Information processing system, information processing method, and program

Abstract

[Problem] To provide an information processing system, an information processing method, and a program capable of improving efficiency when transferring an article between a storage area and an unmanned transport device. [Solution] An information processing system according to the present disclosure determines a target position of an unmanned transport device when transferring an article between a storage area in which prescribed articles are disposed and an unmanned transport device that transports the article, wherein a control unit executes: storage area information acquisition processing for acquiring storage area information including positional information of the storage area; article information acquisition processing for acquiring article information including positional information of the article to be transported; opening information acquisition processing for acquiring opening information including positional information of an opening through which the article can be taken in and out in the unmanned transport device; and target state determination processing for determining a target position of the unmanned transport device on the basis of the storage area information, the article information, and the opening information so that the opening in the unmanned transport device is at a prescribed position that is predetermined.

Description

Information Processing System, Information Processing Method, and Program

[0001] The present disclosure relates to an information processing system, an information processing method, and a program.

[0002] In recent years, the practical use of self-driving unmanned transport vehicles for transporting goods within facilities such as manufacturing factories and logistics warehouses has been realized (see Patent Document 1).

[0003] Japanese Patent No. 6310579

[0004] For example, in Patent Document 1, it is stated that when an operator places a load placed on a shelf onto a transport vehicle, the work efficiency can be improved by moving the transport vehicle close to the operator.

[0005] However, when towing a conveyance whose opening position for loading and unloading goods, such as a cage cart, is fixed in a predetermined direction, depending on the relative positional relationship between the shelf and the cage cart, it may be difficult to transfer the goods from the shelf to the cart.

[0006] Therefore, the present disclosure has been made in view of at least one of the above problems, and an object thereof is to provide an information processing system, an information processing method, and a program capable of improving the efficiency when replacing an article between a storage area and an unmanned transport device.

[0007] According to the present disclosure, there is provided an information processing system that determines a target position of an unmanned transport device when replacing an article between a storage area where a predetermined article is placed and the unmanned transport device that transports the article, the control unit performing a storage area information acquisition process for acquiring storage area information including position information of the storage area, an article information acquisition process for acquiring article information including position information of the article to be transported, an opening information acquisition process for acquiring opening information including position information of an opening in the unmanned transport device through which the article can be loaded and unloaded, and a target state determination process for determining the target position of the unmanned transport device based on the storage area information, the article information, and the opening information so that the opening of the unmanned transport device reaches a predetermined position.

[0008] According to this disclosure, an information processing method is provided for determining the target position of an automated guided vehicle (AGV) when transferring an article between a storage area where a predetermined article is placed and an AGV that transports the article, wherein the control unit performs: a storage area information acquisition process to acquire storage area information including location information of the storage area; an article information acquisition process to acquire article information including location information of the article to be transported; an opening information acquisition process to acquire opening information including location information of an opening in the AGV from which an article can be loaded or unloaded; and a target state determination process to determine the target position of the AGV so that the opening of the AGV is in a predetermined position, based on the storage area information, the article information, and the opening information.

[0009] According to this disclosure, a program is provided that causes a control unit to perform information processing to determine the target position of an automated guided vehicle (AGV) when transferring an AGV between a storage area where a predetermined AGV is placed and an AGV that transports the AGV, the program causing the control unit to perform: a storage area information acquisition process to acquire storage area information including location information of the storage area; an AGV information acquisition process to acquire AGV information including location information of the AGV to be transported; an opening information acquisition process to acquire opening information including location information of an opening in the AGV that allows the AGV to be loaded and unloaded; and a target state determination process that determines the target position of the AGV so that the opening of the AGV is in a predetermined position, based on the storage area information, the AGV information, and the opening information.

[0010] According to this disclosure, it is possible to provide an information processing system, an information processing method, and a program that can improve the efficiency of transferring goods between a storage area and an automated guided vehicle (AGV).

[0011] This is a perspective view showing an example of the system according to this embodiment. This is a plan view showing a comparative example of an automated guided vehicle and a storage shelf. This is a plan view showing an example of the relationship between an automated guided vehicle and a storage shelf according to this embodiment. This is a plan view showing another example of the relationship between an automated guided vehicle and a storage shelf according to this embodiment. This is a plan view showing yet another example of the relationship between an automated guided vehicle and a storage shelf according to this embodiment. This is a plan view showing yet another example of the relationship between an automated guided vehicle and a storage shelf according to this embodiment. This is a diagram showing an example of the information processing flow of the system according to this embodiment. This is a plan view showing an example of an automated guided vehicle according to this embodiment. This is a perspective view showing an example of the hardware configuration of a transport vehicle according to this embodiment. This is a bottom view showing an example of the hardware configuration of a transport vehicle according to this embodiment. This is a diagram showing an example of the configuration of the operating area according to this embodiment. This is a diagram showing an example of the overall configuration of the transport system according to this embodiment. This is a configuration diagram of the control unit in this embodiment. This is a diagram showing the functional configuration of a transport vehicle according to this embodiment. This is a plan view showing yet another example of the relationship between an automated guided vehicle and a storage shelf according to this embodiment.

[0012] Preferred embodiments of this disclosure will be described in detail below with reference to the attached drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions will be omitted.

[0013] This embodiment relates to an information processing system for determining the target position of an automated guided vehicle (AGV) when transferring goods between a storage area where predetermined goods are placed and an AGV that transports the goods. For example, as shown in Figure 1, in a manufacturing plant or logistics warehouse, a worker W may transfer goods L (goods) placed on shelves R (storage area) to a cage trolley C transported by an AGV 10, and have the AGV 10 transport the goods to the target location. In this case, for example, as shown in Figure 2, if the cage trolley C is placed directly in front of the goods L, it becomes difficult to move the goods L from the shelf R to the cage trolley C, resulting in poor work efficiency. On the other hand, for example, as shown in Figures 3 and 4, if the cage trolley C is placed in a position where the goods L can be easily retrieved, or as shown in Figures 5, 6, and 7, if the opening T of the cage trolley C faces the direction of the shelf R, it becomes easier to transfer the goods L from the shelf R to the cage trolley C, thus improving the efficiency of the transfer work compared to the case in Figure 2. The control unit of this system determines the appropriate target position (stopping position) for the automated guided vehicle (AGV) according to various conditions. This system is not limited to manufacturing plants and logistics warehouses, but can be applied to any environment where goods are transported.

[0014] Here, the storage area in this disclosure may be a storage rack, nestainer (rack system), trolley, pallet, or vehicle such as a truck where goods are temporarily placed, or it may be a storage area partitioned off on the ground.

[0015] The automated guided vehicle (AGV) in this disclosure may comprise an AGV and an object to be transported, such as a trolley connected to the AGV, or it may be a transport device in which these are integrally formed. The AGV is not particularly limited in shape, etc., as long as it has an opening T through which articles can be loaded and unloaded. The object to be transported can be, for example, a cage trolley C having an opening T for loading and unloading goods. The opening T is not limited to one direction, but may open in multiple directions, such as two directions (left and right, front and right, left and front, etc.).

[0016] The system of this disclosure includes, for example, an information processing device (computer) as a management server. The information processing device may be installed inside (integrated with) the automated guided vehicle (AGV), or it may be an external device capable of communicating with the AGV.

[0017] The information processing device includes a control unit. The control unit may consist of, for example, a control unit 260, a central control unit 4000, or a combination thereof, as described later. The information processing device may also include a storage unit, a communication unit, an input unit, and an output unit. The storage unit may consist of, for example, a recording unit 220, 4010, or a combination thereof, as described later. The communication unit may consist of, for example, a communication unit 210, 4050, or a combination thereof, as described later. The input unit may consist of, for example, an input unit 240, an input / output device 5000, or a combination thereof, as described later. The output unit may consist of, for example, a display unit 250, an input / output device 5000, or a combination thereof, as described later.

[0018] The control unit determines the stopping position of the automated guided vehicle 10 such that the position of the opening T and the position of the article in the storage area (or the position where the article is to be placed) relatively satisfy pre-stored conditions.

[0019] In the example shown in Figure 3, a cage trolley C is connected to the rear of the automated guided vehicle (AGV) 10, and the opening T faces to the left of the AGV 10 (approximately 90° to the left in the example shown). As shown in Figure 3, the AGV 10 stops at a predetermined distance in front of the item L placed on the shelf R. This predetermined distance may be, for example, a distance at which the cage trolley C does not overlap with the item L but is in front of the item L, or it may be a position where it partially overlaps. Also, since the item L can be retrieved from the left side of the shelf R, the AGV 10 stops at a position to the left of the shelf R. If the item L is to be retrieved from the right side of the shelf R, it is also possible to stop the AGV 10 in the aisle to the right of the shelf R. In this way, the stopping position of the AGV 10 is determined according to the position of the item L on the shelf R (or where the item on the trolley is planned to be placed). Furthermore, in Figure 3, the automated guided vehicle 10 is stopped in a position where its front-to-back direction is parallel to the extending direction of the shelf R (the vertical direction in Figure 3) (that is, perpendicular to the direction from which the items L are removed). The opening direction of the opening T (the direction in which items are inserted and removed) is parallel to the direction from which the items L are removed from the shelf R.

[0020] In the example shown in Figure 4, the automated guided vehicle 10 is stopped at an angle such that its front-to-back direction forms an angle α1 with respect to the extending direction of the shelf R. The angle α1 is greater than 0° and less than 90°. For example, the angle α1 can be between 20° and 70°, between 30° and 60°, between 40° and 50°, etc., but is not limited to these.

[0021] In the example shown in Figure 5, a cage trolley C is connected to the rear of the automated guided vehicle (AGV) 10, and the opening T faces the rear of the AGV 10 (at an angle of approximately 180° relative to the front). Furthermore, the opening T is positioned slightly in front of the item L, making it easy to remove the item L from the shelf R and transfer it to the cage trolley C. Similarly, it is efficient to remove the item L from the cage trolley C and place it in a designated position on the shelf R (the position indicated by the dashed line on the item L in Figure 5).

[0022] In the example in Figure 6, the opening T faces the shelf R side more than in the position shown in Figure 5. In this case, angle α is greater than 0° and less than 90°. For example, angle α1 can be between 20° and 70°, between 30° and 60°, between 40° and 50°, etc., but is not limited to these. Angle α2 in Figure 6 is the relative angle of the shelf's extension direction with respect to the front-to-back direction of the automated guided vehicle, and is also the relative angle of the shelf's extension direction with respect to the opening direction of the opening T, but is not limited to these.

[0023] In the example shown in Figure 7, a cage trolley C is connected to the rear of the automated guided vehicle (AGV) 10, and its opening T faces to the right of the AGV 10 (approximately 90° to the right in this example). In other words, if the opening T of the cage trolley C is considered the front, the right side of the cage trolley C is connected to the AGV. In this example, there is space (gap) between the AGV (AGV and cage trolley) and the shelf R that allows a worker W to pass through. Therefore, the worker W can stand between the AGV and the shelf R and perform the task of transferring items L. Note that in the examples shown in Figures 3 to 6, the AGV may also be stopped to create space between the AGV and the shelf R for a worker W to pass through.

[0024] As shown in Figure 8, the control unit executes a storage area information acquisition process to acquire storage area information, including location information of the storage area (S101). The storage area information may include, for example, information about the location of the shelf where the items are stored, or information about the location of the shelf on which the items transported by the transport device are to be placed. The storage area information may also include identification information such as the shelf number or ID, information about the shelf height (e.g., which shelf from the top), and the retrieval direction (the direction in which the items are taken from the shelf, which may be front, back, left, right, east, west, north, or south). The storage area information may be acquired, for example, by acquiring information about the storage area from a pre-stored memory unit according to a predetermined operation scenario, by receiving information transmitted from an external device such as a management system, by detecting the location information of the storage area with a detection unit such as a sensor or camera of an automated guided vehicle, by acquiring the location information of the storage area entered by the user, or any combination thereof.

[0025] Furthermore, the control unit executes an item information acquisition process to acquire item information related to an item, such as item location information indicating the location of an item placed in a storage area (or an item transported by a transport device) (S102). The item location information may include coordinate information indicating the current location of the item, or information about the storage area or transport device where the item is located (location information, identification information, etc.). The item location information may be acquired, for example, by receiving a signal transmitted from an external device such as a management system, by detecting the location information of an item with a detection unit such as a sensor or camera of the automated guided vehicle, or by acquiring location information entered by a user, or any combination thereof. In the case of a combination, for example, the automated guided vehicle may be driven to the location of a first location information (e.g., shelf number) transmitted from an external device, and then second location information (detailed location coordinates) may be acquired by detecting the item with the sensor or camera of the automated guided vehicle.

[0026] Here, the item location information may include, for example, coordinate information as the location information of the item. The coordinate information indicates the coordinate position in an arbitrary coordinate system (real space coordinate system, transport vehicle coordinate system, camera coordinate system, etc.). The coordinate information may be two-dimensional coordinates (e.g., x, y coordinates), which are planar coordinates, or three-dimensional coordinates (e.g., x, y, z coordinates), which include information in the vertical direction (height direction) in addition to the plane. The location information may also include identification information of a storage area such as a shelf (storage area ID, etc.), and information regarding the position on the shelf (coordinates, number, symbol, longitudinal position, depth position, height position (which shelf it is, etc.)).

[0027] Furthermore, in addition to the location information of the items, the item information may also include unique identification information for each item (such as an item ID), type information indicating the type of item, weight information indicating the weight of the item, and destination information regarding the intended location of the item's transport.

[0028] The control unit executes an opening information acquisition process (S103) to acquire opening information, including position information of an opening into which an item can be inserted and removed from an automated guided vehicle (AGV). The opening information may be acquired from a memory unit that has been stored in advance, received from an external device, input via an input unit, or acquired via a detection unit such as a sensor provided on the AGV. The opening information may include information such as the relative position to the center of the AGV, and the relative orientation (angle) to a specific orientation (forward, backward, etc.) of the AGV. The opening information may also include information on the size of the opening (width, height, etc.). For example, the control unit acquires information on the relative position of the opening of the object to be transported with respect to the AGV. Note that the processes in S101, S102, and S103 can be executed in any order, and all or some of the processes may be performed simultaneously.

[0029] The opening position information may, for example, be information indicating the relative position of a specific point P2 (opening center, both ends of the opening, etc.) of the opening T with respect to a specific point P1 (center, center of gravity, connecting axis P3, or any other arbitrary point, etc.) of the automated guided vehicle 10 shown in Figure 9. More specifically, it may be the coordinates of the specific point P2 of the opening T in the vehicle coordinate system, where the specific point P1 of the vehicle is the origin. The opening position information may also include information on the opening direction. Specifically, the opening direction information may include, for example, information on the relative angle θ (clockwise angle) of the opening direction (arrow A2) of the opening T, with the front of the vehicle (arrow A1) being 0°. In the examples of Figures 3 and 4, the top of the figure is the front of the vehicle, and the angle of the opening direction can be 270°, in the examples of Figures 5 and 6 it can be 180°, and in the example of Figure 7 it can be 90°.

[0030] The opening position information can change, for example, when the cage trolley C is rotatable around axis P3 relative to the automated guided vehicle 10, as shown in Figure 9. Therefore, it is preferable to provide a camera or sensor on the automated guided vehicle to detect the relative angle of the cage trolley C with respect to the automated guided vehicle 10. This allows the control unit to always acquire the opening position information based on the detected information.

[0031] The control unit performs a target state determination process to determine the target position of the automated guided vehicle (AGV) so that the opening of the AGV is in a predetermined position, based on the storage area information, item information, and opening information (S104). The AGV's travel control unit controls the AGV's movement so that it reaches a target state where it is stopped at the target position. As a result, the positional relationship between the opening of the AGV and the storage area where the item is placed (or is planned to be placed) becomes a predetermined positional relationship (see Figures 3, 4, 5, 6, and 7). Consequently, the operator can easily transfer items between the storage area and the AGV.

[0032] The control unit may further determine the target orientation of the automated guided vehicle (AGV) based on storage area information, item information, and opening information, such that the opening of the AGV is in a predetermined orientation.

[0033] The control unit determines the target position of the automated guided vehicle (AGV) such that the position of the opening (a specific point such as the center, corner, or end, a line, or a surface) is in a predetermined relative positional relationship with the position where the item is currently placed (or is planned to be placed) in the storage area. Note that "position" may include points such as the center, corner, or end, or lines, surfaces, etc. Furthermore, information regarding the relative relationship between the position of the item in the storage area and the position of the opening is stored in the memory unit beforehand.

[0034] As described above, this system is an information processing system for determining the target position of an automated guided vehicle (AGV) when transferring items between a storage area where predetermined items are placed and an AGV that transports the items. The control unit performs a storage area information acquisition process to acquire storage area information including location information of the storage area; an item information acquisition process to acquire item information including location information of the items to be transported; an opening information acquisition process to acquire opening information including location information of an opening in the AGV from which items can be loaded and unloaded; and a target state determination process that determines the target position of the AGV so that the opening of the AGV is in a predetermined position, based on the storage area information, the item information, and the opening information. This makes it possible to determine the stopping position of the AGV in a way that makes it easy to transfer items between the storage area and the AGV (by selecting a position like those in Figures 3 to 7 based on conditions so that it does not become the position in Figure 2). Therefore, it is possible to improve the efficiency of transferring items between the storage area and the AGV.

[0035] Furthermore, in this embodiment, the control unit may, in the target state determination process, determine the target orientation of the automated guided vehicle (AGV) based on the storage area information, the item information, and the opening information, so that the opening of the AGV is in a predetermined orientation. This allows for further improvement of efficiency when transferring items between the storage area and the AGV by considering not only the position but also the angle. Information on the optimal position and angle conditions for the storage area and the opening may be stored in the memory unit in advance, or it may be updated based on user input. For example, if the positional relationship in Figure 5 is stored in advance as the optimal relative positional relationship, the user may input information on angle α2, and the information in the memory unit may be updated so that the optimal positional relationship is for the opening to stop diagonally as shown in Figure 6. In this way, the conditions for the relative positional relationship between the AGV and the storage area (items) can be stored, and the control unit can determine the stopping position in step S104 to match these conditions.

[0036] Furthermore, in this embodiment, the automated guided vehicle (AGV) system comprises an AGV and an object to be transported, which is connected to the AGV, and the object to be transported may be provided with the opening. The AGV system may also be provided with a cage portion for placing articles on the AGV itself, with an opening formed therein. When an object to be transported, such as a cage trolley, is connected to the AGV, the object to be transported may rotate relative to the AGV, or it may be fixed without rotating.

[0037] Furthermore, in this embodiment, the control unit may estimate the opening information based on the connection status of the object to be transported connected to the automated guided vehicle (AGV) and information on the position of the opening of the object to be transported. The connection status of the object to be transported includes information such as whether or not it is connected, and if connected, at what position on the object it is connected (e.g., the side of the cage trolley as in Figure 3, or the back as in Figure 5), and if connected, whether it is fixed or rotatable, and if rotatable, the relative angle of the object to the AGV. This information may be stored in the memory unit in advance, or obtained based on information from a detection unit provided on the AGV, or obtained from user input information. In any case, the relative position information of the opening with respect to the AGV can be estimated. The control unit may determine that it is impossible to receive goods if the cage trolley is not currently connected to the AGV. In that case, the control unit may move the cage trolley to a target position in order to connect it. The position of the cage trolley may be received from an external device such as a management system or from user input, or it may be detected by a detection unit installed on the automated guided vehicle.

[0038] Furthermore, in this embodiment, the control unit may also acquire the worker's location information and determine the target position of the automated guided vehicle (AGV) based on the worker's location information. For example, if there are multiple items that could be transported, the control unit may prioritize determining the position of an item close to the worker as the target position, or conversely, it may determine the position for receiving an item far from the worker as the target position. In addition, the control unit may set the target position at a certain distance from the worker, which is pre-stored in the memory unit, in order to avoid contact with the worker.

[0039] Furthermore, in this embodiment, the control unit may determine the target position of the automated guided vehicle (AGV) such that the position of the worker, the position of the opening, and the position of the item are in a predetermined positional relationship. The predetermined positional relationship may be, for example, as shown in Figure 5, a position where the opening is located in front of the worker W standing next to the item L (in the direction of the upward arrow in Figure 5), or as shown in Figure 6, a positional relationship where the opening is at an angle, or as shown in Figure 7, a positional relationship where the worker is located between the opening and the item, and these are stored in the memory unit. The information in the memory unit may also be updated by user input. For example, the system may store the optimal positional relationship selected by the user from the options in Figures 5, 6, and 7 (displayed on the display unit for the user to select and input).

[0040] Furthermore, in this embodiment, the control unit may also acquire weight information of the article and determine the target position of the automated guided vehicle (AGV) based on the weight information of the article. For example, if the control unit determines that the acquired weight of the article is greater than a value previously stored in the storage unit, the target position may be determined to be such that the positional relationship in Figure 6 shortens the distance the article is transported. Otherwise, the target position may be determined to be such that the positional relationship in Figure 5 is observed. The weight information may be information from a detection unit such as a weight sensor, information received from an external device such as a management system, information obtained from user input, or information estimated from the type and size of the article. When the control unit estimates the weight, it is preferable that the type or size of the article and the weight information are stored in association in the storage unit beforehand. The size information includes at least one of the volume, width, depth, and height information.

[0041] Furthermore, in this embodiment, the control unit may also acquire type information of the articles and determine the target position of the automated guided vehicle (AGV) based on the type information of the articles. For example, the type information may include fragile items, items requiring temperature control (refrigerated items), metal items, wooden items, etc. The type information and positional relationship information (positional relationship between the opening and the storage area (articles)) may be stored in the storage unit in advance, and the control unit may determine the positional relationship from the type information of the articles. Alternatively, the type information and priority information (including weighting information) may be stored in the storage unit in advance, and the control unit may determine the priority order for transporting items (i.e., the order in which to stop preferentially) from the type information of the articles.

[0042] Also, in the present embodiment, the control unit may further acquire the size information of the article and determine the target position of the unmanned transport device based on the size information of the article. When the size value (volume, width, height, etc.) is larger than the value stored in the storage unit in advance, the control unit may select the positional relationship shown in FIG. 5, and when it is not, the positional relationship shown in FIG. 6. When determining the stop position based on a combination of multiple pieces of information such as weight, type, and size, weighting may be performed to preferentially determine the stop position based on any of the information. That is, the priority order may be set in the condition information in advance.

[0043] Also, in the present embodiment, the control unit may further acquire the information on the next movement target position of the unmanned transport device and determine the target position of the unmanned transport device based on the information on the next movement target position. For example, a stop position candidate (position where the article is located) close to the next movement target position may be preferentially determined as the stop position, or conversely, a distant position may be preferred. Also, a position close to the current position of the unmanned transport vehicle may be preferred, or conversely, a distant position may be preferred to determine the stop position.

[0044] Also, in the present embodiment, the control unit may further acquire the information on the restriction of the traveling direction of the passage and determine the target position of the unmanned transport device based on the information on the restriction of the traveling direction of the passage. For example, when the passage on the left side of the shelf R in FIG. 5 is restricted to one-way travel from the bottom to the top of the figure, the unmanned transport vehicle determines the stop position as shown in FIG. 5, and conversely, when it is one-way travel from the top to the bottom of the figure, the stop position can be determined so as to have the reverse positional relationship as shown in FIG. 16.

[0045] Furthermore, in this embodiment, the control unit may acquire obstacle information regarding the location of obstacles in the passage and determine the target position of the automated guided vehicle based on the obstacle information. For example, if there are multiple stopping position specifications, the stopping position may be determined prioritizing positions without obstacles. Alternatively, if an obstacle exists within a predetermined distance from the stopping position determined by the method described above, the stopping position can be determined at a predetermined distance away from the obstacle. The condition for this separation distance is also stored in the memory unit and can be updated by user input.

[0046] Furthermore, in this embodiment, the control unit may acquire transport device information regarding the positions of other transport devices and determine the target position of the automated guided vehicle (AGV) based on the transport device information. For example, if another AGV is detected from the management system or from detection information of the detection unit, a stopping position can be determined that does not obstruct the movement of the other AGV. For example, prioritizing the stopping position in Figure 5 over that in Figure 6 makes it easier for other transport devices to pass. Alternatively, if another AGV is detected, the stopping position may be determined by prioritizing a position farther from the AGV, or conversely, by prioritizing a position closer to it. Alternatively, if the AGV passes another transport device in the passageway on the way to the stopping position, another stopping position may be selected.

[0047] Furthermore, in this embodiment, the control unit may determine a plurality of target positions and the order in which each target position moves based on the position information of a plurality of articles. This allows the stopping position to be determined by considering the positions of multiple articles, not just one article. For example, the stopping position may be determined so that the articles are collected in order from the closest to the retrieval point.

[0048] Also, in the present embodiment, with respect to the unmanned carrier vehicle, the object to be carried is connected so as to be rotatable about an axis extending in the vertical direction. The control unit may update the information on the target position based on the information on the relative angle of the object to be carried with respect to the unmanned carrier vehicle and the vehicle position information indicating the current position of the unmanned carrier vehicle. For example, based on the information on the relative angle of the object to be carried, the relative angle of the opening can be estimated, and the stop position can be repeatedly updated at a predetermined time interval during traveling so that the positional relationship between the opening and the storage area becomes a predetermined positional relationship. According to this, the accuracy for stopping in an appropriate positional relationship can be improved.

[0049] Also, in the present embodiment, when the object to be carried is connected to the unmanned carrier vehicle so as to be rotatable about an axis extending in the vertical direction, the control unit may lock the connecting device and lock the rotation of the object to be carried so as to be in the determined stop state. According to this, since the object to be carried does not rotate, the accuracy for stopping in an appropriate positional relationship can be improved. For example, a rotatable plate-like turntable may be provided on the upper part of the carrier vehicle, and a connecting portion may be installed there. In that case, the turntable rotates together with the connecting device, and the rotation of the connecting device can be suppressed by suppressing the rotation of the turntable with a disk brake or the like. Note that the rotation of the connecting device may be locked by other known mechanisms.

[0050] Also, in the present embodiment, when the object to be carried is connected to the unmanned carrier vehicle so as to be rotatable about an axis extending in the vertical direction, the control unit may control the rotation angle of the connecting device with a rotation drive unit such as a motor or an actuator to adjust the angle of the object to be carried. According to this, the relative angle of the object to be carried with respect to the unmanned carrier vehicle can be set to a desired angle, so that the accuracy for stopping with the opening and the storage area in an appropriate positional relationship can be improved.

[0051] Furthermore, in this embodiment, the control unit may also acquire information on the retrieval direction related to the direction in which items are taken in and out of the storage area, and determine the target position of the automated guided vehicle (AGV) based on the retrieval direction information. For example, in the example shown in Figure 5, the AGV is stopped on the left side of shelf R, but if the retrieval direction is set to the right side of shelf R, the control unit can determine the stopping position so that the AGV stops on the right side of shelf R.

[0052] Furthermore, in this embodiment, the control unit may also acquire height information relating to the height at which items are taken in and out of the storage area, and determine the target position of the automated guided vehicle (AGV) based on the height information. For example, the stopping position may be selected in association with the height, such as setting the stopping position to the position shown in Figure 5 if the height is within a predetermined range, and to the position shown in Figure 6 otherwise.

[0053] <Transport Vehicle Configuration> Figure 10 is a perspective view showing an example configuration of the transport vehicle 10. Although the transport vehicle 10 in this example is an unmanned transport vehicle, it can also be applied to various vehicles that can carry people. The arrow 15 in Figure 10 indicates the direction of travel of the transport vehicle. The direction of travel is basically the front of the transport vehicle, but it can also be the rear depending on the situation. As shown in Figure 10, the transport vehicle 10 is equipped with a shaft 11 for connecting the object to be transported or a coupling device (a device for connecting the objects to be transported), an object position detection unit 12 for detecting objects around the transport vehicle, drive wheels 13, and non-drive wheels 14.

[0054] For example, the transport vehicle is equipped with an object position detection unit 12. The object position detection unit 12 is a device that detects the relative distance and angle from the transport vehicle to an object (including other automated guided vehicles, goods, shelves, transported objects, people, etc.). The object position detection unit 12 may also be an imaging unit (camera). Examples of the object position detection unit 12 include a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by irradiating a laser beam and measuring the time it takes for the beam to hit the object and bounce back, a millimeter-wave radar that detects the distance to an object based on a millimeter-wave transmission signal and a received signal that is reflected back from the object, or a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the captured image. In this embodiment, an example is shown in which the object position detection unit 12 is placed on the upper surface of the transport vehicle in the direction of travel, but it may be placed on the front side in the direction of travel instead. Furthermore, it may be placed not only on the front but also on the rear side or both left and right sides in the direction of travel.

[0055] The object position detection unit 12 may be configured to detect objects in a 360-degree radius around the transport vehicle, but it is configured to detect objects at least in the direction of travel 15 of the transport vehicle. The direction of travel 15 may be the front or the rear of the transport vehicle.

[0056] Figure 11 is a bottom view showing an example of the hardware configuration of a transport vehicle according to this embodiment. Drive wheels 13 are provided on the bottom surface of the transport vehicle at positions on both the left and right sides with respect to the direction of travel 15 of the transport vehicle, and non-drive wheels 14 are provided in front of and behind each drive wheel 13. The drive wheels 13 are wheels that are driven by being connected to the rotating shaft of a motor, and the right drive wheel and the left drive wheel are controlled individually. The control unit can control the speed of the transport vehicle by controlling the rotation speed of the drive wheels. The control unit can also make the transport vehicle curve, rotate in place to change direction, stop, or move backward by individually controlling the rotation speed and direction of each drive wheel. The non-drive wheels 14 are wheels that are not driven and rotate passively as the transport vehicle moves due to the drive wheels 13. The non-drive wheels 14 have, for example, forks that fix the wheel and axle, and the forks are composed of swivel casters that are connected to the bottom surface member of the transport vehicle. Therefore, the rotation direction of the non-driven wheels 14 changes passively according to the direction of travel and rotational movement of the transport vehicle. Figure 11 illustrates a transport vehicle hardware configuration with two driven wheels and four non-driven wheels at the four corners, but the present invention is not limited to this hardware configuration. It is also possible to adopt a configuration with a total of four wheels, consisting of two driven wheels and two non-driven wheels, and it is also possible to adopt a configuration in which the front wheels are steerable in this four-wheel configuration.

[0057] A guide line detection unit 16 for detecting guide lines (guidelines) may be provided on the bottom surface of the transport vehicle. Preferably, the guide line detection unit 16 is provided in front of the drive wheels 13 in the direction of travel of the transport vehicle. This makes it easier to follow the guide line when traveling along a curved section of the guide line, and also allows for quick execution of stopping or other processing by receiving information from the guide line as soon as the transport vehicle and the towing trolley move. The guide line detection unit uses a sensor according to the type of guidance method. If an electromagnetic guidance method is used, a pickup coil is used; if a magnetic guidance method is used, a magnetic sensor is used; and if an image recognition method is used, a camera is used as the sensor for the guide line detection unit. The guide lines are not limited to the floor surface, but may also be provided on the side walls or ceiling surfaces of a building, etc., and the transport vehicle's sensors (including cameras) can be installed in positions where the guide lines can be recognized (underside, side, top surface of the transport vehicle, etc.). Furthermore, the guide lines may be a track virtually provided on two-dimensional or three-dimensional map data. The control unit of the transport vehicle may control the vehicle's movement in accordance with virtual guidelines, based on map information and trajectory information (movement path information) stored in the memory unit in advance, and current self-position information estimated based on information from cameras, sensors, etc.

[0058] Figure 12 shows an example of the configuration of the operating area 130 according to this embodiment. As shown in Figure 12, a guide line 131 is laid within the operating area 130, and when a transport vehicle traveling in autonomous driving mode detects the guide line 131 at a pre-set travel mode switching position 132, the travel control mode is switched from autonomous driving mode to guided driving mode. Conversely, when a transport vehicle traveling in guided driving mode on the guide line enters a pre-set travel mode switching position 132, the travel control mode is switched from guided driving mode to autonomous driving mode. In order to guide the transport vehicle to a position close to shelves or belt conveyors where goods are stored or to the work positions of workers, the track composed of the guide line 131 is laid at positions close to the shelves and work positions via multiple branching points.

[0059] When a transport vehicle 10 is traveling in autonomous mode in an autonomous driving area where no guidance lines are laid, it changes its driving mode to guided driving mode, which follows the guidance lines, provided that it enters the driving mode switching position 132 and detects the guidance lines 131. On the other hand, when a transport vehicle traveling in guided driving mode on the guidance lines enters the driving mode switching position 132, the driving control mode switches from guided driving mode to autonomous driving mode, and the transport vehicle leaves the guidance lines and starts autonomous driving.

[0060] As shown in Figure 12, the guidance line 131 can be a guidance line of various conventional guidance methods, as described later. Specifically, for example, an electromagnetic induction method can be applied, in which a magnetic field generated by passing a weak alternating current through a metal wire installed as a guidance line is detected by a pickup coil on the transport vehicle side; a magnetic induction method can be applied, in which a magnetic tape laid on the floor as a guidance line is read by a magnetic sensor on the transport vehicle side; or an image recognition method can be applied, in which an image of a code (barcode, two-dimensional code, etc.) laid on the floor as a guidance line is captured by a camera on the transport vehicle side and image processing is performed. When the guidance line is composed of multiple two-dimensional codes, the guidance line is composed of multiple two-dimensional codes, each with code information printed on a two-dimensional plane as shown in the two-dimensional code, printed in a line in the direction in which the guidance line is laid. When the guidance line detection unit 16 detects a two-dimensional code, it obtains the position information of the two-dimensional code based on the code information obtained from the two-dimensional code. When the guidance line is composed of magnetic tape, the guidance line detection unit 16 can be configured to have multiple magnetic sensors for detecting the magnetic tape, positioned laterally in the direction of travel of the transport vehicle. Multiple magnetic sensors provided in the guide line detection unit 16 each output a detection signal indicating whether or not they have detected the magnetic tape. This allows the system to determine the location of the magnetic tape within the guide line detection unit 16, for example, by checking whether the magnetic sensor located in the center of the guide line detection unit 16 detects the magnetic tape, or whether the magnetic sensors located at the left and right ends detect the magnetic tape.

[0061] <Configuration of the Transport System> Next, the configuration of the transport system of this embodiment will be described. Figure 13 is a diagram showing an example of the overall configuration of the transport system according to this embodiment. The transport system 1000 includes a plurality of transport vehicles (10a, 10b), a trolley 2000 which is the transported object (it may also be a cage trolley), a control unit 3000 which can display the status of the transport vehicles or input commands to the transport vehicles, a central control unit 4000 which manages information necessary for the operation of the transport vehicles, an input / output device 5000 which displays information of the central control unit and inputs information to the central control unit, and a communication network 6000 which connects the plurality of transport vehicles (10a, 10b), the control unit 3000 and the central control unit 4000 so that they can communicate with each other.

[0062] Furthermore, the transport system 1000 can also be connected to an external system 7000 via a communication network 6000. When the transport system 1000 is introduced into a manufacturing plant to transport parts necessary for manufacturing from a storage area to the production line, the transport system 1000 acts as an external system 7000 and performs system-to-system coordination with the manufacturing management system. In this case, by obtaining information on the operational progress of manufacturing work from the manufacturing management system, the transport volume and transport route by the transport vehicles can be dynamically adjusted according to the progress of the manufacturing work.

[0063] As another example, if the transport system 1000 is introduced into a logistics warehouse to transport incoming goods from the entrance to the storage area when goods are brought into the warehouse by truck, etc., and transport outgoing goods from the storage area to the exit when goods are shipped from the warehouse, the transport system 1000 will function as an external system 7000 and perform system-to-system integration with the logistics management system. In this case, by obtaining information on incoming goods and outgoing goods from the logistics management system, the transport volume and transport route of the transport vehicles can be changed.

[0064] In facilities where a transport system is installed, multiple transport vehicles (10a, 10b) are typically in operation. Each transport vehicle is connected to other transport vehicles and components via a communication network 6000 to enable communication. For example, a transport vehicle transmits various detection information and other control information detected by its own detection unit to the control unit 3000, the central control unit 4000, and other transport vehicles 10. Furthermore, transport vehicle 10 is electrically connected to a trolley 2000 or connected to a trolley via short-range communication means, and is configured to receive information from the trolley regarding its connection status and trolley identification information.

[0065] The control unit 3000 has the function of displaying status information for each transport vehicle and the function of inputting commands to a designated transport vehicle. For example, the status information of the transport vehicles displayed on the control unit can include all the information acquired or stored by this system, such as the identification information of each transport vehicle, its position (coordinates, position on the map), speed, direction, travel history, transport history of the transported object (including identification information of the transported object, transport start position, transport end position, transport time, coupling time, uncoupling time, etc.), information on the charge level of the battery mounted on the transport vehicle that powers the transport vehicle, sensor information acquired by the transport vehicle, captured images, identification information of the transported object (transported object) such as the trolley transported by the transport vehicle, information on the coupling device, whether it is in a gripping or uncoupling position, information on the lock of the coupling device (whether it is locked or not), and rotation angle. Commands input to the transport vehicle include, for example, command information regarding the transport vehicle's destination (target location), commands for coupling and uncoupling with the trolley, commands for starting the transport vehicle's journey, commands for stopping the transport vehicle, commands for returning to the charging station, instructions for the objects to be transported by the transport vehicle, coupling instructions, uncoupling instructions, rotation lock instructions, lock release instructions, rotation angle instructions, instructions regarding lock conditions (rotation angles at which locking is possible), identification information of the objects to be transported, transport start position, transport end position, transport time, coupling time, uncoupling time, and other time information.

[0066] Figure 14 shows a configuration diagram of the central control device 4000 in this embodiment. The central control device 4000 includes a status information recording unit 4010 that records status information of multiple transport vehicles operating in the facility area, an operation scenario management unit 4020 that manages the operation scenarios of multiple transport vehicles, a map management unit 4030 that generates and updates a map of the work area based on the detection information of transport vehicles, including the detection information of guide lines acquired by the transport vehicle guide line detection unit, an abnormality determination unit 4040 that determines abnormalities in the guide lines and transport vehicles based on the detection information of transport vehicles, and a communication unit 4050 that communicates with an external input / output device 5000 and a communication network 6000.

[0067] The status information of the transport vehicles recorded by the status information recording unit 4010 includes, for example, the location of obstacles detected by multiple transport vehicles in operation, the location of guide lines detected, the history of the transport vehicle's travel position, as well as battery charge level information, identification information of trolleys connected to multiple transport vehicles, the operating mode of multiple transport vehicles (guided driving mode or autonomous driving mode), various detection information detected by the transport vehicle's detection unit 230, and map information of the work area. The operation scenarios managed by the operation scenario management unit 4020 include, for example, information on the destination of each of the multiple transport vehicles, multiple operations to be performed to reach the destination, the order of operations for the multiple operations, and the conditions for switching between operations.

[0068] The map management unit 4030 generates a map containing location information of obstacles and guide lines within the work area based on historical information of obstacle detection locations, guide line detection locations, and the travel position of the transport vehicles detected by the transport vehicles. Furthermore, the map management unit 4030 updates the information of guide lines and work areas registered in the map based on the guide line detection location information accumulated by one or more transport vehicles.

[0069] The abnormality detection unit 4040 determines abnormalities in the guide lines and the transport vehicle based on the location information of the guide lines registered in the map information and the detection information of the transport vehicle, which includes the detected location information of the guide lines detected by the transport vehicle.

[0070] The input / output device 5000 displays information recorded in the status information recording unit 4010 of the central control unit 4000, map information (including map update information), and the results of the abnormality determination unit. It also allows the addition or updating of operation scenarios by inputting operation scenarios managed by the operation scenario management unit 4020. The information input to the input / output device 5000 includes, for example, that the destination of any transport vehicle is work area A in the guidance travel area 110, the operation details for entering the guidance travel area 110 and reaching work area A, and operation switching conditions.

[0071] <Functions of the Transport Vehicle> The functions of the transport vehicle will be explained using Figure 15. Figure 15 is a diagram showing the functional configuration of the transport vehicle according to this embodiment. The transport vehicle 10 includes a coupling device 20, a communication unit 210 that communicates with a trolley 2000 and a communication network 6000 outside the transport vehicle, a recording unit 220 (including a storage unit), a detection unit 230 equipped with various sensors which will be described later, a coupling device for connecting to a trolley, a wheel drive unit 280 that drives the wheels, an input unit 240, a display unit 250, and a control unit 260 that controls the operation of the wheel drive unit 280 and the like.

[0072] The recording unit 220 has the function of recording information received from the outside by the communication unit 210, detection information detected by the detection unit 230, and information generated and output by the control unit. The recording unit 220 can store information such as the destination location, travel route, and travel history of the transport vehicle. The recording unit 220 can store speed information corresponding to the distance to the destination location, calculation formula (program) information for calculating said speed information, etc.

[0073] The detection unit 230 includes an object position detection unit 12, a guidance line detection unit 16, a travel distance detection unit 233, a collision detection unit 234, an attitude detection unit 235, and a charge level detection unit 236. As mentioned above, the object position detection unit 12 is composed of a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by irradiating a laser beam and measuring the time it takes for the beam to hit the object and bounce back, a millimeter-wave radar that detects the distance to an object based on a millimeter-wave transmission signal and a received signal that is reflected back from the object, or a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the captured image. The control unit can estimate the current position and current speed of the transport vehicle based on the information from the detection unit. The detection unit 230 includes a position sensor including GNSS for detecting the current position of the transport vehicle, and a speed sensor for detecting the speed of the transport vehicle.

[0074] As described above, the guidance line detection unit 16 uses a sensor corresponding to the type of guidance method. When using the electromagnetic induction method, a pickup coil is used as the sensor for the guidance line detection unit; when using the magnetic induction method, a magnetic sensor is used; and when using the image recognition method, a camera is used. The guidance line detection unit detects the guidance line and outputs a detection signal when it is positioned directly above the guidance line. In addition, in the case of the image recognition method, which reads the guidance line using a two-dimensional code or barcode with a camera, in addition to the guidance line detection signal, position information is generated based on the information of the detected code, and relative angle information between the guidance line and the transport vehicle can be generated by further processing the image information of the code.

[0075] The mileage detection unit 233 can detect the rotational speed of the non-driven wheels 14 or the driven wheels 13, and measure the mileage and speed of the transport vehicle based on the detected rotational speed information and the diameter (or circumference) information of the non-driven wheels or the driven wheels (in this case, the mileage detection unit 233 can function as a speed sensor). Alternatively, it is also possible to apply a method that uses a millimeter-wave sensor to detect the speed of the transport vehicle by irradiating millimeter waves in any horizontal direction (even a wall or floor) and detecting the reflected wave, and then estimate the mileage by integrating the speed. Furthermore, any method other than those described above for measuring mileage or obtaining speed can be applied.

[0076] The collision detection unit 234 has the function of detecting when the transport vehicle collides with an object or a person. Specifically, it can detect acceleration using a gyro sensor or the like, and determine that a collision has occurred when a sudden change in acceleration is detected. As an alternative, it is also possible to apply a means in which a physical switch is installed along with the bumper in the forward direction of travel of the transport vehicle, and a collision is determined to have occurred when the physical switch is pressed. In addition, collision detection methods other than those described above can be applied. When the collision detection unit 234 detects a collision, it stops the transport vehicle, records at least one of the collision occurrence information and the collision occurrence location information in the recording unit, and notifies the integrated control unit 4000 and the control unit 3000 of this information. The attitude detection unit 235 detects the orientation (attitude) of the vehicle based on a magnetic compass, information on the rotation speed of the left and right drive wheels, or steering information of the wheels.

[0077] The charge level detection unit 236 detects the charge level of the battery, which is the power source for the transport vehicle. If the charge level detected by the charge level detection unit 236 falls below a predetermined value, it determines that charging is necessary, records the detection information of the decrease in charge level in the recording unit, and notifies the integrated control unit 4000 and the control unit 3000 of this information. Furthermore, if it is detected that the charge level is below a predetermined value, in addition to the above process, the vehicle may be automatically moved to a charging spot to perform charging. The predetermined value used by the charge level detection unit 236 to determine that charging is necessary may be a value set in advance based on at least one of the distance to the destination set for the transport vehicle and the weight of the transported object attached to the transport vehicle.

[0078] The input unit 240 consists of a physical switch or touch panel mounted on the transport vehicle, allowing the user to directly input operation commands and the like to the transport vehicle. The display unit 250 consists of, for example, an LCD panel mounted on the transport vehicle, and can display status information of the transport vehicle (various detection information from the detection unit 230, type of driving mode, currently running operation scenario, etc.).

[0079] The control unit 260 includes an operation determination unit 261, a mode switching unit 262, a coupling control unit 263, a display control unit 264, a position estimation unit 265, and a driving control unit 266. The operation determination unit 261 determines the operation of the transport vehicle based on the operation scenario of the transport vehicle obtained from the operation scenario management unit 4020.

[0080] The mode switching unit 262 switches the transport vehicle's driving mode between guided driving mode and autonomous driving mode based on predetermined conditions such as the operation scenario, or commands entered in the input unit 240. The coupling control unit 263 controls the operation of the coupling device based on predetermined conditions such as the operation scenario, or commands entered in the input unit 240, to control coupling / uncoupling with transported items such as trolleys. The display control unit 264 controls the input IF of the input unit 240 and the display unit 250.

[0081] The position estimation unit 265 can estimate the position of the vehicle at a predetermined time, including its current position, within the entire driving area, based on the distance traveled detected by the distance traveled detection unit 233, the vehicle's orientation detected by the attitude detection unit 235, and the map information of the entire area recorded in the recording unit 220. Alternatively, it is also possible to estimate the vehicle's position within the entire driving area based on the distance and direction information from the vehicle to an object measured by the object position detection unit 12, and the map information of the entire area recorded in the recording unit 220. Or, if the vehicle is traveling on a guidance line composed of two-dimensional codes, it is also possible to estimate the vehicle's position within the entire driving area based on the identification information of the two-dimensional codes and the map information mentioned above. The position estimation unit 265 can also acquire position information using GNSS or the like installed on the transport vehicle.

[0082] The position estimation unit 265 can estimate the location of an object based on the estimated vehicle position information and the distance information from the vehicle to the object detected by the object position detection unit 12. It also estimates the installation position of the guide line based on the vehicle position information when the guide line detection unit 16 detects the guide line.

[0083] The travel control unit 266 controls the movement of the transport vehicle based on at least one of the determination information from the operation determination unit 261 and the mode switching unit 262. The travel control unit 266 can control the forward, reverse, stop, turn, and movement speed and turning speed of the transport vehicle. Specifically, it controls the right wheel drive unit 281 and the left wheel drive unit 282 of the wheel drive unit 280 individually. The right wheel drive unit 281 and the left wheel drive unit 282 are composed of motors, for example, and by individually controlling the rotation speed and rotation direction of each drive wheel, it becomes possible to make the transport vehicle curve at an arbitrary trajectory radius or rotate the transport vehicle to change its direction.

[0084] The system may include an angle estimation process that estimates the angle of the transport vehicle relative to the direction of extension of the guideline based on information from sensors installed on the transport vehicle, a relative position estimation process that estimates the relative position of the guideline and the transport vehicle in a direction perpendicular to the direction of extension of the guideline based on information from sensors installed on the transport vehicle, and control the orientation of the transport vehicle based on the angle and relative position of the transport vehicle. For example, in the case of an image recognition method that reads a guideline using a two-dimensional code or barcode with a camera, in addition to the detection signal of the guidance line, position information may be generated based on the information of the detected code, and then relative angle information between the guidance line and the transport vehicle may be generated by processing the image information of the code.

[0085] In this embodiment, a rotation state detection unit is provided to detect the rotation angle of the coupling device relative to the transport vehicle. The rotation state detection unit may be composed of, for example, an encoder that converts rotational displacement into an electrical signal for detection, or it may be composed of other sensors (such as an angle sensor). By providing the rotation state detection unit, the position and orientation of the transport object relative to the transport vehicle can be detected.

[0086] Furthermore, based on the information from the rotation state detection unit, the direction of backward movement during reverse movement can be estimated. Specifically, when reversing, the vehicle moves in the direction of the fixed wheels of the coupling device or the fixed wheels of the object being transported, so the direction of movement during reverse movement can be estimated from the angle information of the rotation state detection unit. Based on this information about the direction of movement, the control unit of the transport vehicle controls the drive unit in real time to correct the direction of movement, allowing it to safely reverse towards the target position. In addition, by estimating the position of the object being transported, it is possible to travel while preventing collisions with obstacles during forward or reverse movement. In other words, by estimating the movement path of the transport vehicle and the position and orientation of the object being transported relative to the transporter, the movement path of the object being transported can be estimated, so the presence or absence of obstacles on the planned movement path of the object being transported can be estimated, and if there are obstacles, the vehicle can stop moving or travel while avoiding them.

[0087] While preferred embodiments of the present disclosure have been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such examples. It is clear to any person with ordinary skill in the art of the present disclosure that various modifications or alterations may be conceived within the scope of the technical idea set forth in the claims, and these will naturally also fall within the technical scope of the present disclosure.

[0088] The devices described herein may be implemented as single devices, or they may be implemented as a group of devices (e.g., cloud servers) that are partially or entirely connected via a network. For example, the control unit 260 and recording unit 220 of the transport vehicle may be implemented as different servers connected to each other via a network. Furthermore, although the transport system described herein describes an example in which the control unit 3000, the overall control unit 4000, and the input / output device 5000 are each composed of separate hardware connected via a network, some or all of the functions of the control unit 3000, the overall control unit 4000, and the input / output device 5000 may be implemented in the transport vehicle 10.

[0089] The series of processes performed by the apparatus described herein may be implemented using software, hardware, or a combination of software and hardware. Computer programs for implementing each function of the control unit 260 according to this embodiment can be created and implemented on a PC or the like. Furthermore, a computer-readable recording medium containing such a computer program can also be provided. Examples of recording media include magnetic disks, optical disks, magneto-optical disks, and flash memory. Alternatively, the computer program may be distributed without using a recording medium, for example, via a network.

[0090] Furthermore, the processes described using flowcharts in this specification do not necessarily have to be executed in the order shown. Some processing steps may be executed in parallel. Additional processing steps may be adopted, and some processing steps may be omitted.

[0091] Furthermore, the effects described herein are merely descriptive or illustrative and not limiting. In other words, the technology relating to this disclosure may produce other effects that are obvious to those skilled in the art from the description herein, in addition to or instead of the effects described herein. The following configurations also fall within the technical scope of this disclosure. (Item 1) An information processing system for determining the target position of an automated guided vehicle (AGV) when transferring an article between a storage area where a predetermined article is placed and an AGV that transports the article, wherein the control unit performs: a storage area information acquisition process for acquiring storage area information including location information of the storage area; an article information acquisition process for acquiring article information including location information of the article to be transported; an opening information acquisition process for acquiring opening information including location information of an opening in the AGV from which an article can be loaded or unloaded; and a target state determination process for determining the target position of the AGV so that the opening of the AGV is in a predetermined position, based on the storage area information, the article information, and the opening information. (Item 2) The information processing system according to claim 1, wherein the control unit determines the target orientation of the automated guided vehicle (AGV) in the target state determination process based on the storage area information, the item information, and the opening information, so that the opening of the AGV is in a predetermined orientation. (Item 3) The information processing system according to claim 1, wherein the AGV comprises an AGV and an object to be transported connected to the AGV, and the object to be transported is provided with the opening. (Item 4) The information processing system according to claim 3, wherein the control unit estimates the opening information based on the connection state of the object to be transported connected to the AGV and the position information of the opening of the object to be transported. (Item 5) The information processing system according to claim 1 or 2, wherein the control unit further acquires the location information of a worker and determines the target position of the AGV based on the location information of the worker. (Item 6) The information processing system according to claim 5, wherein the control unit determines the target position of the automated guided vehicle such that the position of the worker, the position of the opening, and the position of the article are in a predetermined positional relationship.(Item 7) The information processing system according to claim 1 or 2, wherein the control unit further acquires weight information of the article and determines the target position of the automated guided vehicle based on the weight information of the article. (Item 8) The information processing system according to claim 1 or 2, wherein the control unit further acquires type information of the article and determines the target position of the automated guided vehicle based on the type information of the article. (Item 9) The information processing system according to claim 1 or 2, wherein the control unit further acquires size information of the article and determines the target position of the automated guided vehicle based on the size information of the article. (Item 10) The information processing system according to claim 1 or 2, wherein the control unit further acquires information on the next target position of the automated guided vehicle and determines the target position of the automated guided vehicle based on the information on the next target position of the article. (Item 11) The information processing system according to claim 1 or 2, wherein the control unit further acquires information on the direction of travel restriction of the passage and determines the target position of the automated guided vehicle based on the direction of travel restriction information of the passage. (Item 12) The information processing system according to claim 1 or 2, wherein the control unit further acquires obstacle information relating to the location of obstacles in the passage, and determines the target position of the automated guided vehicle based on the obstacle information. (Item 13) The information processing system according to claim 1 or 2, wherein the control unit further acquires transport device information relating to the location of other transport devices, and determines the target position of the automated guided vehicle based on the transport device information. (Item 14) The information processing system according to claim 1 or 2, wherein the control unit determines a plurality of target positions and the order of movement of each target position based on the position information of a plurality of articles. (Item 15) The information processing system according to claim 3, wherein the transport object is rotatably connected to the automated guided vehicle about an axis extending in the vertical direction, and the control unit updates the target position information based on information about the relative angle of the transport object with respect to the automated guided vehicle and the vehicle's own position information indicating the current position of the automated guided vehicle.(Item 16) An information processing method for determining the target position of an automated guided vehicle (AGV) when transferring an article between a storage area where a predetermined article is placed and an AGV that transports the article, wherein the control unit performs: a storage area information acquisition process to acquire storage area information including location information of the storage area; an article information acquisition process to acquire article information including location information of the article to be transported; an opening information acquisition process to acquire opening information including location information of an opening in the AGV from which an article can be loaded or unloaded; and a target state determination process to determine the target position of the AGV so that the opening of the AGV is in a predetermined position, based on the storage area information, the article information, and the opening information. (Item 17) A program that causes a control unit to perform information processing to determine the target position of an automated guided vehicle (AGV) when transferring an AGV between a storage area where a predetermined AGV is placed and an AGV that transports the AGV, the program causing the control unit to perform: a storage area information acquisition process to acquire storage area information including location information of the storage area; an AGV information acquisition process to acquire AGV information including location information of the AGV to be transported; an opening information acquisition process to acquire opening information including location information of an opening in the AGV that allows an AGV to be loaded and unloaded; and a target state determination process that determines the target position of the AGV so that the opening of the AGV is in a predetermined position, based on the storage area information, the AGV information, and the opening information.

[0092] 10 Transport vehicle (unmanned transport device), 11 Coupling unit, 12 Object position detection unit, 13 Drive wheels, 14 Non-drive wheels, 16 Guidance line detection unit, 17 Magnetic sensor, 130 Operating area, 131 Guidance line, 132 Driving mode switching position, 210 Communication unit, 220 Recording unit, 230 Detection unit, 240 Input unit, 250 Display unit, 260 Control unit, 280 Wheel drive unit, 2000 Trolley, 2010 Coupling receiver, 3000 Control unit, 4000 Integrated control unit, 5000 Input / output device, 6000 Communication network, 7000 External system

Claims

1. An information processing system for determining the target position of an automated guided vehicle (AGV) when transferring an item between a storage area where a predetermined item is placed and an AGV that transports the item, wherein the control unit performs: a storage area information acquisition process to acquire storage area information including location information of the storage area; an item information acquisition process to acquire item information including location information of the item to be transported; an opening information acquisition process to acquire opening information including location information of an opening in the AGV from which an item can be loaded or unloaded; and a target state determination process to determine the target position of the AGV so that the opening of the AGV is in a predetermined position, based on the storage area information, the item information, and the opening information.

2. The information processing system according to claim 1, wherein the control unit determines the target orientation of the automated guided vehicle (AGV) in the target state determination process based on the storage area information, the item information, and the opening information, so that the opening of the AGV is in a predetermined orientation.

3. The information processing system according to claim 1, wherein the automated guided vehicle comprises an automated guided vehicle and an object to be transported connected to the automated guided vehicle, and the object to be transported is provided with the opening.

4. The information processing system according to claim 3, wherein the control unit estimates the opening information based on the connection state of the object to be transported connected to the automated guided vehicle and information on the position of the opening of the object to be transported.

5. The information processing system according to claim 1 or 2, wherein the control unit further acquires the location information of the worker and determines the target position of the automated guided vehicle based on the location information of the worker.

6. The information processing system according to claim 5, wherein the control unit determines the target position of the automated guided vehicle such that the position of the worker, the position of the opening, and the position of the article are in a predetermined positional relationship.

7. The information processing system according to claim 1 or 2, wherein the control unit further acquires weight information of the article and determines the target position of the automated guided vehicle based on the weight information of the article.

8. The information processing system according to claim 1 or 2, wherein the control unit further acquires information on the type of article and determines the target position of the automated guided vehicle based on the information on the type of article.

9. The information processing system according to claim 1 or 2, wherein the control unit further acquires size information of the article and determines the target position of the automated guided vehicle based on the size information of the article.

10. The information processing system according to claim 1 or 2, wherein the control unit further acquires information on the next target location of the automated guided vehicle, and determines the target location of the automated guided vehicle based on the information on the next target location of the article.

11. The information processing system according to claim 1 or 2, wherein the control unit further acquires information restricting the direction of travel of the passage, and determines the target position of the automated guided vehicle based on the information restricting the direction of travel of the passage.

12. The information processing system according to claim 1 or 2, wherein the control unit further acquires obstacle information relating to the location of obstacles in the passage, and determines the target position of the automated guided vehicle based on the obstacle information.

13. The information processing system according to claim 1 or 2, wherein the control unit further acquires transport device information relating to the position of other transport devices, and determines the target position of the unmanned transport device based on the transport device information.

14. The information processing system according to claim 1 or 2, wherein the control unit determines a plurality of target positions and the order of movement of each target position based on the positional information of a plurality of articles.

15. The information processing system according to claim 3, wherein the object to be transported is rotatably connected to the automated guided vehicle (AGV) about an axis extending in the vertical direction, and the control unit updates the target position information based on information about the relative angle of the object to be transported with respect to the AGV and the AGV's own position information indicating the current position of the AGV.

16. An information processing method for determining the target position of an automated guided vehicle (AGV) when transferring an article between a storage area where a predetermined article is placed and an AGV that transports the article, wherein the control unit performs: a storage area information acquisition process to acquire storage area information including location information of the storage area; an article information acquisition process to acquire article information including location information of the article to be transported; an opening information acquisition process to acquire opening information including location information of an opening in the AGV from which an article can be loaded or unloaded; and a target state determination process to determine the target position of the AGV so that the opening of the AGV is in a predetermined position, based on the storage area information, the article information, and the opening information.

17. A program that causes a control unit to perform information processing to determine the target position of an automated guided vehicle (AGV) when transferring an AGV between a storage area where a predetermined AGV is placed and an AGV that transports the AGV, the program causing the control unit to perform: a storage area information acquisition process to acquire storage area information including location information of the storage area; an AGV information acquisition process to acquire AGV information including location information of the AGV to be transported; an opening information acquisition process to acquire opening information including location information of an opening in the AGV that allows the AGV to be loaded and unloaded; and a target state determination process that determines the target position of the AGV so that the opening of the AGV is in a predetermined position, based on the storage area information, the AGV information, and the opening information.

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