Mobile body system

Abstract

A mobile body system (100) comprises: mobile bodies (1) that move using electric power; a movement area (2) in which the mobile bodies (1) can move; workstations (3) that are provided in the movement area (2); and a control system that controls the mobile bodies (1). At the workstations (3), station work, which is work related to the mobile bodies (1), is performed. The control system performs a state determination process, a standby process, and a standby cancellation process. The state determination process is a process for determining whether the workstations (3) are in an operational state or a stopped state. The standby process is a process for directing a mobile body (1) to the vicinity of a workstation (3) that is in the operational state, and placing the mobile body (1) in a standby state to wait for station work. The standby cancellation process is a process for canceling the standby state of the mobile body (1) at the workstation (3) if the standby state has continued for a set period of time.

Description

MOBILE BODY SYSTEM

[0001] The present invention relates to a mobile body system comprising: a mobile body that moves using electric power; and a work station where work related to the mobile body is performed.

[0002] An example of such a mobile body system is disclosed in Japanese Patent Laid-Open No. 2022-50240 (Patent Document 1). Hereinafter, in the description of this background art, reference numerals and names in Patent Document 1 are cited in parentheses.

[0003] The mobile body system (cargo transport system 1) disclosed in Patent Document 1 comprises: a mobile body (robot 10) that moves using electric power charged in a power storage device (battery 15); and a movement area (transport path 30) in which the mobile body (robot 10) can move. The mobile body (robot 10) is configured to move to a work station (picking area Z1A) disposed along the movement area (transport path 30). At the work station (picking area Z1A) in an operating state, work related to the mobile body (robot 10) is performed on the mobile body (robot 10) waiting in the vicinity thereof.

[0004] Japanese Patent Laid-Open No. 2022-50240

[0005] However, in the mobile body system (cargo transport system 1) disclosed in Patent Document 1, the work efficiency of the entire system may decrease. An example of such a case is a situation where work is unintentionally stopped at the work station (picking area Z1A) in an operating state. This is because, in such a situation, no work is performed on the mobile body (robot 10) waiting near the unintentionally stopped work station (picking area Z1A), and the mobile body (robot 10) cannot move from that spot.

[0006] Therefore, realization of a mobile body system that easily improves the efficiency of work related to mobile bodies is desired.

[0007] In view of the above, a mobile body system comprising: a mobile body equipped with a power storage device and moving using the power stored in the power storage device; a mobile area on which the mobile body can move; a work station provided at least one location in the mobile area where station work, which is work related to the mobile body, is performed; a charging station provided at least one location in the mobile area where the power storage device of the mobile body is charged; and a control system for controlling the mobile body, wherein the control system performs a state determination process to determine whether the work station is in an operational state or a stopped state; a standby process to move the mobile body toward the vicinity of the operational work station and put it into a standby state to wait for the station work; and a standby release process to release the standby state at the work station if the standby state continues for a set time.

[0008] This configuration ensures that the mobile unit does not remain in a standby state for longer than the set time. Therefore, it reduces the possibility of the mobile unit becoming immobile due to a decrease in the battery charge level of the power storage device while the mobile unit remains in standby mode. Furthermore, even when the battery charge level of the power storage device is sufficient, it becomes possible to move the mobile unit to another location, thus improving the efficiency of tasks related to the mobile unit.

[0009] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings.

[0010] Schematic plan view of the mobile system of the embodiment Block diagram of the mobile system of the embodiment Flowchart showing the processing of the control system Figure showing an example of the operation of the mobile system shown in Figure 1 Figure showing another example of the operation of the mobile system shown in Figure 1 Figure showing another example of the operation of the mobile system shown in Figure 1

[0011] The mobile system 100 of the embodiment will be described with reference to the drawings.

[0012] As shown in Figure 1, the mobile system 100 comprises a mobile body 1 that moves using electricity, a mobile area 2 in which the mobile body 1 can move, a work station 3 in which station work, which is work related to the mobile body 1, is performed, a charging station 4 for charging the mobile body 1, and a control system 5 (see Figure 2). The work station 3 and the charging station 4 are each located within the mobile area 2. The control system 5 controls the mobile body 1 so that it moves within the mobile area 2 via the vicinity of the work station 3.

[0013] The mobile system 100 is a system for moving a mobile body 1 within a mobile area 2 and performing station work related to the mobile body 1 at work stations 3 distributed within the mobile area 2. The mobile system 100 is a system that transports multiple transportable objects W within the mobile area 2 and sorts the multiple transportable objects W so that they are transported to predetermined locations, as illustrated in Figure 1.

[0014] Mobile unit 1 moves within the movement area 2 along a path defined by the control system 5. The path of mobile unit 1 includes locations near work stations 3. Mobile unit 1 heading towards work station 3 temporarily stops its movement near work station 3. While mobile unit 1 is stopped near work station 3, work station 3 performs station work related to mobile unit 1. Mobile unit 1, while stopped near work station 3, may also perform station work on adjacent work stations 3. After completing station work, mobile unit 1 resumes movement within the movement area 2.

[0015] In this embodiment, the mobile unit 1 is used to transport the object to be transported W. When the mobile unit 1 moves near the work station 3, a station operation is performed to transfer the object to be transported W between the mobile unit 1 and the work station 3. In this embodiment, the mobile unit system 100 comprises a plurality of mobile units 1. Therefore, the mobile unit system 100 can transport a large number of objects to be transported W within the movement area 2.

[0016] The mobile unit 1 moves using the power stored in the energy storage device 13. As shown in Figure 2, the mobile unit 1 comprises a moving device 11, a working device 12, and an energy storage device 13. In this embodiment, the mobile unit 1 further comprises a position detection device 14 for allowing the control system 5 to recognize its own position. Figure 1 shows a transport vehicle traveling on a running surface as an example of the mobile unit 1.

[0017] The mobile device 11 moves the work device 12 within the mobile area 2 using electricity stored in the power storage device 13. In this embodiment, the mobile device 11 is a trolley equipped with wheels (not shown) that roll on a running surface. The wheels rotate due to rotational force transmitted from a drive source, for example, a motor or other power source. The mobile device 11 has a built-in power storage device 13 and supplies the electricity stored in the power storage device 13 to the drive source. The work device 12 is attached to the mobile device 11 and is configured to be able to place the object to be transported W, which is the item to be transported, on it.

[0018] The work device 12 is a device for performing station work. In this embodiment, the work device 12 is a transfer machine for transporting articles. More specifically, the work device 12 includes a holding section 121 for holding the object to be transported W. The holding section 121 illustrated in Figure 1 is a platform having a mounting surface on which an article can be placed. The holding section 121 is provided on the upper part of the moving device 11 so as to be tiltable toward the work station 3, and tilts due to the driving force output from a drive device such as a motor that is driven using electricity charged in the power storage device 13. More specifically, the holding section 121 is tilted such that the part away from the work station 3 is positioned higher than the part closer to the work station 3. This allows the object to be transported W, placed on the mounting surface of the holding section 121, to be moved toward the work station 3 by sliding it.

[0019] In this embodiment, the work device 12 further includes a work detector 122 that detects when station work is completed. The work detector 122 in this embodiment detects when the holding unit 121 has held the object to be transported W. The work detector 122 includes, for example, a sensor that detects the weight of the object to be transported W. Alternatively, the work detector 122 may be an imaging device that monitors the mounting surface of the holding unit 121.

[0020] The energy storage device 13 is a rechargeable secondary battery. The power stored in the energy storage device 13 is used to power the drive sources of the mobile device 11 and the work device 12, as described above. In addition to powering the mobile device 11 and the work device 12, the energy storage device 13 may also be used to operate other electronic devices mounted on the mobile body 1. Such electronic devices include, for example, devices for controlling the drive sources of the mobile device 11 and the work device 12. The energy storage device 13 is charged at the charging station 4.

[0021] The position detection device 14 approaches and reads position information from position information holders 22 (details of which will be described later) which are distributed within the movement area 2, and transmits this information to the control system 5. The position detection device 14 is an information reading device corresponding to the configuration of the position information holders 22. The control system 5 recognizes the actual position of the mobile body 1 equipped with the position detection device 14 within the movement area 2 from the position information received from the position detection device 14.

[0022] As shown in Figure 1, the moving area 2 includes a moving path 21 on which the moving body 1 travels. In this embodiment, the moving path 21 is an area that includes the travel surface on which the moving device 11 travels, and position information holders 22 are distributed at multiple locations on the moving path 21. The position information holders 22 are located at reference locations within the entire range of the moving path 21 and are information holders that hold position information in the moving area 2. Figure 1 shows a representative portion of the multiple position information holders 22. Examples of position information holders 22 include barcodes (one-dimensional codes), two-dimensional codes, IC tags, etc. For example, if the position information holder 22 is a barcode, the position detection device 14 provided on the moving body 1 becomes a barcode reader. The control system 5 receives position information read from the position information holder 22 by the position detection device 14 provided on the moving body 1 and recognizes the position of the moving body 1 within the moving area 2.

[0023] In this embodiment, the moving passage 21 is arranged across multiple floors. To allow the moving body 1 to move between the multiple floors, the moving area 2 is further equipped with an inter-floor moving device 23. Figure 1 illustrates a moving passage 21 arranged on two floors spaced apart in the vertical direction. For convenience of explanation, the moving passage 21 located on the lower of the two floors is referred to as the 1st floor passage 1F, and the moving passage 21 located on the upper of the two floors is referred to as the 2nd floor passage 2F. The 2nd floor passage 2F illustrated in Figure 1 is located directly above the 1st floor passage 1F, and there is a correspondence between the positions of the components arranged around the 2nd floor passage 2F and the positions of the components arranged around the 1st floor passage 1F. Specifically, for example, the inter-floor moving device 23 drawn in the lower right position relative to the 1st floor passage 1F is the same as the inter-floor moving device 23 drawn in the lower right position relative to the 2nd floor passage 2F.

[0024] In this embodiment, the mobile passage 21 comprises a plurality of work lanes 20 and a connecting lane 2C that connects adjacent work lanes 20. The work lanes 20 are lanes on which the mobile body 1 moves to perform station work. The work stations 3 are arranged along the work lanes 20, and a series of operations are repeatedly performed by the mobile body 1 repeatedly moving along the entire area of ​​one work lane 20. In the example shown in Figure 1, as the mobile body 1 moves along the work lane 20, the object to be transported W is supplied to the mobile body 1, and the object to be transported W is transported to a predetermined position.

[0025] Figure 1 illustrates two work lanes 20. The work lanes 20 illustrated in Figure 1 are straight passages that cross the plane of the paper, and the work lane 20 located on the first floor passage 1F and the work lane 20 located on the second floor passage 2F are connected via an inter-floor transfer device 23. Hereafter, for the sake of explanation, one of the two work lanes 20 will be referred to as the first work lane 2A, and the other of the two work lanes 20 will be referred to as the second work lane 2B. In the example shown in Figure 1, the work lane 20 located on the lower side of the plane of the paper is the first work lane 2A, and the work lane 20 located on the upper side of the plane of the paper is the second work lane 2B.

[0026] In this embodiment, the work lane 20 is unidirectional, and the mobile body 1 cannot move in the reverse direction along the work lane 20. This configuration makes it easy for the control system 5 to set the movement path of the mobile body 1. As the mobile body 1 in this embodiment moves in one direction along the work lane 20, for the sake of explanation, in this specification, the direction along the work lane 20 will be referred to as the work direction X, and the direction connecting the work lanes 20 will be referred to as the connection direction Y. In the work direction X, the side on which the mobile body 1 moves will be referred to as the forward side X1, and the opposite side will be referred to as the backward side X2. The mobile body 1 completes a series of station operations in the first-floor corridor 1F and uses the second-floor corridor 2F to return to the position of the backward side X2 relative to the work station 3 where the first station operation in the first-floor corridor 1F is performed. Therefore, the forward side X1 in the first-floor corridor 1F is positioned on the opposite side from the forward side X1 in the second-floor corridor 2F.

[0027] In this embodiment, the inter-floor movement device 23 is provided at both ends of the work lane 20 on each floor, specifically at the backward end X2 and the forward end X1. When the mobile body 1 moves along the work lane 20, it moves along the work lane 20 of the first-floor corridor 1F on the forward end X1, and then, via the inter-floor movement device 23, reaches the work lane 20 of the second-floor corridor 2F. The mobile body 1 then moves along the work lane 20 of the second-floor corridor 2F on the forward end X1, and returns to the work lane 20 of the first-floor corridor 1F via the inter-floor movement device 23. The inter-floor movement device 23 that the mobile body 1 boards when returning to the first-floor corridor 1F is positioned on the backward end X2 relative to the work station 3 located on the first-floor corridor 1F. Therefore, when the mobile body 1 returns to the first-floor corridor 1F and moves along the forward end X1, the mobile body 1 passes near the same work station 3 located along the same work lane 20. As a result, the mobile body 1 repeatedly moves along the same work lane 20.

[0028] The work station 3 is positioned adjacent to the work lane 20, at a location where it can perform work on the work device 12 provided by the mobile body 1, which is positioned on the work lane 20. The work station 3 illustrated in Figure 1 is positioned adjacent to the work lane 20 in the connection direction Y. The work station 3 comprises a work entity 31, which is the main entity that performs station work on the work device 12, and an auxiliary device 32 that assists the station work performed by the work entity 31. The form of the work entity 31 is determined according to the specific content of the station work, and examples of the work entity 31 include a worker and a work machine.

[0029] Near the work station 3, a work area 34 and a waiting area 35 are set up. The work area 34 and the waiting area 35 are located on the work lane 20. The work area 34 is the position where the mobile unit 1 waits for station work to be performed, and the waiting area 35 is located X2 backward from the work area 34. When multiple mobile units 1 are present on the work lane 20 and a mobile unit 1 is already waiting in the work area 34, subsequent mobile units 1 will temporarily wait in the waiting area 35. After a mobile unit 1 moves from the work area 34, subsequent mobile units 1 will move from the waiting area 35 to the work area 34.

[0030] A work station 3 is provided at least one location in the movement area 2. In this embodiment, two work stations 3 are provided adjacent to each of the multiple work lanes 20. In the example shown in Figure 1, the first work station 3A, one of the two work stations 3, is positioned on the backward side X2 with respect to the connecting lane 2C. The second work station 3B, the other of the two work stations 3, is positioned on the forward side X1 with respect to the connecting lane 2C.

[0031] In this embodiment, the mobile unit 1 transports the object W from the first work station 3A to the second work station 3B.

[0032] In this embodiment, the station work performed at the first work station 3A includes the work of supplying the object to be transported W to the holding section 121 of the mobile body 1. More specifically, the object to be transported W is supplied to the mobile body 1 which is waiting in the work area 34 of the first work station 3A. The first work station 3A comprises a work unit 31 that supplies the object to be transported W to the mobile body 1, and an auxiliary device 32 that assists the work of the work unit 31 in supplying the item. The auxiliary device 32 illustrated in Figure 1 is a device that transports the object to be transported W to a position where the work unit 31 can handle the object to be transported W. The auxiliary device 32 is, for example, a device having a transport function, including a belt conveyor or other conveyor or transport vehicle. The work unit 31 receives the object to be transported W from the auxiliary device 32 and supplies it to the holding section 121. In this embodiment, the work unit 31 is a worker who receives the object to be transported W that has been transported by the auxiliary device 32 with their fingers and places it on the holding section 121.

[0033] In this embodiment, the station work performed at the second work station 3B includes sorting of the objects W to be transported by the mobile body 1. Specifically, the objects W to be transported by the mobile body 1, which is waiting in the work area 34 of the second work station 3B, are sorted according to instructions from the control system 5, and each of the sorted objects W is moved to a predetermined location. The second work station 3B includes a work unit 31, which is a device for transporting containers WB containing the objects to be transported to predetermined locations. The work unit 31 of the second work station 3B is a device with a transport function, including belt conveyors and other conveyors and transport vehicles, similar to the auxiliary device 32 of the first work station 3A. Furthermore, the auxiliary device 32 of the second work station 3B is a device that has a guide function for the mobile body 1 to load the objects to be transported W into containers WB set by the control system 5.

[0034] In the second work station 3B illustrated in Figure 1, the work unit 31 is positioned to sandwich the auxiliary device 32 between the work lane 20. The work area 34 for performing station work in the second work station 3B is set to cover the entire area adjacent to the auxiliary device 32 in the connection direction Y. When the mobile body 1 enters the work area 34, it tilts its holding unit 121 toward the auxiliary device 32, thereby transferring the object to be transported W to the work unit 31 via the auxiliary device 32. The auxiliary device 32 illustrated in Figure 1 is an inclined plate that slides the object to be transported W received from the mobile body 1 into the opening of the container WB, and is an inclined plate divided into multiple input areas along the work direction X. The mobile body 1 waits briefly in front of the input area connected to a predetermined container WB that contains the object to be transported W, and performs station work by tilting its holding unit 121 toward the auxiliary device 32. After transferring the object to be transported W to the auxiliary device 32, the mobile body 1 resumes movement. In the second work station 3B of this embodiment, the main work unit 31 and the auxiliary device 32 are arranged one on each side of the work lane 20 in the connection direction Y.

[0035] When work station 3 is operational, station work is performed; when it is stopped, station work is not performed. The state of work station 3, whether operational or stopped, is managed by the control system 5. The control system 5 controls the mobile body 1 so that it does not go towards work station 3 when it is stopped, but goes towards work station 3 when it is operational. For example, if the control system 5 determines that work station 3 located along the first work lane 2A is stopped, it executes control to move the mobile body 1 located on the first work lane 2A to the second work lane 2B. As a result, the mobile body 1 located on the first work lane 2A moves to the second work lane 2B via the connecting lane 2C of the second-floor passageway 2F, as shown in Figures 5 and 6.

[0036] The status of work station 3 is notified to the control system 5 by work station 3. For example, when a worker, who is an example of a work subject 31, transmits information about the transported object W that has been transported by the auxiliary device 32 to the control system 5, the control system 5 determines that the work station 3 that received the information is in operation. The control system 5 then determines that the state after the status determination continues unless it receives a signal from work station 3 indicating a change in status. Information about the transported object W is obtained, for example, when a worker, who is an example of a work subject 31, reads the barcode attached to the transported object W using a barcode reader installed in work station 3. Furthermore, when the control system 5 receives a stop signal from the operational work station 3, it changes the status determination of the work station 3 that output the stop signal from operational to stopped. The stop signal is transmitted to the control system 5, for example, when a worker, who is an example of a work subject 31, presses the stop button installed in work station 3.

[0037] At work station 3, station operations may stop unintentionally. For example, a worker, who is an example of a work subject 31, may leave work station 3 without outputting a stop signal, as shown in Figures 5 and 6. In such a case, the control system 5 manages that work station 3, from which the worker has left, is in an operational state, and therefore directs the mobile unit 1, which has completed a series of station operations, toward work station 3. However, since no work is performed at work station 3 without a worker, multiple mobile units 1 line up and remain in a waiting state at work station 3, and this state continues until a worker returns to work station 3.

[0038] In this embodiment, as will be described in detail later, when a set time has elapsed since the mobile unit 1 entered a standby state, the control system 5 changes the state determination of the work station 3 from an operational state to a stopped state. Preferably, the work station 3, once in a stopped state, is configured so that station operations can be easily resumed unless there is a malfunction such as a failure of the equipment constituting the work station 3 or other factors that hinder station operations.

[0039] The work station 3 is configured to output a normal operation signal indicating that the work station 3 has become operational. In this embodiment, the work station 3 is equipped with a status transmitter 33 that outputs a normal operation signal, as shown in Figure 2. The status transmitter 33 transmits the outputted normal operation signal to the control system 5. The control system 5 then determines that the work station 3 equipped with the status transmitter 33 that has output a normal operation signal is operational and resumes control to direct the mobile body 1 toward the work station 3. The normal operation signal is a signal that transmits information to the control system 5, for example, that the worker has returned, when the work subject 31 is a worker. Specifically, the status transmitter 33 outputs a normal operation signal and transmits it to the control system 5 when the station work start button on the attached terminal is pressed or when a barcode attached to the transport object W is newly read.

[0040] The charging station 4 is a station where the energy storage device 13 of the mobile body 1 is charged. As shown in Figure 4, the charging station 4 charges the energy storage device 13 of the mobile body 1 when it enters the charging area 4P. The charging station 4 may be configured to charge the energy storage device 13 by directly connecting to it using, for example, a wired plug, or it may be configured to charge the energy storage device 13 of the mobile body 1 in a non-contact manner without contacting the mobile body 1.

[0041] The charging station 4 is provided at least one location in the movement area 2. In this embodiment, the charging station 4 is located in a different location from the work station 3. In the example shown in Figures 1 and 4, the charging station 4 is located along the connecting lane 2C provided by the second-floor passageway 2F, and the charging area 4P is set to be adjacent to the charging station 4 in the work direction X on the connecting lane 2C. In this embodiment, there are two charging stations 4 on the connecting lane 2C. In the example shown in Figure 1, each of the two charging stations 4 is provided at a location that sandwiches the connecting lane 2C from both sides in the work direction X.

[0042] The control system 5 controls at least the mobile body 1. In the example shown in Figure 2, the control system 5 includes a control device 51 that controls the mobile device 11 and work device 12 of the mobile body 1, and the work station 3. The control device 51 includes an arithmetic processing unit such as a CPU (Central Processing Unit) and a storage device 52 that can be accessed by the arithmetic processing unit, such as RAM (Random Access Memory) or ROM (Read Only Memory). Each function of the control device 51 (for example, the function of controlling the movement of the mobile body 1) is realized through the cooperation of the hardware provided by the control device 51 and a program executed on the hardware such as the arithmetic processing unit. Specifically, each function of the control device 51 is realized by the control device 51 executing a program stored in the storage device 52 (such as a storage unit built into the control device 51 or a separately provided storage unit). In other words, a program (for example, a work program) that causes a computer (the computer of the control system 5) to realize each function of the control device 51 is stored in a storage device 52 that can be accessed by the computer. This program is provided, for example, by a storage medium or via a communication network. The provided program is then stored in a storage device 52 that can be accessed by the computer. In this embodiment, the control device 51 (specifically, the arithmetic processing unit included in the control device 51) functions as a "computer". The control device 51 may not be a single piece of hardware, but rather a collection of multiple pieces of hardware (multiple separate pieces of hardware) that can communicate with each other by wired or wireless means. In this embodiment, the control system 5 includes a higher-level control device 51 that controls multiple mobile bodies 1, and a control unit (not shown) mounted on each mobile body 1.

[0043] In the present embodiment, the control system 5 determines a transport destination for the transport object W carried into the work station 3, and causes the moving body 1 to transport the transport object W to the transport destination. Specifically, the control system 5 controls the moving body 1 to transport the transport object W carried into the first work station 3A to the second work station 3B. The transport destination is, for example, a specific position within the work area 34 of the second work station 3B. This is because the moving body 1 that has reached the transport destination performs station work, thereby allowing the transport object W to be accommodated in a predetermined container WB.

[0044] The control system 5 recognizes the transport object W supplied to the moving body 1 waiting near the work station 3 in an operating state, and causes the moving body 1 to transport the transport object W to the transport destination. The details will be described in order as follows. First, the work subject 31 of the first work station 3A causes the control system 5 to recognize the transport object W carried in by the auxiliary device 32. For example, as described above, when the work subject 31 causes a barcode attached to the transport object W to be read by a barcode reader or the like provided in the first work station 3A, the control system 5 recognizes the transport object W carried into the first work station 3A. Next, the work subject 31 of the first work station 3A supplies the transport object W, which has been recognized by the control system 5, to the holding portion 121 of the moving body 1. Thereafter, the control system 5 associates the recognized transport object W with the moving body 1 that has been supplied with the transport object W at the holding portion 121, based on the position of the moving body 1 and a signal received from the work detector 122 of the moving body 1. Then, the moving body 1 that has been associated moves to a destination within the work area 34 of the second work station 3B, and delivers the transport object W to the auxiliary device 32 provided in the second work station 3B. As a result, the transport object W is accommodated in the predetermined container WB at the work subject 31 provided in the second work station 3B, and the work subject 31 transports the container WB accommodating the transport object W to an appropriate transport destination.

[0045] Hereinafter, details of the processing of the control system 5 will be described with reference to FIGS. 3 to 6.

[0046] The control system 5 performs a state determination process to determine the state of the station, a standby process to put the mobile unit 1 into a standby state, a movement process to move the mobile unit 1 away from the work station 3, and a standby release process to release the mobile unit 1 from its standby state. Here, the standby state includes the state in which the mobile unit 1 is waiting near the work station 3.

[0047] The state determination process determines whether work station 3 is in an operational state or a stopped state. As shown in Figure 3, if the state determination process determines that work station 3 is in an operational state (step #01: Yes), the control system 5 executes a standby process on the mobile body 1 moving along a movement path that includes the vicinity of work station 3 which was determined to be in an operational state. On the other hand, if the state determination process determines that work station 3 is in a stopped state (step #01: No), the control system 5 performs a state determination on a different work station 3 than the work station 3 which was determined to be in a stopped state. The control system 5 then controls the mobile body 1 moving along a movement path that includes the vicinity of work station 3 which was determined to be in a stopped state to move near the other work station 3 which was determined to be in an operational state. In addition, the control system 5 executes a standby process on the mobile body 1 moving along a movement path that includes the vicinity of the other work station 3 which was determined to be in an operational state. In this embodiment, for the sake of simplicity, the second work station 3B is described as always being in an operational state.

[0048] The standby process is a process (step #02) of causing the mobile body 1 to move to the vicinity of the work station 3 in an operating state and enter a standby state, as shown in FIG. 4. The standby state is a state where the mobile body 1 waits in the vicinity of the work station 3. Specifically, the control system 5 causes the mobile body 1 to wait in the work area 34 or the standby area 35 of the work station 3 in the operating state. When the mobile body 1 is not waiting in the target work area 34, the control system 5 causes the mobile body 1 to wait in the work area 34. On the other hand, when a mobile body 1 is already waiting in the target work area 34, the control system 5 causes the mobile body 1 to temporarily wait in the standby area 35. Then, after the preceding mobile body 1 moves away from the target work area 34, the mobile body 1 that has been waiting in the standby area 35 is caused to wait in the work area 34. In the present embodiment, since a plurality of mobile bodies 1 move within the movement area 2, there are cases where mobile bodies 1 are waiting in both the work area 34 and the standby area 35. In this case, as shown in FIGS. 4 and 5, the control system 5 causes one or more mobile bodies 1 to line up on the retreat side X2 with respect to the mobile body 1 already waiting in the standby area 35. Then, after the mobile body 1 arranged on the advancement side X1 within the movement area 2 moves, subsequent mobile bodies 1 are sequentially moved to the work area 34.

[0049] The work station 3 notifies the control system 5 that the station work for the mobile body 1 waiting in the work area 34 has been completed. When the control system 5 receives a notification that the station work has been completed (step #03: Yes), the control system 5 moves the mobile body 1 from the work area 34 to a movement destination (step #05). In the present embodiment, the control system 5 moves the mobile body 1 to a specific position in the work area 34 of the second work station 3B. Then, the mobile body 1 delivers the conveyed object W at the movement destination to an auxiliary device 32 provided in the second work station 3B. As a result, the conveyed object W is accommodated in a container WB of a work main body 31 provided in the second work station 3B, and is conveyed to a predetermined conveyance destination by the work main body 31.

[0050] After completing station work at the second work station 3B, the mobile unit 1 moves to the forward direction X1, as shown in Figure 4, and boards the inter-floor transfer device 23 to move to the second-floor corridor 2F. At this time, if the remaining charge of the power storage device 13 is low, the mobile unit 1 charges for a while in the charging area 4P, and then boards the inter-floor transfer device 23 located on the forward direction X1 of the work lane 20 on the second-floor corridor 2F to return to the first-floor corridor 1F. Then, the mobile unit 1 moves again towards the first work station 3A.

[0051] Here, there are cases where the station work is not completed and the mobile unit 1 waits in the work area 34 for an extended period of time (Step #03: No). In this case, the control system 5 keeps the mobile unit 1 waiting in the work area 34 until a preset time has elapsed. However, if the station work is completed before the preset time has elapsed, even if the mobile unit 1 has waited in the work area 34 for an extended period of time (Step #04: No), the control system 5 moves the mobile unit 1 to its destination (Step #05).

[0052] The set time is set to be less than or equal to the time obtained by subtracting the required travel time from the available travel time of the mobile body 1. In this embodiment, the set time is a variable value set according to the remaining charge of the mobile body 1. That is, in this embodiment, the control system 5 periodically calculates the available travel time and the required travel time.

[0053] The movable time is a time determined according to the remaining charge of the energy storage device 13. The movable time is calculated based on the time that the mobile device 11 can move per unit amount of energy and the actual remaining charge of the energy storage device 13. The control system 5 stores the relationship between the remaining charge and the movable time and derives the movable time from this relationship. Alternatively, the movable time may be selected as the shortest of the candidates for the assumed movable time, taking into account other inhibiting factors such as other mobile devices 1 moving around the mobile device 1 being calculated hindering the movement of the mobile device 1 being calculated.

[0054] The required travel time is the time required for the mobile unit 1 to move from the work station 3 to the charging station 4. The required travel time can be calculated based on the distance from the current position of the mobile unit 1 to the charging area 4P. For example, the required travel time is calculated using the distance from the current position of the mobile unit 1 to the charging area 4P and the speed at which the mobile device 11 can move. The charging area 4P used to calculate the required travel time is selected preferentially from the charging area 4P closest to the current position of the mobile unit 1. For example, if the mobile unit 1 is already being charged in the charging area 4P closest to the current position of the mobile unit 1, the control system 5 will use the second closest charging area 4P to the current position of the mobile unit 1 to calculate the required travel time.

[0055] There are cases where the waiting time from when the mobile unit 1 began waiting in the waiting area 35 until the present has exceeded the set time without notification of completion of station work (Step #04: Yes). The waiting time exceeding the set time occurs, for example, when the work unit 31 becomes unable to perform station work, such as at the first work station 3A located along the first work lane 2A shown in Figure 5. In the example shown in Figure 5, the work unit 31 has moved away from the first work station 3A, making it impossible to perform station work at the first work station 3A. Figure 5 shows an example where the work unit 31 has supplied the object to be transported W to the holding unit 121 of the mobile unit 1 and then moved away from the first work station 3A.

[0056] If the waiting time has elapsed without notification of completion of station work, the control system 5 determines whether the holding unit 121 is holding the object to be transported W. Specifically, the control system 5 makes this determination based on whether the work detector 122 has detected that the object to be transported W is being held by the holding unit 121. If the control system 5 determines that the holding unit 121 is holding the object to be transported W (step #06: Yes), it does not perform a standby release process for the mobile body 1 whose waiting time near the work station 3 has elapsed beyond the set time, and instead executes a work stop process (step #07).

[0057] The work stop process is a process that stops station work being performed at work station 3. In the example shown in Figure 5, the work stop process is performed on the first work station 3A along the first work lane 2A. In the work stop process illustrated in Figure 5, the control system 5 controls the mobile body 1 so that the mobile body 1, which is in a standby state within the work area 34, continues to be in a standby state. In addition, during the work stop process, the control system 5 may change the state determination of the work station 3 that was the target of the work stop process from an operational state to a standby state. With this configuration, the mobile body 1 that can move will move to another work station 3. Therefore, it is possible to prevent the number of mobile bodies 1 that can perform station work from decreasing due to the stopping of station work at one work station 3. In the example shown in Figure 5, after the work stop process is performed on the first work station 3A, the mobile body 1 moves from the first work lane 2A to the second work lane 2B in the second-floor corridor 2F. Then, station work is performed on the mobile body 1 at the second work station 3B.

[0058] If the control system 5 determines that the holding unit 121 is not holding the object to be transported W (step #06: No), it executes a standby release process for the mobile body 1 that has been waiting for the set time near the work station 3, as shown in Figure 6. The standby release process is a process that releases the standby state at the work station 3 (step #08).

[0059] When the control system 5 executes the standby release process, it changes the status of the work station 3 that was the target of the standby release process from an operational state to a stopped state (step #09). As a result, the control system 5 does not move the mobile unit 1 to the vicinity of the stopped work station 3, but instead directs the mobile unit 1 towards the vicinity of another work station 3 that is in an operational state. In addition, as shown in Figure 6, the control system 5 moves the mobile unit 1 that was in a standby state near the work station 3 that was the target of the standby release process to another work station 3. With this configuration, one or more mobile units 1 that were in a standby state near the work station 3 that was the target of the standby release process can perform station work at another work station 3. Therefore, a decrease in the overall work efficiency of the mobile unit system 100 can be prevented.

[0060] If there are multiple mobile units 1 in a standby state near the work station 3 that is the target of the standby release process, the control system 5 performs the standby release process on one of the mobile units 1. Then, the control system 5 also performs the standby release process on the other mobile units 1 that are in a standby state. In this embodiment, the control system 5 simultaneously performs the standby release process on all mobile units 1 that are in a standby state near the work station 3 that is the target of the standby release process.

[0061] In the example shown in Figure 6, the first work station 3A, located along the first work lane 2A, is the target of the standby release process. The control system 5 executes the standby release process on the first work station 3A located along the first work lane 2A, thereby moving the mobile units 1 that were in a standby state near the first work station 3A to the vicinity of another work station 3. In this example, multiple mobile units 1 that were in a standby state near the first work station 3A located along the first work lane 2A board the inter-floor moving device 23 located on the forward side X1 of the first work lane 2A in the first-floor corridor 1F and move to the second work lane 2B in the second-floor corridor 2F. After that, the multiple mobile units 1 move from the first work lane 2A to the second work lane 2B in the second-floor corridor 2F and head towards the first work station 3A located along the second work lane 2B. Preferably, the mobile units 1 that were in a standby state at the work station 3 that was the target of the standby release process are charged in the charging area 4P and then move to another work lane 20. This configuration reliably prevents malfunctions caused by a decrease in the remaining charge of the mobile unit 1.

[0062] A work station 3 that has stopped may return to an operational state. For example, in the example shown in Figure 6, if the work subject 31 that has moved away from the first work station 3A returns to the first work station 3A, the station work can be resumed at the first work station 3A. When resuming work at a work station 3 that has stopped, the work station 3 outputs a normal operation signal as described above (step #10).

[0063] When the control system 5 receives a normal operation signal, it changes the status of the work station 3 from stopped to running (step #11). As a result, the control system 5 outputs a normal operation signal, causing the mobile unit 1 to move towards the work station 3, which has become running. For example, as shown in Figure 6, when the status of the first work station 3A located along the first work lane 2A is changed from stopped to running, the control system 5 controls the mobile unit 1 to move towards the first work station 3A along the first work lane 2A again, as shown in Figure 4.

[0064] [Other Embodiments] Next, other embodiments of the mobile system 100 will be described.

[0065] (1) In the above embodiment, the mobile device 11 was described as a trolley equipped with wheels that roll on a running surface. However, the mobile device 11 is not limited to a configuration that runs on wheels. For example, the mobile device 11 may be an aircraft that moves through the air.

[0066] (2) In the above embodiment, the moving area 2 was described as a region including the running surface on which the mobile body 1 travels. Here, the running surface includes not only a surface that is completely flat, but also the surface on the rails. Furthermore, the moving area 2 is a region determined according to the mode of movement of the mobile body 1. Therefore, for example, when the mobile body 1 travels through the air, the moving area 2 becomes a three-dimensional space reserved for the flight of the mobile body 1.

[0067] (3) In the above embodiment, station work was described as work to supply the transport object W to the mobile body 1 or sorting work on the transport object W. However, station work may also be maintenance work on the mobile body 1.

[0068] (4) In the above embodiment, the normal operation signal output from the work station 3 was described as a signal indicating that the worker has returned to work. However, the normal operation signal output from the work station 3 may also be a startup signal output when a transfer device, an item receiving device, or other various devices installed in the work station 3 are started up.

[0069] (5) In the above embodiment, the holding portion 121 was described as a mounting platform having a surface on which the object to be transported W can be placed. However, the holding portion 121 may also be a gripping device for gripping the object to be transported W. Alternatively, the holding portion 121 may also be a storage portion for housing the object to be transported W.

[0070] (6) In the above embodiment, it was explained that the mobile body 1 is equipped with a work detector 122. However, the configuration in which the work detector 122 is equipped is not limited to the mobile body 1. For example, the work station 3 may be equipped with a work detector 122. In this case, the work detector 122 may include, for example, an imaging device that images the holding unit 121 of the mobile body 1 in a standby state. More specifically, the control system 5 may determine that the holding unit 121 is holding the object to be transported W when the control system 5 receives image information from the imaging device that the object to be transported W is placed on the holding unit 121.

[0071] (7) In the above embodiments, the work unit 31 was described as, for example, a worker or a device equipped with a transport function. However, these are merely examples of the work unit 31, and the work unit 31 may be, for example, a robot that performs station work.

[0072] (8) In the above embodiment, the charging station 4 was described as being located in a different location from the work station 3. However, the charging station 4 may be located adjacent to the work station 3.

[0073] (9) In the above embodiment, the control system 5 was described as comprising a higher-level control device 51 that controls a plurality of mobile bodies 1, and a control unit mounted on each mobile body 1. However, the control system 5 may also be configured by coordinating the control units mounted on the plurality of mobile bodies 1.

[0074] (10) In the above embodiment, the setting time was described as a variable value set according to the remaining charge of the mobile body 1. However, the setting time may also be a predetermined fixed value.

[0075] (11) In the above embodiment, the control system 5 is described as executing a work stop process when the object to be transported W is held in the holding unit 121. Here, the work stop process may be a process of performing a move process on the mobile body 1 waiting in the work area 34 without notifying the completion of the station work. In this case, the mobile body 1 that is subject to the work stop process moves to a specific position in the work area 34 of the second work station 3B, and station work is performed in the work area 34.

[0076] (12) In the above embodiment, it was explained that when multiple mobile bodies 1 are in a standby state near the work station 3 and a standby release process is performed on any one of the mobile bodies 1, the control system 5 performs the standby release process simultaneously on all of the mobile bodies 1. However, the control system 5 may perform the standby release process on one or more mobile bodies 1 with a certain amount of time difference.

[0077] (13) In the above embodiment, a work area 34 and a waiting area 35 are set up near the work station 3, and if a mobile body 1 is already waiting in the work area 34, subsequent mobile bodies 1 line up in the waiting area 35. However, a detour area may also be provided near the work station 3 that allows the mobile body 1 to move to the direction of travel X1 by bypassing the work area 34 and the waiting area 35. Alternatively, the waiting area 35 may not be provided near the work station 3, and only the work area 34 and the detour area may be provided. Furthermore, if the mobile body 1 is an aircraft, the space above the work area 34 may be used as the detour area.

[0078] (14) The configurations disclosed in each of the above embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0079] [Summary of this embodiment] Below is a summary of the embodiment relating to the mobile system described above.

[0080] The mobile system comprises: a mobile body equipped with a power storage device and moving using the power stored in the power storage device; a mobile area on which the mobile body can move; a work station provided at least one location in the mobile area where station work, which is work related to the mobile body, is performed; a charging station provided at least one location in the mobile area where the power storage device of the mobile body is charged; and a control system for controlling the mobile body, wherein the control system performs a state determination process to determine whether the work station is in an operational state or a stopped state; a standby process to move the mobile body toward the vicinity of the operational work station and put it into a standby state to wait for the station work; and a standby release process to release the standby state at the work station if the standby state continues for a set time.

[0081] This configuration ensures that the mobile unit does not remain in a standby state for longer than the set time. Therefore, it reduces the possibility of the mobile unit becoming immobile due to a decrease in the battery charge level of the power storage device while the mobile unit remains in standby mode. Furthermore, even when the battery charge level of the power storage device is sufficient, it becomes possible to move the mobile unit to another location, thus improving the efficiency of tasks related to the mobile unit.

[0082] Furthermore, the setting time is set to be less than or equal to the time obtained by subtracting the necessary travel time required for the mobile body to move from the work station to the charging station from the mobile body's mobile time, which is determined according to the remaining charge of the energy storage device.

[0083] This configuration makes it less likely that the mobile unit will become immobile due to a decrease in the charge level of the power storage device while the mobile unit remains in standby mode.

[0084] Furthermore, when the control system executes the standby release process, it changes the determination of the status of the work station from the operating state to the stopped state.

[0085] With this configuration, mobile units that are already in standby mode move to another location, and mobile units that are not in standby mode do not go to the work station where the standby release process was performed, making it easier to improve the efficiency of work related to mobile units.

[0086] Furthermore, in a configuration in which the control system changes the determination of the status of the work station from the operating state to the stopped state when it executes the standby release process, the work station is configured to output a normal operation signal indicating that the work station has become capable of normal operation, and the control system changes the determination of the status of the work station from the stopped state to the operating state when it receives the normal operation signal.

[0087] With this configuration, work can be easily resumed at a work station that has outputted a normal operation signal without requiring any special recovery work.

[0088] Furthermore, the mobile body is equipped with a holding section for holding an object to be transported, and is configured to transport the object held by the holding section, the station operation is the operation of supplying the object to be transported to the holding section of the mobile body, and the control system does not perform the standby release process when the object to be transported is being held in the holding section.

[0089] This configuration reduces the possibility of malfunctions caused by the standby release process being performed while the moving body is holding the object to be transported, such as situations where the location of the object to be transported becomes unknown. Therefore, it is possible to increase the certainty of properly transporting the object to be transported.

[0090] Furthermore, if the system comprises multiple mobile bodies, and multiple mobile bodies are in a standby state near the work station, the control system will perform the standby release process on any one of the mobile bodies when the standby release process is performed on the other mobile bodies that are in a standby state.

[0091] With this configuration, a mobile unit that is in a standby state at a work station where it is highly likely that station operations have actually stopped will be released from standby, and at the same time, a release process will be executed for other mobile units that are in a standby state near the same work station. Therefore, it becomes possible to have those other mobile units perform their next actions without waiting for a set amount of time to elapse.

[0092] The technology relating to this disclosure can be used in a mobile system comprising a mobile body that moves using electricity and a work station on which work related to the mobile body is performed.

[0093] 1: Mobile unit 2: Mobile area 3: Work station 4: Charging station 5: Control system 13: Energy storage device 100: Mobile unit system 121: Holding unit W: Object to be transported

Claims

1. A mobile body system comprising: a mobile body equipped with a power storage device and moving using the power stored in the power storage device; a mobile area on which the mobile body can move; a work station provided at least one location in the mobile area where station work, which is work related to the mobile body, is performed; a charging station provided at least one location in the mobile area where the power storage device of the mobile body is charged; and a control system for controlling the mobile body, wherein the control system performs: a state determination process for determining whether the work station is in an operational state or a stopped state; a standby process for directing the mobile body toward the vicinity of the operational work station and putting it into a standby state for the station work; and a standby release process for releasing the standby state at the work station if the standby state continues for a set time.

2. The mobile system according to claim 1, wherein the setting time is set to be less than or equal to the time obtained by subtracting the necessary travel time required for the mobile body to move from the work station to the charging station from the mobile body's mobile time, which is determined according to the remaining charge of the energy storage device.

3. The mobile system according to claim 1, wherein the control system changes the determination of the state of the work station from the operating state to the stopped state when the standby release process is executed.

4. The mobile system according to claim 3, wherein the work station is configured to output a normal operation signal indicating that the work station has become operational, and the control system changes the determination of the state of the work station from the stopped state to the operating state when it receives the normal operation signal.

5. The mobile body system according to any one of claims 1 to 4, wherein the mobile body comprises a holding portion for holding an object to be transported, and is configured to transport the object to be transported held by the holding portion, the station operation is the operation of supplying the object to be transported to the holding portion of the mobile body, and the control system does not perform the standby release process when the object to be transported is held in the holding portion.

6. A mobile body system according to any one of claims 1 to 4, wherein the control system, when there are multiple mobile bodies in a standby state near the work station and performs the standby release process on any one of the mobile bodies, also performs the standby release process on the other mobile bodies in a standby state.

Images