV4 and MV5, travel within the implementation area MS3, which requires slow travel, is avoided as much as possible, reducing time loss due to reduced speed. Furthermore, entry of the mobile body 10 into the implementation area MS3 is suppressed, reducing the possibility of performing contact avoidance operations between the mobile body 10 and the worker or work vehicle 120. Since the frequency of entry of the mobile body 10 into the implementation area MS3 is reduced, a decrease in the efficiency of manned work is suppressed. As a result, it is possible to improve the operational efficiency of the entire work order.

[0107] In the third embodiment, the implementation area MS3 is not set as a no-entry area, so even when using weight setting information 80D when the implementation area MS3 for manned work is set, if there is no detour route, it is possible to generate a travel route MV that passes through the implementation area MS3, thereby achieving high redundancy.

[0108] (Modification of Third Embodiment) Fig. 24 is a schematic diagram illustrating weighting according to a modification of the third embodiment. In the modification shown in Fig. 24, weighting is performed on route segments Rp located around the implementation area MS3 such that the greater the distance from the implementation area MS3, the less likely the route segments Rp are to be used as the travel route MV.

[0109] 24, a surrounding area MS4 is set around the manned work area MS3. The surrounding area MS4 may be set, for example, in a circular shape so as to surround the manned work area MS3, or may be set adjacent to only one side of the work area MS3. The surrounding area MS4 is an area outside the manned work area MS3, although workers (work vehicles) may enter it.

[0110] 24 illustrates weight setting information 80D corresponding to the manned work area MS3 and the surrounding area MS4 in the form of a graph. In the graph, the vertical axis represents the weight value W, and the horizontal axis represents the path segment Rp for each position along the Y direction. In other words, FIG. 24 illustrates the weight values ​​W of multiple path segments Rp along the Y direction in a graph.

[0111] In this modified example, the weight setting unit 42 creates the weight setting information 80 for route segments Rp in the surrounding area MS4 located around the implementation area MS3 such that the greater the distance from the implementation area MS3, the less likely the route segments Rp are to be included in the travel route MV. That is, the weight setting unit 42 decreases the weight value W of the route segments Rp included in the surrounding area MS4 as the distance from the implementation area MS3 increases. This reduces the likelihood of the route segments Rp included in the surrounding area MS4 being included in the travel route MV of the mobile object 10 the closer they are to the manned work implementation area MS3, thereby effectively preventing the mobile object 10 from entering the implementation area MS3. Conversely, even if the route segments Rp are located around the implementation area MS3, the greater the distance from the implementation area MS3, the smaller the weight value W, making them more likely to be included in the travel route MV. By including such route segments Rp in the travel route MV, the detour distance may be shortened. While FIG. 24 illustrates weight setting along the Y direction, weight values ​​W along the X direction are similarly set.

[0112] Additionally, in the third embodiment and the modified example, the manned work area MS3 has been described as a fixed area (whose location does not change) that has been set in advance, but the location and range of the manned work area MS3 may change over time. For example, a worker carries a mobile device that transmits current location information and transmits the current location information from time to time to the management device 12. The weight setting unit 42 may set the work area MS3 (and a surrounding area MS4 in the modified example) around the worker's current location based on the current location information of the mobile device received by the communication unit 30, and update the weight setting information 80D in accordance with the set work area MS3 (and surrounding area MS4).

[0113] As described above, according to the first aspect of the present disclosure, a mobile body control system 1 is provided, which includes: a memory unit 32 that stores weight setting information 80 that associates multiple route sections Rp traversed by a mobile body 10 with weight values ​​W that indicate the movement costs of the route sections Rp; work information 70 that includes work orders for the mobile body 10; a weight setting unit 42 that creates the multiple weight setting information 80 according to the work information 70; and a route setting unit 62 that sets a movement route MV from the movement start position of the work order to the destination using the weight setting information 80 according to the work information 70.

[0114] According to this configuration, the movement route MV is set by selectively using multiple pieces of weight setting information 80 depending on the work information 70. Therefore, it is possible to set an appropriate movement route MV according to the content of the work information 70, not just the shortest route to the destination. Compared to when the same weight setting information 80 is applied to all work orders, it is possible to improve the processing efficiency of work orders and set routes that suppress interference with other work being performed in the work area, thereby improving the setting of the movement route MV for the mobile object 10.

[0115] According to a second aspect of the present disclosure, in the mobile body control system 1 according to the first aspect, the mobile body 10 is an unmanned guided vehicle that holds and transports an object P, the work orders include transport work orders and non-transport orders, and the weight setting unit 42 creates different weight setting information 80A, 80B for the transport work orders and non-transport orders. This allows the travel route MV to be set using different weight setting information 80A, 80B for the transport work orders, which are the main work, and other non-transport orders. This makes it possible to set an appropriate route according to the type of work order, for example, by prioritizing transport work orders or non-transport orders.

[0116] According to a third aspect of the present disclosure, in the mobile object control system 1 according to the second aspect, the weight setting unit 42 creates weight setting information 80B for non-transport orders based on the weight setting information 80A for transport work orders, so that route segments Rp (route segments Rp within the area MS1) that are likely to be used for the travel route MV are less likely to be used for the travel route MV for non-transport orders. This allows transport work orders to be prioritized, making it easier to use detour routes for non-transport orders. As a result, a mobile object 10 executing a transport work order is prevented from temporarily waiting for other mobile objects 10 executing non-transport orders or from performing interference avoidance operations, thereby enabling route setting that improves the processing efficiency of transport work orders.

[0117] According to a fourth aspect of the present disclosure, in the mobile body control system 1 according to any one of the first to third aspects, the mobile body 10 is an unmanned guided vehicle that holds and transports an object P, the work information 70 includes size information of at least one of the object P or the mobile body 10, and the weight setting unit 42 creates different weight setting information 80A, 80C when the size information is equal to or smaller than a predetermined value and when the size information is larger than the predetermined value. As a result, in a case where multiple types of objects P with different sizes (pallet widths) are mixed or multiple types of mobile bodies 10 with different sizes (vehicle widths) are mixed, appropriate route setting can be performed according to the size of the object P or the mobile body 10 using the weight setting information 80A, 80C according to the size information.

[0118] According to a fifth aspect of the present disclosure, in the mobile object control system 1 according to the fourth aspect, the weight setting unit 42 creates weight setting information 80C so that a predetermined route segment Rp is less likely to be adopted as a travel route MV when the size information is larger than a predetermined value. This makes it possible to make it less likely that predetermined route segments Rp41 and Rp42 belonging to the area MS2 are adopted as a travel route MV when there is an area MS2 in the passage R that requires slow travel or alternating traffic due to the size of the object P (pallet width) or the size of the mobile object 10 (vehicle width). Since a travel route MV that does not pass through the area MS2 can be preferentially set according to the size information, the processing efficiency of work orders can be improved.

[0119] According to a sixth aspect of the present disclosure, in the mobile object control system 1 according to any one of the first to fifth aspects, the work information 70 includes information on an area MS3 where work (manned work) is to be performed by a worker, and the weight setting unit 42 creates weight setting information 80D so that a route segment Rp included in the area MS3 is less likely to be adopted for the travel route MV. Thus, simply by presetting the area MS3 where manned work is to be performed, it is possible to prevent the mobile object 10 from entering the area MS3. This makes it possible to avoid a decrease in work order processing efficiency due to the mobile object 10 traveling at a low speed or interfering with the manned work.

[0120] According to a seventh aspect of the present disclosure, in the mobile object control system 1 according to the sixth aspect, the weight setting unit 42 creates weight setting information 80 for route segments Rp located around the implementation area MS3 such that the greater the distance from the implementation area MS3, the less likely the route segments Rp are to be used as part of the travel route MV. This makes it more difficult for the route segments Rp to be used as part of the travel route MV of the mobile object 10 the closer they are to the implementation area MS3 where the manned work is performed, thereby effectively preventing the mobile object 10 from entering the implementation area MS3. Conversely, even if the route segments Rp are located around the implementation area MS3, the greater the distance from the implementation area MS3, the more likely they are to be used as part of the travel route MV. This potentially shortens the detour distance even when a route is set that bypasses the implementation area MS3.

[0121] According to an eighth aspect of the present disclosure, there is provided an information processing method comprising: a step S10 of acquiring work information 70 including a work order for a mobile body 10; a step S11 of creating, in accordance with the work information 70, multiple pieces of weight setting information 80 that associate multiple route sections Rp traversed by the mobile body 10 with weight values ​​W indicating the movement costs of the route sections Rp; and a step S22 of setting, using the weight setting information 80 in accordance with the work information 70, a movement route MV from the movement start position of the work order to the destination.

[0122] According to this configuration, the movement route MV is set by selectively using multiple pieces of weight setting information 80 depending on the work information 70. Therefore, it is possible to set an appropriate movement route MV according to the content of the work information 70, not just the shortest route to the destination. Compared to when the same weight setting information 80 is applied to all work orders, it is possible to improve the processing efficiency of work orders and set routes that suppress interference with other work being performed in the work area, thereby improving the setting of the movement route MV for the mobile object 10.

[0123] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of these embodiments. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the above-described embodiments.

[0124] For example, the configurations of the first to third embodiments and their modified examples can be combined in any manner. For example, when combining the first, second, and third embodiments, eight different weight setting information 80 may be created by combining whether the order is a transport job order or a non-transport job order, whether the size information is equal to or smaller than a predetermined value or larger than a predetermined value, and whether a manned work area MS3 is set. In other words, weight setting information 80 may be created in a number corresponding to the work information 70, such as weight setting information 80 for "transport job order, standard size, no manned work area" or weight setting information 80 for "non-transport job order, large size, manned work area available."

[0125] DESCRIPTION OF SYMBOLS 1 Mobile object control system 5 Shelf 10 Mobile object 12 Management device 14 Information processing device 20 Vehicle body 20A Wheel 21 Straddle leg 22 Mast 24 Fork 24A Claw 24B Claw 26A Sensor 28 Control device 30 Communication unit 32 Memory unit 34 Control unit 40 Work order setting unit 42 Weight setting unit 50 Communication unit 52 Memory unit 54 Control unit 60 Acquisition unit 62 Route setting unit 64 Processing unit 70 Work information 72 Order information 80, 80A, 80B, 80C, 80D Weight setting information 100 Communication unit 102 Memory unit 104 Control unit 110 Route acquisition unit 112 Movement control unit 114 Information transmission unit 200 Equipment AR1 First area AR2 Second area c1 Charging position e1 to e31 Placement position h1, h2 Waiting position MS1, MS2 Area MS3 Implementation area MS4 Surrounding area MV, MV1, MV2, MV3, MV4, MV5, MVA, MVB, MVC Movement route P Object R Passage Rp Route portion Rp1 to Rp7, Rp11, Rp21 to Rp32, Rp41, Rp42, Rp51 to Rp53 Route portion W Weight value

Claims

1. A mobile body control system comprising: a memory unit that stores weight setting information that associates multiple route sections traveled by a mobile body with weight values ​​indicating the movement costs of the route sections, and work information including work orders for the mobile body; a weight setting unit that creates multiple pieces of weight setting information according to the work information; and a route setting unit that sets a movement route from a movement start position of the work order to a destination using the weight setting information according to the work information.

2. The mobile body control system of claim 1, wherein the mobile body is an unmanned transport device that holds and transports an object, the work orders include transport work orders and non-transport orders, and the weight setting unit creates different weight setting information for the transport work orders and the non-transport orders.

3. The mobile body control system according to claim 2, wherein the weight setting unit creates the weight setting information for the non-transportation orders so that the route portion that is likely to be used for the movement route based on the weight setting information for the transport work order is unlikely to be used for the movement route for the non-transportation orders.

4. The mobile body control system of claim 1, wherein the mobile body is an unmanned transport device that holds and transports an object, the work information includes size information of at least one of the object or the mobile body, and the weight setting unit creates different weight setting information when the size information is equal to or smaller than a predetermined value and when it is larger than the predetermined value.

5. The mobile object control system according to claim 4, wherein the weight setting unit creates the weight setting information so that a predetermined, specified portion of the route is less likely to be adopted for the travel route when the size information is larger than a predetermined value.

6. The mobile control system of claim 1, wherein the work information includes information on an area in which work is to be performed by a worker, and the weight setting unit creates the weight setting information so that the route portion included in the area is less likely to be used for the travel route.

7. The mobile control system of claim 6, wherein the weight setting unit creates the weight setting information for the route portions located around the implementation area such that the greater the distance from the implementation area, the less likely the route portions are to be used as part of the travel route.

8. An information processing method comprising the steps of: acquiring work information including a work order for a moving body; creating multiple pieces of weight setting information according to the work information, in which multiple route portions traveled by the moving body are associated with weight values ​​indicating the movement costs of the route portions; and setting a movement route from a movement start position of the work order to a destination using the weight setting information according to the work information.

Images