JP7627888B2 - Transport control method, transport control program, and transport control system - Google Patents

Description

The present disclosure relates to a transport control method, a transport control program, and a transport control system, and more specifically, to a transport control method, a transport control program, and a transport control system for controlling relay transport by multiple robots.

The mobile robot control system described in Patent Document 1 includes multiple mobile robots and a server device that wirelessly communicates with the multiple mobile robots. The server device has a route search unit that searches for a travel route to be set for the mobile robot based on map information related to a map of a specific area in which the mobile robot operates, and a movement control unit that issues movement instructions to the mobile robot based on route information including the travel route to be set for the mobile robot.

JP 2017-134794 A

When transporting multiple packages from a first point to a second point, if one mobile robot transports the packages from the first point to the second point, the mobile robot returning from the second point to the first point will obstruct the passage of another mobile robot transporting packages from the first point to the second point, resulting in reduced transport efficiency.

The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide a transport control method, a transport control program, and a transport control system that can improve transport efficiency.

A transport control method according to one aspect of the present disclosure includes a first step, a second step, and a setting step. The first step acquires route information related to at least one of the distance of a travel route along which multiple robots perform relay transport of luggage and the travel time of the multiple robots traveling along the travel route. The second step acquires number information related to the number of the multiple robots. The setting step sets a relay area on the travel route where the luggage is transferred between the multiple robots based on the route information and the number information.

A transport control program according to one aspect of the present disclosure causes a computer system to execute the transport control method.

A transport control system according to one aspect of the present disclosure includes a first acquisition unit, a second acquisition unit, and a setting unit. The first acquisition unit acquires route information related to at least one of the distance of a travel route along which multiple robots perform relay transport of luggage and the travel time for the multiple robots to travel along the travel route. The second acquisition unit acquires number information related to the number of the multiple robots. The setting unit sets a relay area on the travel route where the luggage is delivered between the multiple robots based on the route information and the number information.

The present disclosure provides a transport control method, a transport control program, and a transport control system that can improve transport efficiency.

FIG. 1 is a schematic plan view of a work area in a transport control system according to the present embodiment. FIG. 2 is a block diagram of the transport control system. FIG. 3 is a diagram showing a travel route on a grid map in the above-mentioned transport control system. FIG. 4 is a diagram showing a travel route and a relay area on a grid map in the above-mentioned transport control system. FIG. 5 is a flow chart for explaining the setting operation of the relay area in the above-mentioned transport control system. FIG. 6 is an explanatory diagram showing the configuration of a relay area in the above-mentioned transport control system. FIG. 7 is a flow chart for explaining the operation of relay transport in the transport control system. FIG. 8 is a diagram showing a travel route and a relay area on a grid map in a transport control system according to a modified example.

The transport control system 1 according to an embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the embodiment and modified examples described below are merely examples of the present disclosure, and the present disclosure is not limited to the embodiment and modified examples. Various modifications other than the embodiment and modified examples are possible according to the design, etc., as long as they do not deviate from the technical concept of the present disclosure.

(1) Overview As shown in FIG. 1, a transport control system 1 according to this embodiment is a system for controlling relay transport by a plurality of robots 2 in a predetermined work area A1.

Robot 2 is a robot for transporting luggage within work area A1 and can transport luggage automatically.

The robot 2 is, for example, a wheeled robot. Note that the robot 2 is not limited to being a wheeled robot, and may be a crawler type, leg type (including walking type), flying type (drone, etc.), ship type, or submersible type.

The robot 2 is equipped with a communication unit (not shown) and communicates wirelessly with the group control server 3, which will be described later.

The multiple robots 2 perform relay transport of luggage in a specified work area A1. Relay transport is a transport method in which the travel route from the source of the luggage 4 to be transported to the destination is divided into multiple sections, and a different robot 2 transports the luggage 4 on each of the multiple sections. In relay transport, relay areas where the luggage 4 is exchanged between the multiple robots 2 are set on the travel route. In other words, the number of multiple sections and the route of each of the multiple sections are determined by the position and number of relay areas set on the travel route.

As shown in FIG. 2, the transport control system 1 includes a first acquisition unit 31, a second acquisition unit 32, and a setting unit 33. The first acquisition unit 31 acquires route information related to at least one of the distance of a travel route along which multiple robots 2 perform relay transport of luggage 4, and the travel time for the multiple robots 2 to travel along the travel route. Note that the "travel time" referred to here is the time required for a robot 2 to move along the travel route. The second acquisition unit 32 acquires number information related to the number of multiple robots 2. The setting unit 33 sets a relay area on the travel route based on the route information and the number information. At this time, the setting unit 33 sets the relay area at a location on the travel route where the transport efficiency of the relay transport is maximized.

In this way, the transport control system 1 can control relay transport by multiple robots 2. When relay transport is performed by multiple robots 2, the robots 2 are less likely to pass each other compared to when one robot 2 transports luggage 4 from the source to the destination, so transport efficiency can be improved. In particular, the transport efficiency of relay transport in narrow passages where it is difficult for the robots 2 to pass each other can be improved.

(2) Details (2.1) Overall Configuration The configuration of the transport control system 1 according to this embodiment will be described in detail below with reference to Figs. 1 to 6. Note that the numerical values, shapes, positions of components, positional relationships and connection relationships between multiple components shown below are merely examples and are not intended to limit the present disclosure. In addition, all of the drawings referenced below are schematic diagrams, and the size and length of each component in the drawings do not necessarily reflect the actual dimensions.

The following describes an example in which the robot 2 is a wheeled automated guided vehicle (AGV). The robot 2 transports luggage while moving within the work area A1. The robot 2 also has, for example, a power storage unit (not shown) and operates using electrical energy stored in the power storage unit.

As shown in FIG. 1, the work area A1 is a space in which multiple robots 2 are deployed, and the robots 2 move within the work area A1 upon receiving instructions from, for example, a group control server 3 described below. Examples of the work area A1 include warehouses, factories, construction sites, stores (including shopping malls), logistics centers, offices, parks, homes, schools, hospitals, stations, airports, and parking lots. Furthermore, when the robots 2 are deployed inside a vehicle, such as inside a ship, train, or airplane, the interior of the vehicle becomes the work area A1. In this embodiment, an example will be described in which the work area A1 is a warehouse.

As shown in FIG. 1, the space surrounded by the exterior wall 51 is the work area A1. The exterior wall 51 of the warehouse is provided with entrances 52 and 53 for carrying luggage into and out of the work area A1. The work area A1 also includes a storage area A2 where luggage is stored, an aisle 50 along which the robot 2 travels autonomously, and an unloading area A3 where luggage is placed when it is unloaded from the entrance 53.

As shown in FIG. 2, the transport control system 1 includes a route creation tool 6 and a group control server 3. The transport control system 1 also includes multiple robots 2 (two in this embodiment). The multiple robots 2 travel autonomously on the passage 50 in the work area A1 and perform relay transport.

The route creation tool 6 includes a display unit 61, an input unit 62, a communication unit 63, a storage unit 64, and a route creation unit 65. The route creation tool 6 is an information terminal such as a personal computer. The display unit 61 is an output device such as a liquid crystal panel for displaying various information. The input unit 62 is an input device such as a keyboard or a mouse for inputting various information. The communication unit 63 communicates with the group control server 3. The communication method of the communication unit 63 is wireless communication using radio waves as a medium such as Bluetooth (registered trademark). The communication method of the communication unit 63 is not limited to wireless communication and may be wired communication. The storage unit 64 is a non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read Only Memory).

The route creation unit 65 creates a travel route for the luggage 4 based on the map information of the work area A1 stored in the storage unit 64 and information such as the origin and destination of the luggage 4 to be transported input by the user through the input unit 62. The route creation unit 65 stores the route information of the travel route in the storage unit 64. The route creation unit 65 also communicates with the group control server 3 described later, and stores the route information of the travel route in the storage unit 34 of the group control server 3. Here, the route information of the travel route includes information related to at least one of the distance of the travel route in which the plurality of robots 2 perform relay transport of the luggage 4, and the travel time for the plurality of robots 2 to travel along the travel route. The route creation unit 65 outputs the created travel route to the display unit 61, so that the user can visually confirm the travel route. FIG. 3 shows a travel route R1 output to the display unit 61 as an example of a travel route. Note that on the display unit 61, the work area A1 is represented as a grid map M1 divided into a plurality of unit grids G0. Unit grid G0 corresponds to a rectangular area of a specified range in work area A1.

In this embodiment, the travel route R1 includes four nodes (nodes N1 to N4) and three paths (paths P1 to P3) connecting the four nodes.

Here, a node is a control point at which the transport control system 1 can control the robot 2. In other words, the transport control system 1 can control the movement of the robot 2 on a node-by-node basis. In this embodiment, in particular, a node is a control point at which at least one of the running speed and direction of travel of the robot 2 can be controlled. Control of "running speed" in this disclosure includes "starting", which accelerates the robot 2 whose running speed is zero (0), and "stopping", which decelerates the running speed of the robot 2 to zero (0) while it is running. Note that in this embodiment, one node is set for one unit grid G0 in the grid map M1.

The transport control system 1 controls operations such as starting, stopping, and changing direction of the robot 2 located at a position corresponding to a node in the work area A1.

In this way, the transport control system 1 controls the robot 2 on a node-by-node basis, so that the robot 2 travels on a path connecting a pair of nodes.

Here, for example, assume that luggage 4 is present in storage area A2 as shown in FIG. 1. In this case, as shown in FIG. 3, node N1 adjacent to storage area A2 is the source of luggage 4. Node N4 adjacent to unloading area A3 is the destination of luggage 4.

Robot 2 grasps luggage 4 present in storage area A2 and starts transporting luggage 4 from node N1. Robot 2 also transports luggage 4 to node N4 and places the luggage in unloading area A3.

Nodes N2 and N3 are nodes where the direction of travel of robot 2 on travel route R1 changes, and are nodes where robot 2 needs to change direction by at least one of curve travel and rotation.

Path P1 is a path connecting node N1 and node N2, path P2 is a path connecting node N2 and node N3, and path P3 is a path connecting node N3 and node N4. Travel speeds V1 to V3 of the robot 2 are assigned to paths P1 to P3, respectively, by the route creation unit 65. As a result, path travel times T1 to T3 for the robot 2 to travel along paths P1 to P3, respectively, are calculated by the route creation unit 65 based on the distances of paths P1 to P3 and travel speeds V1 to V3 as follows:

The distance of path P1 is, for example, 60 m, and the running speed V1 assigned to path P1 is, for example, 30 m/min. In other words, the path running time T1 of path P1 is 2 minutes (120 seconds).

The distance of path P2 is, for example, 240 m, and the running speed V2 assigned to path P2 is, for example, 60 m/min. In other words, the path running time T2 of path P2 is 4 minutes (240 seconds).

The distance of path P3 is, for example, 60 m, and the running speed V3 assigned to path P3 is, for example, 60 m/min. In other words, the path running time T3 of path P3 is 1 minute (60 seconds).

In the relay transport of the luggage 4, the travel time T4 during which the multiple robots 2 travel along the travel route R1 is estimated in advance by the route creation unit 65 and stored in the memory unit 64. The travel time T4 includes the path travel time T1 to the path travel time T3. The travel time T4 also includes the time during which the multiple robots 2 travel around a curve and the time during which the multiple robots 2 rotate. For example, in this embodiment, the travel time T4 includes the time required for the robots 2 to change direction at the nodes N2 and N3. Here, the robot 2 changes direction on the node N2, for example, by rotating (pivot turning). The robot 2 also changes direction on the node N3 by traveling around a curve. The change in direction on the node N2 may be performed by traveling around a curve, or may be performed by combining traveling around a curve and rotating. The change in direction on the node N3 may be performed by rotating, or may be performed by combining traveling around a curve and rotating. The time required for an operation such as a change in direction that requires at least one of traveling around a curve and rotating is estimated in advance by the route creation unit 65. For example, in this embodiment, the time T5 required for the robot 2 to change direction by rotating on node N2 is estimated to be 12 seconds. Also, the time T6 required for the robot 2 to change direction by traveling around a curve on node N3 is estimated to be 6 seconds.

From the above, the travel time T4 of the travel route R1 in this embodiment is estimated to be 438 seconds, which is the sum of the path travel time T1 (120 seconds), path travel time T2 (240 seconds), path travel time T3 (60 seconds), required time T5 (12 seconds), and required time T6 (6 seconds). The travel time T4 is stored in the memory unit 64 as part of the route information C1 of the travel route R1.

The group control server 3 has a control unit 30, a memory unit 34, and a communication unit 35. The control unit 30 also has a first acquisition unit 31, a second acquisition unit 32, and a setting unit 33. Note that in FIG. 2, the first acquisition unit 31, the second acquisition unit 32, and the setting unit 33 of the control unit 30 do not represent physical configurations, but represent functions realized by the control unit 30.

The first acquisition unit 31 acquires route information C1 of the travel route R1 from the memory unit 34.

The second acquisition unit 32 communicates with multiple robots 2 (two in this embodiment) through the communication unit 35 described below, and acquires the number information D1 from the identification information transmitted by each of the two robots 2. The number information D1 may be input by the user through the input unit 62 of the route creation tool 6, and stored in the memory unit 64 and the memory unit 34 of the group control server 3 as part of the route information C1. In this case, the second acquisition unit 32 acquires the number information D1 from the memory unit 34 as part of the route information C1.

The setting unit 33 sets the relay area RA1 on the travel route R1 based on the route information C1 acquired by the first acquisition unit 31 and the number of vehicles information D1 acquired by the second acquisition unit 32. The result of setting the relay area RA1 by the setting unit 33 is stored in the memory unit 34. The setting operation of the relay area RA1 by the setting unit 33 will be described in detail in "(2.2) Setting operation of the relay area".

In this embodiment, the control unit 30 further includes an output unit 36 that outputs the setting result of the relay area RA1 by the setting unit 33 to, for example, a display unit 71 included in the route designation terminal 7 described later. For example, the output unit 36 transmits the setting result of the relay area RA1 to the route designation terminal 7. The control unit 74 of the route designation terminal 7 displays the received setting result of the relay area RA1 on the display unit 71. For example, as shown in FIG. 4, the travel route R1 and the relay area RA1 set on the travel route R1 are displayed on the grid map M1. This allows the user to visually confirm the position of the relay area RA1. Note that the output destination of the setting result of the relay area RA1 is not limited to the display unit 71 of the route designation terminal 7, and may be the display unit 61 of the route creation tool 6, etc.

In this embodiment, the control unit 30 further includes a transport control unit 37 that controls relay transport of luggage 4 by multiple robots 2 on a travel route R1 including a relay area RA1. The transport control unit 37 controls relay transport of luggage 4 by multiple robots 2 based on route information C1, number information D1, and the setting result of the relay area RA1. The control operation of relay transport of luggage 4 by the control unit 30 will be described in detail in "(2.3) Relay Transport Operation".

The memory unit 34 stores multiple pieces of route information including the route information C1, the setting result of the relay area RA1 by the setting unit 33, and the like. The memory unit 34 is, for example, a non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read Only Memory).

The communication unit 35 communicates with the route creation tool 6 and with the multiple robots 2. The communication method of the communication unit 35 is, for example, wireless communication using radio waves as a medium, such as Bluetooth (registered trademark). Note that the communication method of the communication unit 35 is not limited to wireless communication, and may be wired communication.

(2.2) Setting Operation of Relay Area The setting operation of the relay area RA1 by the transport control system 1 of this embodiment will be described in detail with reference to FIG. 4, the flowchart of FIG. 5, and FIG.

First, the first acquisition unit 31 acquires route information C1 for the travel route R1 stored in the memory unit 34 of the group control server 3 (ST1).

The second acquisition unit 32 communicates with the robots 2A and 2B to acquire the number information D1 (ST2). In this embodiment, the number information D1 is two. If the number of robots 2 capable of engaging in relay transport is less than two due to a breakdown, charging, or other reasons (ST3: NO), the setting operation of the relay area RA1 ends.

Next, the setting unit 33 determines the number of relay areas RA1 to be set on the travel route R1 based on the number-of-vehicles information D1 stored in the memory unit 34 (ST4).

When there are n robots 2, the setting unit 33 sets n-1 relay areas RA1 on the travel route R1. In this embodiment, since there are two robots 2, the setting unit 33 sets one relay area RA1.

Next, the setting unit 33 sets the setting node NS1 of the relay area RA1 based on the travel time T4 of the travel route R1 included in the route information C1 acquired by the first acquisition unit 31 (ST5).

In detail, the setting unit 33 calculates a value (divided running time T7) by dividing the running time T4 by the number n of the robots 2 (two in this embodiment). Next, the unit grid G0 that the robot 2 reaches by running on the running route R1 from node N1 (transportation source) for the divided running time T7 is set as the set node NS1. The setting unit 33 sets the first relay area RA1 in the area including the set node NS1.

When there are two or more relay areas, the setting unit 33 sets the unit grid G0 that the robot 2 reaches by traveling from the set node NS1 for the divided traveling time T7 as the set node NS2. The setting unit 33 sets a second relay area RA2 in an area including the set node NS2. In the same manner, the setting unit 33 sets n-1 relay areas on the traveling route R1. The results of the relay area setting by the setting unit 33 are stored in the memory unit 34. The setting unit 33 sets the relay area so that it does not include the unit grid G0 corresponding to the corner of the passage 50 in the working area A1.

In this embodiment, as shown in FIG. 4, the setting unit 33 sets one relay area RA1 on the travel route R1. In this embodiment, the travel time T4 is 438 seconds as described above, and the divided travel time T7 obtained by dividing the travel time T4 by 2, which is the number of robots 2, is 219 seconds. Therefore, the unit grid G0 reached when, for example, robot 2A of robot 2A and robot 2B grasps the baggage 4 and departs from node N1 and travels on the travel route R1 for 219 seconds becomes the setting node NS1 of the relay area RA1. Note that the path travel time T1 of the path P1 connecting node N1 and node N2 is 120 seconds, and the time required for robot 2A to change direction by rotating on node N2 is 12 seconds. Therefore, the setting node NS1 is set to the unit grid G0 on path P2 reached when robot 2A travels on path P2 from node N2 for 87 seconds.

The setting unit 33 sets an area including the setting node NS1 as the relay area RA1. In this embodiment, as shown in FIG. 4, a total of six unit grids G0 are set as the relay area RA1, including one unit grid G0 that is the setting node NS1 and, for example, five unit grids G0 surrounding the setting node NS1. Note that the number of unit grids G0 set as the relay area RA1 is not limited to six, and may be five or less, or seven or more.

Next, as shown in FIG. 6, the setting unit 33 sets two installation nodes (first installation node NP1, second installation node NP2) in the relay area RA1 where the luggage 4 is placed (ST6). The number of installation nodes is not limited to two, and may be one, or three or more. Also, as shown in FIG. 6, the setting unit 33 sets a gate node NG1 in the relay area RA1, which serves as an entrance/exit for the robot 2A that carries the luggage 4 from the transport source into the relay area RA1 (ST7). Furthermore, the setting unit 33 sets a waiting node NW1 where the robot 2B that receives the luggage 4 in the relay area RA1 and transports it to the destination (node N4) waits (ST8).

6, the setting unit 33 sets the unit grid G0 on the left side of the setting node NS1 set on the path P2 as the gate node NG1, and sets the unit grid G0 on the right side of the setting node NS1 as the waiting node NW1. The setting unit 33 also sets the first setting node NP1 and the second setting node NP2 in order from the location closest to the waiting node NW1. For example, the setting unit 33 sets the unit grid G0 above the setting node NS1 as the first setting node NP1, and sets the unit grid G0 on the left side of the first setting node NP1 as the second setting node NP2. This makes it possible to prevent the robot 2A from coming into contact with the robot 2B waiting at the waiting node NW1 when performing the work of setting the luggage 4 at the first setting node NP1 or the second setting node NP2 on the path P2. In addition, the positional relationship of the setting node NS1, gate node NG1, standby node NW1, first installation node NP1, and second installation node NP2 in the relay area RA1 is not limited to the example shown in FIG. 6, and can be changed as appropriate. For example, the gate node NG1 may also serve as the setting node NS1, the first installation node NP1, or the second installation node NP2. Also, the setting node NS1 may also serve as the first installation node NP1 or the second installation node NP2.

Next, the output unit 36 outputs the setting result of the relay area RA1 by the setting unit 33 to the display unit 71 of the route designation terminal 7 described below (ST9), and the user can visually confirm the setting result of the relay area RA1 based on the display on the display unit 71.

(2.3) Relay Conveyance Operation The relay conveyance operation by the conveyance control system 1 of this embodiment will be described in detail with reference to FIGS. 2, 4, 6, and the flowchart of FIG.

2, the user inputs the transport contents E1, such as the origin (node N1) of the luggage 4 and the destination (node N4) of the luggage 4, into the route designation terminal 7, which is, for example, a tablet terminal, through the input unit 72 (ST11). Note that when the route designation terminal 7 is a tablet terminal, the input unit 72 is, for example, a touch panel that also serves as the display unit 71.

Then, the control unit 74 of the route designation terminal 7 transmits the input transport content E1 from the communication unit 73 to the group control server 3. When the group control server 3 receives the transport content E1 from the route designation terminal 7, it selects a travel route R1 corresponding to the transport content E1 from among a plurality of travel routes created in advance by a user and stored in the memory unit 34 (ST12). The group control server 3 then outputs the selected travel route R1 via the output unit 36, for example, to the display unit 71 of the route designation terminal 7.

The travel route R1 is distinguished from other travel routes and is stored again in the memory unit 34 of the group control server 3.

The setting unit 33 of the group control server 3 sets the relay area RA1 based on the route information C1 of the travel route R1 selected by the group control server 3 and the number of vehicles information D1 (ST13). ST13 corresponds to ST1 to ST9 described in "(2.2) Relay Area Setting Operation." If the combination of the route information C1 and the number of vehicles information D1 is the same as a combination previously acquired, the setting unit 33 reads out the setting result of the relay area RA1 previously stored in the memory unit 34 and sets the relay area RA1.

Next, the transport control unit 37 of the control unit 30 causes the robot 2A and the robot 2B to carry out relay transport of the luggage 4 based on the route information C1, the number of vehicles information D1, and the setting results of the relay area RA1.

First, the transport control unit 37 instructs, for example, robot 2A, which is closer to node N1, the source of the luggage 4, of robot 2A and robot 2B, to grasp the luggage 4 in storage area A2 (ST14). In detail, the transport control unit 37 causes robot 2A to travel to node N1. Here, in this embodiment, robot 2A transports luggage 4 between storage area A2 and relay area RA1, and robot 2B transports luggage 4 between relay area RA1 and carry-out area A3. Note that the robot 2 transporting luggage 4 between storage area A2 and relay area RA1 and the robot 2 transporting luggage 4 between relay area RA1 and carry-out area A3 may be interchanged.

When robot 2A reaches node N1, it uses a sensor such as LiDAR (Light Detection and Ranging) to identify the location of luggage 4 stored in storage area A2, and grasps luggage 4. After grasping luggage 4, robot 2A returns to node N1.

Next, the transport control unit 37 instructs the robot 2A and the robot 2B to travel along the travel route R1 to the relay area RA1 (ST15). In detail, the transport control unit 37 instructs the robot 2A, which is holding the luggage 4, to travel from node N1 to the gate node NG1 (see FIG. 6) of the relay area RA1. The transport control unit 37 also instructs the robot 2B to travel to the waiting node NW1 of the relay area RA1.

Here, if both robot 2A and robot 2B start traveling along travel route R1 toward relay area RA1 (ST16: Yes), the transport control unit 37 determines that relay transport of luggage 4 by robot 2A and robot 2B is possible.

Next, the transport control unit 37 controls the transfer of the luggage 4 from the robot 2A to the robot 2B in the relay area RA1 (ST17). The transfer of the luggage 4 from the robot 2A to the robot 2B in the relay area RA1 is described in detail below.

First, when the robot 2A holding the luggage 4 reaches the gate node NG1 in the relay area RA1, it checks the luggage installation status at the first installation node NP1 and the second installation node NP2 using at least one of the detection information by a sensor such as LiDAR (Light Detection and Ranging) and the luggage information linked to each of the first installation node NP1 and the second installation node NP2 transmitted from the group control server 3 to the robot 2A. Note that the "information on luggage" here refers to, for example, the presence or absence of luggage installed at each of the first installation node NP1 and the second installation node NP2, the quantity of luggage, and the destination of the luggage. Then, the robot 2A installs the luggage 4 at the installation node where no luggage is installed. Note that if no luggage is installed at either the first installation node NP1 or the second installation node NP2, the robot 2A installs the luggage 4 preferentially at the first installation node NP1.

For example, when the robot 2A places the luggage 4 at the first installation node NP1, it transmits an installation result including the coordinates of its current location and information about the luggage 4 to the group control server 3. This allows the group control server 3 to link and manage the first installation node NP1 near the robot 2A with information such as the destination of the luggage 4 (node N4) from the installation result. In other words, the group control server 3 can recognize that the luggage 4, whose destination is node N4, has been placed at the first installation node NP1. When the robot 2A places the luggage 4 at the first installation node NP1, the transport control unit 37 instructs the robot 2A to travel to node N1.

When the robot 2B reaches the standby node NW1 in the relay area RA1, it waits at the standby node NW1 until the robot 2A completes installation of the luggage 4 at, for example, the first installation node NP1. When the robot 2A completes installation of the luggage 4 at the first installation node NP1 and starts moving toward the node N1, the robot 2B identifies the position of the luggage 4 to be transported (first installation node NP1) based on at least one of detection information from a sensor such as LiDAR (Light Detection and Ranging) and luggage information associated with each of the first installation node NP1 and the second installation node NP2 transmitted from the group control server 3 to the robot 2B, and grasps the luggage 4 from the first installation node NP1.

When robot 2B picks up luggage 4 from first installation node NP1, transport control unit 37 instructs robot 2B to transport luggage 4 to node N4, which is the destination linked to first installation node NP1 (ST18). When robot 2B reaches node N4, it checks the availability of space in unloading area A3 and places luggage 4 in unloading area A3. When robot 2B places luggage 4 in unloading area A3, transport control unit 37 instructs robot 2B to travel to waiting node NW1 in relay area RA1.

If robot 2B cannot start traveling to relay area RA1 because it is outside travel route R1 due to charging, for example (ST16: No), transport control unit 37 causes robot 2A to transport baggage 4 alone to node N4 (ST19). When robot 2A transports baggage 4 alone to node N4 and places baggage 4 in unloading area A3, transport control unit 37 instructs robot 2A to travel to waiting node NW1 in relay area RA1.

In the above embodiment, the luggage 4 is transported in one direction from the storage area A2 to the unloading area A3, but the luggage 4 may also be transported in the other direction between the storage area A2 and the unloading area A3.

(3) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. In addition, functions similar to those of the transport control system 1 may be embodied in a transport control method, a computer program, or a non-transitory recording medium on which a program is recorded, etc.

The transport control method according to the above embodiment includes a first step, a second step, and a setting step. The first step acquires route information related to at least one of the distance of a travel route along which multiple robots 2 perform relay transport of luggage 4 and the travel time for the multiple robots 2 to travel along the travel route. The second step acquires number information related to the number of robots 2. The setting step sets relay areas on the travel route where the multiple robots 2 transfer luggage 4 based on the route information and the number information. Furthermore, the (computer) program according to the above embodiment is a transport control program for causing a computer system to execute the above-mentioned transport control method.

Below, we list some modified examples of the above embodiment. The modified examples described below can be applied in appropriate combination. However, components that are common to the transport control system 1 of the above embodiment are given the same reference numerals, and their description will be omitted as appropriate. In addition, each configuration of the modified examples described below can be applied in appropriate combination with each configuration described in the above embodiment.

The transport control system 1 may set a setting node NS1 for the relay area RA1 based on the distance of the travel route R1 included in the route information C1. In detail, the setting unit 33 calculates a value (division distance) by dividing the distance of the travel route R1 by 2, which is the number of robots 2. Next, the unit grid G0 that the robot 2A reaches by traveling the division distance along the travel route R1 from the transport source (node N1) is set as the setting node NS1.

The transport control system 1 may include, for example, three robots 2 (robot 2A, robot 2B, robot 2C). In this case, as shown in FIG. 8, two relay areas (relay area RA1, relay area RA2) are set on the travel route R1 by the setting unit 33. The travel time T4 is 438 seconds, and the divided travel time T7 obtained by dividing the travel time T4 by 3, which is the number of robots 2, is 146 seconds. Therefore, for example, the unit grid G0 reached when the robot 2A grasps the baggage 4 and departs from the node N1 and travels on the travel route R1 for 146 seconds is the set node NS1 of the relay area RA1. The path travel time T1 of the path P1 connecting the node N1 and the node N2 is 120 seconds, and the time required for the robot 2A to change direction by rotating on the node N2 is 12 seconds. Therefore, the setting node NS1 is set to the unit grid G0 on the path P2 that the robot 2A reaches when it travels from the node N2 along the path P2 for 14 seconds. The setting node NS2 of the relay area RA2 is set to the unit grid G0 on the path P2 that the robot 2B reaches when it travels from the setting node NS1 along the path P2 for 146 seconds.

The transport control system 1 may set a common relay area for each relay transport of multiple packages whose origins are nearby.

The transport control system 1 may set a common relay area for each relay transport of multiple packages whose destinations are nearby.

At least part of the functions of the route creation tool 6 may be realized by the control unit 30 of the group control server 3.

At least some of the functions of the group control server 3 may be realized by the route creation tool 6. For example, the route creation unit 65 may perform the setting operation of the relay area RA1 by the first acquisition unit 31, the second acquisition unit 32, and the setting unit 33 described in "(2.2) Setting Operation of Relay Area". In this case, the setting result of the relay area RA1 is stored in the memory unit 64 and the memory unit 34 of the group control server 3 as part of the route information C1.

The robot 2 is not limited to one that grasps and transports the luggage 4, but may also transport the luggage 4 by towing or pushing the luggage 4 while it is connected to the robot 2.

The transport control system 1 in the present disclosure includes a computer system. The computer system is mainly composed of a processor and a memory as hardware. The processor executes a program recorded in the memory of the computer system to realize the function of the transport control system 1 in the present disclosure. The program may be pre-recorded in the memory of the computer system, provided through an electric communication line, or recorded and provided in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI referred to here are called differently depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or reconfigure the circuit partition inside the LSI, can also be adopted as a processor. The multiple electronic circuits may be integrated into one chip, or may be distributed across multiple chips. The multiple chips may be integrated into one device, or may be distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

At least some of the functions of the transport control system 1, for example the functions of the group control server 3, may be realized by the cloud (cloud computing) etc.

(4) Summary As described above, the transport control method of the first aspect includes a first step, a second step, and a setting step. The first step acquires route information (C1) related to at least one of the distance of a travel route (R1) along which the plurality of robots (2) perform relay transport of luggage (4) and the travel time (T4) for the plurality of robots (2) to travel along the travel route (R1). The second step acquires number information (D1) related to the number of the plurality of robots (2). The setting step sets a relay area on the travel route (R1) where luggage (4) is transferred between the plurality of robots (2) based on the route information (C1) and the number information (D1).

According to this embodiment, the relay area for relay transport of luggage (4) by multiple robots (2) can be automatically set.

The second aspect of the transport control method is the first aspect, in which the travel route (R1) includes a plurality of nodes and at least one path connecting the plurality of nodes.

According to this aspect, the travel of multiple robots (2) on a travel route (R1) can be controlled on a node and path basis.

The third aspect of the transport control method is the first or second aspect, in which the running time (T4) includes the time during which the multiple robots (2) run around a curve and the time during which the multiple robots (2) rotate.

According to this embodiment, the relay area can be set accurately based on the running time (T4).

The fourth aspect of the transport control method is any one of the first to third aspects, in which the setting step sets n-1 relay areas on the travel route (R1) when there are n robots (2).

According to this embodiment, the number of relay areas on the travel route (R1) can be automatically determined based on the number of robots (2).

The fifth aspect of the transport control method is any one of the first to fourth aspects, in which the setting step sets, in the relay area, at least one installation node where the luggage (4) is placed, and a waiting node where the robot (2) that receives the luggage (4) waits.

This aspect allows smooth delivery and receipt of luggage (4) in the relay area.

The transport control program of the sixth aspect causes a computer system to execute any one of the transport control methods of the first to fifth aspects.

According to this embodiment, the relay area for relay transport of luggage (4) by multiple robots (2) can be automatically set.

The seventh aspect of the transport control system (1) includes a first acquisition unit (31), a second acquisition unit (32), and a setting unit (33). The first acquisition unit (31) acquires route information (C1) related to at least one of the distance of a travel route (R1) along which multiple robots (2) relay transport luggage (4) and the travel time (T4) that the multiple robots (2) travel along the travel route (R1). The second acquisition unit (32) acquires number information (D1) related to the number of the multiple robots (2). The setting unit (33) sets a relay area on the travel route (R1) where luggage (4) is exchanged between the multiple robots (2) based on the route information (C1) and the number information (D1).

According to this embodiment, the relay area for relay transport of luggage (4) by multiple robots (2) can be automatically set.

The eighth aspect of the transport control system (1) of the seventh aspect further includes an output unit (36) that outputs the relay area setting result to a display unit (71).

This aspect allows you to visually check the relay area setting results.

The ninth aspect of the transport control system (1) of the seventh or eighth aspect further includes a transport control unit (37) that controls relay transport of luggage (4) by multiple robots (2) on a travel route (R1) that includes a relay area.

According to this aspect, relay transport of luggage (4) by multiple robots (2) can be controlled based on the relay area setting results.

The transport control system (1) of the tenth aspect is any one of the seventh to ninth aspects, and further includes a plurality of robots (2).

According to this aspect, relay transport of luggage (4) by multiple robots (2) can be controlled based on the relay area setting results.

Note that the second to fifth aspects are not essential components of the transport control method and may be omitted as appropriate. Additionally, the eighth to tenth aspects are not essential components of the transport control system (1) and may be omitted as appropriate.

REFERENCE SIGNS LIST 1 Transport control system 2 Robot 4 Baggage 31 First acquisition unit 32 Second acquisition unit 33 Setting unit 36 Output unit 37 Transport control unit 71 Display unit C1 Route information D1 Number of vehicles information R1 Travel route T4 Travel time

Claims (10)

a first step of acquiring route information related to at least one of a distance of a travel route along which a plurality of robots perform relay transport of luggage and a travel time for the plurality of robots to travel the travel route;
a second step of acquiring number information relating to the number of the plurality of robots;
and a setting step of setting a relay area on the travel route where the plurality of robots transfer the cargo based on the route information and the number information. The transportation control method according to claim 1 , wherein the travel route includes a plurality of nodes and at least one path connecting the plurality of nodes. The transport control method according to claim 1 or 2, wherein the travel time includes a time for the plurality of robots to travel a curve and a time for the plurality of robots to turn. 4. The transport control method according to claim 1, wherein the setting step sets n-1 relay areas on the travel route when there are n robots. 5. The transport control method according to claim 1, wherein the setting step sets at least one installation node in the relay area where the luggage is placed, and a waiting node in which the robot that receives the luggage waits. A transport control program for causing a computer system to execute the transport control method according to any one of claims 1 to 5. a first acquisition unit that acquires route information related to at least one of a distance of a travel route along which a plurality of robots perform relay transport of luggage and a travel time for the plurality of robots to travel the travel route;
A second acquisition unit that acquires number information related to the number of the plurality of robots;
a setting unit that sets a relay area on the travel route where the plurality of robots transfer the luggage based on the route information and the number information. An output unit that outputs the setting result of the relay area to a display unit.
The transport control system according to claim 7. The transport control system according to claim 7 or 8, further comprising a transport control unit that controls relay transport of the luggage by the plurality of robots on the travel route including the relay area. The plurality of robots are further provided.
The transport control system according to any one of claims 7 to 9.

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