JP7446889B2 - Conveyance control system and program - Google Patents

Description

Embodiments of the present invention relate to a transport control device and a program.

In recent years, the amount of goods such as luggage handled at logistics delivery bases has been increasing, and various efforts have been made to improve the efficiency of transporting goods. One example of this is the introduction of autonomous guided vehicles that transport goods without human intervention. For example, the autonomous guided vehicle crawls under a pallet containing articles, lifts the pallet, and transports the pallet containing articles to a destination position within a transport base.

Special table 2019-529277 publication

Multiple and various types of pallets are scattered casually in the pallet collection area of a logistics delivery base. There is a desire to efficiently transport such pallets to a pallet placement area.

An object of the present invention is to provide a transport control device and a program that can efficiently transport a plurality of pallets of various types that are randomly scattered.

The transport control device according to the embodiment includes an acquisition section and an output section. The acquisition unit acquires transport vehicle information regarding a plurality of transport vehicles at arbitrary positions within the pallet collection area, and pallet information regarding a plurality of pallets at arbitrary positions within the pallet collection area. The output unit is configured to send a predetermined pallet to a predetermined transport vehicle on a predetermined travel route based on a transport plan for each pallet that is set according to a transport priority of each pallet from the transport vehicle information and the pallet information. Outputs a control signal to transport the pallet to the pallet placement area.

FIG. 1 is a diagram showing an example of a schematic configuration of a transport control system according to an embodiment. FIG. 2 is a block diagram showing an example of a schematic configuration of the AGV controller according to the embodiment. FIG. 3 is a block diagram illustrating an example of a schematic configuration of a processor of the AGV controller according to the embodiment. FIG. 4 is a block diagram illustrating an example of a schematic configuration of an AGV according to the embodiment. FIG. 5 is a diagram showing an example of a monitoring area to which the transport control system according to the embodiment is applied. FIG. 6 is a diagram for explaining the distance from each RBP to the pallet arrangement area in the monitoring area to which the transport control system according to the embodiment is applied. FIG. 7 is a diagram for explaining the relative distance between the AGV and the RBP in the monitoring area to which the transport control system according to the embodiment is applied. FIG. 3 is a diagram for explaining a travel route of an AGV in the transport control system according to the embodiment. FIG. 9 is a sequence diagram showing an example of transport control by the transport control system according to the embodiment. FIG. 10 is a flowchart illustrating an example of conveyance control corresponding to dynamic changes by the control system according to the embodiment.

Embodiments will be described below with reference to the drawings.
FIG. 1 is a diagram showing an example of a schematic configuration of a transport control system according to an embodiment.
As shown in FIG. 1, the transport control system 1 includes a host server 11, an AGV (Automated Guided Vehicle) controller 12, and one or more cameras 13. The host server 11, AGV controller 12, and camera 13 are connected via a network 14.

The camera 13 photographs a monitoring area including a pallet collection area and a pallet placement area, and outputs photographed image data. In this embodiment, a case is assumed in which a plurality of cameras 13 are installed. For example, by combining (combining) captured image data from a plurality of cameras 13, a wide range can be accurately monitored. Each area will be explained later with reference to the drawings.

The host server 11 receives the captured image data from the camera 13, analyzes the captured image data, and collects AGV information (conveyance vehicle information) regarding the AGV2 (conveyance vehicle) existing in the pallet collection area, RBP (Roll Box Pallet) 3 RBP information (pallet information) regarding (pallets) and information on other objects such as walls, pillars, and people are generated, and the generated information is transmitted to the AGV controller 12.

The AGV controller 12 (transport control device) acquires AGV information, RBP information, and other object information from the host server 11, and sets a transportation plan for the RBP 3 existing in the monitoring area based on the acquired information. Based on the transport plan, a control signal is output to a predetermined AGV 2 to transport a predetermined RBP 3 to a pallet arrangement area along a predetermined transport route.

The host server 11 can be realized by one computer or a combination of multiple computers, and communicates with other devices such as the AGV controller 12 by wire or wirelessly, and receives and stores information from other devices. , and also sends control signals etc. to other devices to control them. The upper server 11 stores AGV information, RBP information, and other object information. Furthermore, the host server 11 stores map data and the like of the monitoring area. Further, the host server 11 transmits AGV information, RBP information, other object information, map data, etc. to the AGV controller 12.

The AGV controller 12 receives and stores AGV information, RBP information, other object information, map data, etc. from the host server 11. Further, the AGV controller 12 transmits a control signal to each AGV 2 and controls the travel of each AGV 2 and the collection and placement of RBP 3 by each AGV 2. Note that collecting the RBP3 means lifting the RBP3, taking in the RBP3, or loading the RBP3. Arranging the RBP3 means lowering the lifted RBP3, discharging the taken-in RBP3, or lowering the loaded RBP3.

The AGV2 is a self-propelled robot with wheels, and based on a control signal from the AGV controller 12, it travels toward a collection position corresponding to the target RBP3 (for example, directly below the RBP3), and retrieves the target RBP3 at the collection position. Collect it and drive towards the location of RBP3. Based on the control signal from the AGV controller 12, the AGV 2 places the target RBP 3 at the placement position of the RBP 3 corresponding to the target RBP 3.

The RBP3 is a cargo handling equipment with a four-wheeled cage, and for example, the height of the bottom of the RBP3 (distance from the floor to the bottom) is higher than the height of the AGV2. This allows AGV2 to sneak under RBP3. The AGV 2 that has crawled under the RBP 3 uses the RBP lift mechanism to lift the RBP 3 to the extent that the legs of the RBP 3 are separated from the floor by several centimeters, and travels with the RBP 3 lifted. In this way, the AGV2 can transport the RBP3.

For example, the AGV 2 travels to the destination position while detecting the distance and direction of movement based on map data, destination position data, and current position data. Alternatively, the AGV 2 travels to the destination location while reading route information configured from a magnetic tape or two-dimensional barcode attached to the floor or the like. In addition, the AGV2 is equipped with an LRF (Laser Ranger Finder) that detects surrounding objects (including other AGV2s), and is also equipped with a camera that photographs the surroundings, and detects objects detected by the LRF or images taken by the camera. The vehicle avoids objects detected based on data analysis results. Note that the LRF is an optical device that oscillates an infrared laser, irradiates it onto a target object, and measures the distance to the target object based on the degree of reflection.

FIG. 2 is a block diagram showing an example of a schematic configuration of the AGV controller according to the embodiment.
The AGV controller 12 controls the travel of the AGV 2 and the recovery and placement of the RBP 3 by the AGV 2. For example, the AGV controller 12 controls operations such as causing the AGV2 to travel to the collection position of the RBP3, having the AGV2 collect the RBP3, driving the AGV2 to the placement position of the RBP3, and causing the AGV2 to unload the RBP3 at the placement position of the RBP3. . As shown in FIG. 2, the AGV controller 12 includes a processor 121, a ROM 122, a RAM 123, an auxiliary storage device 124, a communication interface 125, and an input/output section 126.

The processor 121 corresponds to a central part of a computer that performs processing such as calculations and control necessary for running the AGV 2 and collecting and arranging the RBP 3 by the AGV 2. The processor 121 executes control to realize various functions of the AGV controller 12 based on programs such as system software, application software, or firmware stored in at least one of the ROM 122 and the auxiliary storage device 124. The processor 121 is, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor). Alternatively, processor 121 is a combination of more than one of these.

The ROM 122 is a non-transitory computer-readable storage medium, and corresponds to the main storage of a computer in which the processor 121 is the core. The ROM 122 is a nonvolatile memory used exclusively for reading data. The ROM 122 stores part or all of the above programs. Further, the ROM 122 stores data or various setting values used by the processor 121 to perform various processes.

The RAM 123 corresponds to the main storage of a computer in which the processor 121 is the core. The RAM 123 is a memory used for reading and writing data. The RAM 123 is used as a so-called work area for storing data temporarily used by the processor 121 in performing various processes.

Secondary storage device 124 is a non-transitory computer readable storage medium. The auxiliary storage device 124 stores part or all of the above programs. Further, the auxiliary storage device 124 stores data used by the processor 121 in performing various processes, data generated by processing in the processor 121, various setting values, and the like.

The programs stored in at least one of the ROM 122 and the auxiliary storage device 124 include programs for controlling the running of the AGV 2 and the recovery and placement of the RBP 3 by the AGV 2. As an example, the AGV controller 12 is transferred to an administrator of the AGV controller 12 with the program stored in at least one of the ROM 122 and the auxiliary storage device 124. However, the AGV controller 12 may be transferred to the administrator or the like without the program being stored in the ROM 122 or the auxiliary storage device 124. Then, the program may be separately transferred to the administrator or the like, and written to the auxiliary storage device 124 under the operation of the administrator or service person. Transfer of the program at this time can be realized, for example, by recording it on a removable storage medium such as a magnetic disk, magneto-optical disk, optical disk, or semiconductor memory, or by downloading it via a network.

The communication interface 125 communicates with the host server 11 and other devices such as the AGV 2 via a network or the like by wire or wirelessly, receives various information transmitted from other devices, and also transmits various information to other devices. This is an interface for sending. For example, the communication interface 125 receives AGV information, RBP information, other object information, map data, etc. transmitted from the host server 11. Further, the communication interface 125 transmits a control signal for controlling the running of the AGV, etc. to the AGV 2.

The input/output unit 126 includes a keyboard, a numeric keypad, a mouse, a touch panel display, and the like. The input/output unit 126 receives an instruction input from an operator and notifies the processor 121 of the input instruction. The touch panel display also displays various information to the operator.

FIG. 3 is a block diagram illustrating an example of a schematic configuration of a processor of the AGV controller according to the embodiment.
As shown in FIG. 3, the processor 121 includes an acquisition section 1211, a setting section 1212, a processing section 1213, and an output section 1214. Processor 121 executes a program stored in at least one of ROM 122 and auxiliary storage device 124.

By executing the program, the acquisition unit 1211 acquires information from the communication interface 125, such as AGV information, RBP information, other object information, map data, and the like. Furthermore, by executing the program, the setting unit 1212 sets the transport priority of each pallet 3 based on the RBP information and the like, and sets the transport plan for each pallet 3 based on the AGV information and the transport priority. Furthermore, by executing the program, the processing unit 1213 estimates processing time, processing end time, etc. based on the transport plan. In addition, by executing the program, the output unit 1214 outputs information via the communication interface 125, such as a control signal that causes a predetermined transport vehicle to transport a predetermined pallet to a pallet placement area on a predetermined transport route. Output. Furthermore, the output unit 1214 outputs the estimated processing time, processing end time, etc. based on the transport plan. Note that these functions performed by the processor 121 will be explained in detail later.

FIG. 4 is a block diagram illustrating an example of a schematic configuration of an AGV according to an embodiment.
As shown in FIG. 4, the AGV 2 includes a processor 21, a ROM 22, a RAM 23, an auxiliary storage device 24, a communication interface 25, and a drive unit 26.
The processor 21 corresponds to the central part of a computer that performs processing such as computation and control necessary for traveling and loading and unloading operations of the RBP 3. The processor 21 executes control to realize various functions of the AGV 2 based on programs such as system software, application software, or firmware stored in at least one of the ROM 22 and the auxiliary storage device 24. Processor 21 is, for example, a CPU, MPU, or DSP. Alternatively, processor 21 is a combination of multiple of these. For example, the AGV controller 12 transmits a control signal for moving the AGV 2 to a target position, and the processor 21 transmits map data, target position data, current position data, etc. included in the control signal transmitted from the AGV controller 12. Outputs a drive signal according to the Alternatively, the processor 21 outputs a drive signal according to instructions for transporting and unloading the RBP 3 included in the control signal transmitted from the AGV controller 12.

The ROM 22 is a non-temporary computer-readable storage medium, and corresponds to the main storage of a computer in which the processor 21 is the core. The ROM 22 is a nonvolatile memory used exclusively for reading data. The ROM 22 stores part or all of the above programs. Further, the ROM 22 stores data or various setting values used by the processor 21 to perform various processes.

The RAM 23 corresponds to the main storage of a computer in which the processor 21 is the core. The RAM 23 is a memory used for reading and writing data. The RAM 23 is used as a so-called work area for storing data temporarily used by the processor 21 in performing various processes.

Secondary storage device 24 is a non-transitory computer readable storage medium. The auxiliary storage device 24 stores part or all of the above programs. Further, the auxiliary storage device 24 stores data used by the processor 21 in performing various processes, data generated by processing in the processor 21, various setting values, and the like.

The communication interface 25 is used to wirelessly communicate with other devices such as the AGV controller 12 via a network, receive various information transmitted from other devices, and transmit various information to other devices. It is an interface. For example, communication interface 25 receives control signals from AGV controller 12. Furthermore, the communication interface 25 transmits a completion notification to the AGV controller 12 to notify the completion of traveling to the destination position, the completion of collection of the RBP 3, or the completion of placement.

The drive unit 26 includes wheels rotated by a motor, a steering mechanism that switches the direction of travel, an RBP lift mechanism that moves up and down by a motor, and the like. The drive unit 26 rotates or stops the motor based on the drive signal output from the processor 21, controls the steering mechanism, and moves the AGV 2 to the target position. Further, while the AGV 2 is under the RBP 3, the drive unit 26 rotates the motor (forward rotation) based on the drive signal output from the processor 21, and the RBP lift mechanism is raised to lift the RBP 3. Further, after the AGV 2 reaches the target position, the drive unit 26 rotates (reversely rotates) the motor based on the drive signal output from the processor 21, and the RBP lift mechanism is lowered to lower the RBP 3 to the floor.

FIG. 5 is a diagram showing an example of a monitoring area to which the transport control system according to the embodiment is applied.
As shown in FIG. 5, the camera 13 overlooks the entire monitoring area E1 and outputs captured image data of the monitoring area E1. The monitoring area E1 includes a pallet collection area E11 and a pallet placement area E12, and the pallet placement area E12 includes a plurality of pallet alignment positions 4. For example, the pallet arrangement area E12 includes five pallet alignment positions 401 to 405.

A plurality of AGVs 2 are on standby and a plurality of RBPs 3 are placed at arbitrary positions within the pallet collection area E11. In this embodiment, the AGV 2 at an arbitrary position collects the RBP 3 at an arbitrary position based on a control signal from the AGV controller 12, and arranges it at a predetermined pallet alignment position 4.

As shown in FIG. 5, in this embodiment, it is assumed that two AGVs 201 and 202 are waiting in the pallet collection area E11, and four RBPs 301 to 304 are placed. The person in charge of collecting the RBP3 or the AGV2 collecting the RBP3 can casually place the RBP3 in the pallet collection area E11, and as a result, a plurality of RBP3s are casually scattered in the pallet collection area E11. Become. Further, unless additional input of RBP3 into the pallet collection area E11 is restricted, RBP3 will be input at any time, and the environment of the pallet collection area E11 will change dynamically.

For example, a marker including the position, orientation, and AGV identification information of the AGV 2 is provided on the top surface of the AGV 2 . A marker including the position, orientation, and RBP identification information of the RBP 3 is also provided on the upper surface of the RBP 3 . The directions of AGV2 and RBP3 indicate the amount of deviation with respect to the reference direction R in the monitoring area E1. The host server 11 determines the reference position (for example, the center) of each AGV 2 from the marker included in the photographed image data output from the camera 13 installed on the ceiling of the monitoring area E1 so as to photograph the top surface of the AGV 2 and RBP 3. At the same time, the direction of each AGV 2 and AGV identification information are detected. Similarly, the host server 11 detects the reference position (for example, the center) of each RBP 3 from the marker included in the captured image data output from the camera 13, and also detects the orientation of each RBP 3 and RBP identification information. Note that the position of each AGV 2 or the position of each RBP 3 may be detected from the image itself of each AGV 2 or the image of each RBP 3 included in the captured image data.

For example, the upper server 11 stores an AGV list and an RBP list, the AGV list includes information regarding the type and performance of the AGV corresponding to the AGV identification information, and the RBP list includes information regarding the type and performance of the AGV corresponding to the RBP identification information, Contains information regarding size, weight, maximum storage weight, etc. The host server 11 selects information regarding the type and performance of the AGV from the detected AGV identification information, and also selects the type, size (including height), weight, maximum storage weight, etc. of the RBP from the detected RBP identification information. Select information about. In addition, the host server 11 analyzes the captured image data from the camera 13 installed on the wall of the monitoring area E1 so as to photograph the side surface of the RBP 3, and determines the height of the RBP 3 and the size of the articles stored in the RBP 3. The weight of the article estimated from the volume (including the loading height) may be detected.

The upper server 11 outputs AGV information regarding each AGV 2 and RBP information regarding each RBP 3. The AGV information includes information regarding the position, orientation, type, and performance of each AGV 2, and the RBP information , orientation, type, size, weight, maximum storage weight, article weight, and information regarding the transport distance indicating the distance from each RBP to the pallet placement area E12.

For example, the AGV 2 is configured to be rotatable and basically can travel in any direction. However, if the designated traveling direction and the direction of the AGV2 match, the vehicle will continue to run in the designated traveling direction without turning. It is assumed that the vehicle rotates by a predetermined angle and then runs in the specified direction of travel.

For example, RBP3 is a cargo handling equipment with a four-wheeled cage, and the front two wheels are used as steering wheels. When viewed from the center of RBP3, the direction of the two front wheels is the direction of RBP3. Further, the basket attached to the RBP 3 is a basket that allows articles to be taken in and taken out from one direction. For example, the basket attached to the RBP 3 is a basket that allows articles to be taken in and taken out from the right direction, assuming that the direction of the front two wheels is the front direction.

Note that the AGV 2 may transmit the AGV information to the host server 11 by wireless communication. Similarly, the RBP 3 may transmit RBP information to the upper server 11 by wireless communication. Alternatively, the AGV 2 may include an LRF and transmit AGV information including distance information to surrounding objects obtained from the LRF to the host server 11. Similarly, the RBP 2 may include an LRF and transmit RBP information including distance information to surrounding objects obtained from the LRF to the upper server 11.

FIG. 6 is a diagram for explaining the distance from each RBP to the pallet arrangement area in the monitoring area to which the transport control system according to the embodiment is applied.
The upper server 11 stores map data of the monitoring area E1. The map data includes position data indicating the positions of the pallet collection area E11, the pallet placement area E12, and the pallet alignment positions 401 to 405. The map data also includes position data indicating the reference position P1 of the pallet arrangement area E12. Furthermore, the map data includes information 400 regarding the orientation of the RBPs 3 when aligning the RBPs 3 at pallet alignment positions 401 to 405 included in the pallet placement area E12.

The host server 11 calculates the distance from the reference position of each RBP 3 to the reference position P1 of the pallet placement area E12. The distance calculated here is the distance from each RBP3 to the pallet placement area E12. For example, the host server 11 detects the reference position P301 of the RBP 301, the reference position P302 of the RBP 302, the reference position P303 of the RBP 303, the reference position P304 of the RBP 304, and the reference position P305 of the RBP 305, and selects a pallet from each of the reference positions P301 to P305. The distance from the placement area E12 to the reference position P1 is calculated. The upper server 11 outputs RBP information regarding each RBP 3, and the RBP information includes information regarding the distance from each RBP 3 to the pallet placement area E12. Note that the host server 11 transmits information regarding the reference position of each RBP 3 and the reference position P1 of the pallet placement area E12 to the AGV controller 12, and the AGV controller 12 moves the pallet from the reference position of each RBP 3 based on the received information. The distance from the placement area E12 to the reference position P1 may be calculated.

FIG. 7 is a diagram for explaining the relative distance between the AGV and the RBP in the monitoring area to which the transport control system according to the embodiment is applied.
The upper server 11 outputs AGV information and RBP information, where the AGV information includes information regarding the reference position of each AGV 2, and the RBP information includes information regarding the reference position of each RBP 3. The AGV controller 12 receives the AGV information and RBP information from the host server 11, and calculates the relative distance between each AGV 2 and each RBP 3 based on the information regarding the reference position of each AGV 2 and the information regarding the reference position of each RBP 3. . The AGV controller 12 calculates the relative distance between them from the reference position of the AGV2 and the reference position of the RBP3. For example, the AGV controller 12 calculates the relative distance between the AGV 201 and RBP 304 from the reference position P201 of the AGV 201 and the reference position P304 of the RBP 304, and calculates the relative distance between the AGV 201 and the RBP 305 from the reference position P201 of the AGV 201 and the reference position P305 of the RBP 305. Calculate distance. Further, the AGV controller 12 calculates the relative distance between the AGV 202 and RBP 304 from the reference position P202 of the AGV 202 and the reference position P304 of the RBP 304, and calculates the relative distance between the AGV 202 and the RBP 305 from the reference position P202 of the AGV 202 and the reference position P305 of the RBP 305. Calculate distance. Note that the host server 11 may calculate this relative distance and notify it to the AGV controller 12.

FIG. 8 is a diagram for explaining the travel route of the AGV in the transport control system according to the embodiment.
The AGV controller 12 sets a transportation plan for each RBP 3 based on the AGV information and RBP information. The AGV controller 12 sets the transport priority of each RBP 3 based on the RBP information, sets the combination of the AGV 2 and RBP 3 based on the AGV information and the transport priority, and sets the travel route by each AGV 2 (transport route of the RBP 3). Then, a transportation plan is set based on these settings. For example, as shown in FIG. 8, the AGV controller 12 sets a travel route based on the respective orientations of the combined AGV 2 and RBP 3 and the orientation of the RBP 3 when aligning the RBP 3 at pallet alignment positions 401 to 404. .

FIG. 9 is a sequence diagram showing an example of transport control by the transport control system according to the embodiment.

The camera 13 overlooks the entire monitoring area E1 and outputs captured image data of the monitoring area E1 (ST11). The captured image data to be output may be moving image data or still image data. For example, the camera 13 outputs video data in real time while photographing the monitoring area E1. Alternatively, the camera 13 photographs the surveillance area E1 multiple times at a predetermined timing, and outputs still image data each time.

The host server 11 generates AGV information, RBP information, and other object information from the captured image data etc. from the camera 13 (ST21), and generates the AGV information, RBP information, other object information, map data, etc. Send. The host server 11 generates AGV information, RBP information, and other object information from images included in the captured image data, markers attached to each AGV 2, markers attached to each RBP 3, and the like. The situation in the monitoring area E1 can be detected (understood) from the AGV information, RBP information, and other object information. Note that the host server 11 generates AGV information, RBP information, and other object information multiple times at predetermined timing based on the captured image data etc. from the camera 13, and transmits the generated information each time. . In other words, the generated information always has the latest contents reflecting the latest situation of the monitoring area E1.

The communication interface 125 of the AGV controller 12 receives AGV information, RBP information, other object information, map data, etc. transmitted from the host server 11 at a predetermined timing, and the acquisition unit 1211 of the processor 121 receives the AGV information. , RBP information, other object information, map data, etc. are acquired (ST31).

The setting unit 1212 of the processor 121 sets a transport plan for each RBP 3 according to the transport priority of each RBP 3 based on the AGV information, RBP information, other object information, map data, etc. (ST32). For example, the setting unit 1212 sets a transport priority for each RBP3 based on the RBP information (ST321). Furthermore, the setting unit 1212 sets a combination of RBP3 and AGV2 that transports RBP3 based on the AGV information and the transport priority of each RBP3 (ST322). For example, the setting unit 1212 selects RBP3 with the highest transport priority, and selects AGV2 to be combined with the selected RBP3 based on the AGV information and RBP information. Further, the setting unit 1212 sets a travel route from the position of the combined AGV2 as a starting point to the pallet placement area E12 via the position of the combined RBP based on the map data etc. (ST323).

Here, we will supplement the setting of conveyance priority.
For example, the setting unit 1212 sets the conveyance priority of each RBP 3 based on the information regarding the conveyance distance indicating the distance from each RBP 3 to the pallet placement area E12 included in the RBP information. The highest priority is set for RBP3 having the shortest distance to pallet placement area E12.

Alternatively, the setting unit 1212 sets the transport priority of each RBP 3 based on information regarding the orientation of each RBP 3 included in the RBP information. The highest priority is set for RBP3 in the direction with the smallest difference from the reference direction R in the monitoring area E1.

Note that the setting unit 1212 includes information regarding a plurality of items included in the RBP information, such as the position, orientation, type, size, weight, maximum storage weight, article weight of each RBP 3, and from each RBP to the pallet placement area E12. The transport priority of each RBP 3 may be set based on at least one piece of information about the transport distance indicating the distance. By assigning a score to each item and calculating the total score, it is possible to set the transport priority by combining two or more items. For example, the conveyance priority can be set by combining the conveyance distance and direction.

For example, when it is desired to load heavy items first, by setting the transportation priority of the RBP 3 containing the heavy item to be high, the RBP 3 containing the heavy item can be recovered preferentially. In addition, if you want to collect a predetermined number of RBP3 early, by setting a high transport priority for RBPs containing light items, the majority of AGV2s can be operated regardless of the type of AGV2 (high or low transport performance). However, a predetermined number of RBP3 can be collected at an early stage.

An example of setting the transport priority will be further described with reference to FIG. 6. As shown in FIG. 6, it is assumed that there are two AGVs 201 and 202 and five RBPs 301 to 305 in the pallet collection area E11. Further, in the pallet arrangement area E12, it is assumed that the pallet alignment position 401 has the highest alignment priority, and the alignment priority decreases in the order of pallet alignment positions 402, 403, 404, and 405.

First, the setting unit 1212 selects two RBPs 3 to be transported to the pallet alignment positions 401 and 402 by the two AGVs 201 and 202. The setting unit 1212 sets the transport priority of each RBP 3 based on the transport distance indicating the distance from each RBP 3 to the pallet placement area E12. The scores according to the distance from each RBP3 to the pallet placement area E12 are as follows. Although the case has been described in which the host server 11 calculates the distance from each RBP 3 to the pallet placement area E12, the host server 11 sends position data indicating the reference position P1 of the pallet placement area E12 to the AGV controller 12. may be transmitted, and the processor 121 may calculate a score according to the distance between the position of each RBP3 and the reference position P1.
<Score calculation results 1>
Distance P1-P301: 13.9
Distance P1-P302: 11.9
Distance P1-P303: 11.8
Distance P1-P304: 9.5
Distance P1-P305: 9.0
The conveyance priority increases in the order of short distance from the reference position P1, that is, in the order of the low score according to the distance. In this case, the RBPs 305, 304, 303, 302, and 301 are arranged in descending order of transport priority. The setting unit 1212 selects the RBPs 305 and 304 as the first transport targets.

Furthermore, the setting unit 1212 may weight the transport priority of each RBP 3 according to the orientation of the RBP 3. For example, if the orientation of RBP3 corresponds to the orientation of RBP3 when aligning RBP3 to pallet alignment positions 401 to 405, it is assumed that it is difficult to align, and the score is weighted (for example, the score is 1.5 ). Each score is as follows.
<Score calculation results 2>
Distance P1-P301: 13.9
Distance P1-P302: 11.9
Distance P1-P303: 11.8×1.5=17.7
Distance P1-P304: 9.5
Distance P1-P305: 9.0×1.5=13.5
The transport priority increases in descending order of the score. In this case, the RBPs 304, 302, 305, 301, and 303 are arranged in descending order of transport priority. The setting unit 1212 selects the RBPs 304 and 302 as the first transport targets.

Note that the information used for weighting is not limited to this. The weight of the RBP, the amount of cargo (loading height), and the amount of surrounding obstacles (walls, other RBPs, etc.) may be considered. Furthermore, the weighting calculation method and specific gravity are not limited to these.

Here, we will supplement the setting of the combination of AGV2 and RBP3.
The setting unit 1212 sets the combination of AGV2 and RBP3 based on the information regarding the position of each AGV2 included in the AGV information and the information regarding the position of each RBP3 included in the RBP information. For example, the setting unit 1212 sets the highest combination priority for the combination in which the distance between AGV2 and RBP3 is the shortest, and sets the combination of AGV2 and RBP3 based on the combination priority.

Alternatively, the setting unit 1212 sets the combination of the AGV2 and RBP3 based on the information regarding the orientation of each AGV2 included in the AGV information and the information regarding the orientation of each RBP3 included in the RBP information. For example, the setting unit 1212 sets the highest combination priority for the combination in which the directions of AGV2 and RBP3 are closest, and sets the combination of AGV2 and RBP3 based on the combination priority.

Alternatively, the setting unit 1212 sets the combination of AGV2 and RBP3 based on the information regarding the type of each AGV2 included in the AGV information and the information regarding the type of each RBP3 included in the RBP information. For example, the setting unit 1212 sets a combination of a predetermined type of AGV2 and a predetermined type of RBP3 that matches the predetermined type of AGV2. For example, multiple types of RBP3 handled by multiple delivery companies may coexist, and multiple types of AGV2 may coexist. In such a case, AGV2 and RBP3 of compatible types are combined.

An example of the combination of AGV2 and RBP3 will be further described with reference to FIG. 7. As shown in FIG. 7, it is assumed that there are two AGVs 201 and 202 and five RBPs 301 to 305 in the pallet collection area E11. Further, as described with reference to FIG. 6, a state is assumed in which the setting unit 1212 selects the RBPs 304 and 305 as the first transportation targets based on the score calculation result 1. A case in which score calculation result 1 is adopted will be described below.

The setting unit 1212 determines the distance between the two AGVs 201, 202 and the selected two RBPs 304, 305 based on the position information of the two AGVs 201, 202 and the position information of the two selected RBPs 304, 305. Calculate the distance. The scores according to each distance are as follows.

Distance AGV201-RBP305: 4.0
Distance AGV202-RBP305: 2.3
Distance AGV201-RBP304: 6.0
Distance AGV202-RBP304:3.2
The setting unit 1212 selects (1) a combination of AGV 202 and RBP 305, and (2) a combination of AGV 201 and RBP 304 in order of shortest distance.

Note that the setting unit 1212 may select a combination of AGV2 and RBP3 by weighting other information. The information used for weighting may consider the orientation of the AGV 2 and RBP 3, the weight of the RBP 3, the volume of the article, the loading height, and the number of surrounding obstacles (walls, other RBPs, etc.). Furthermore, the weighting calculation method and specific weight are not limited.

The output unit 1214 outputs a control signal to the predetermined AGV 2 to cause the predetermined RBP 3 to be transported to the pallet placement area E12 along the set predetermined travel route (ST33). Communication interface 125 transmits a control signal to a predetermined AGV2.

The communication interface 25 of the predetermined AGV 2 receives a control signal from the AGV controller 12, and based on the control signal, the processor 21 generates a drive signal for transporting the predetermined RBP 3 to the pallet arrangement area E12 on a predetermined travel route that has been set. The drive unit 26 drives based on the drive signal. Thereby, the predetermined AGV 2 transports the predetermined RBPs 3 to the pallet placement area E12 and aligns them (ST41).

Here, the output of the processing time and processing end time regarding collection and alignment of RBPs will be explained.
As described above, the setting unit 1212 sets a transport plan including setting the transport priority, setting the combination of each AGV 2 and each RBP 3, and setting the transport route. Based on this transportation plan, the processing unit 1213 estimates the processing time required to line up all the RBPs 3 in the pallet placement area E12, and calculates the processing end time from the processing time. The output unit 1214 outputs the processing time and the processing end time, and the communication interface 125 transmits the processing time and the processing end time to the host server 11 or other external device. At the destination of the processing time and processing end time, related preceding or subsequent processing can be planned based on the processing time and processing end time, thereby improving overall processing efficiency.

FIG. 10 is a flowchart illustrating an example of conveyance control corresponding to dynamic changes by the control system according to the embodiment.
For example, the environment of the monitoring area E1 changes dynamically as people pass by or a new RBP 3 is added. The host server 11 generates AGV information, RBP information, and other object information based on the captured image data transmitted in real time from the camera 13, and generates AGV information, RBP information, and other object information multiple times at a predetermined timing. Object information is transmitted to the AGV controller 12. The communication interface 125 of the AGV controller 12 receives AGV information, RBP information, and other object information transmitted multiple times at predetermined timing, and the acquisition unit 1211 of the processor 121 sequentially receives the AGV information, RBP information, and other object information are acquired (ST31).

The processing unit 1213 determines whether each AGV 2 can be moved based on the acquired information (ST34). The setting unit 1212 incorporates the movable AGV 2 into the transport plan for a certain period of time, and the output unit 1214 outputs a control signal to the movable AGV 2 to move the movable AGV 2 for a certain period of time (ST35). Further, the setting unit 1212 excludes the AGV 2 that cannot be moved for a certain period of time from the transport plan, and stops the AGV 2 for a certain period of time (ST36).

For example, the setting unit 1212 may detect a change (increase) in the number of pallets due to the introduction of pallets into the pallet collection area E11 based on the RBP information, and may reset the transport plan based on the detected change. In other words, instead of a change (decrease) in the number of pallets due to transport by the AGV 2, a dynamic change caused by the introduction of a new pallet from the outside may be detected and the transport plan may be re-established. This makes it possible to cope with dynamic changes caused by the introduction of new pallets from the outside.

In addition, in this embodiment, a case will be described in which one AGV controller 12 controls multiple AGVs 2 within the monitoring area E1, but the invention is not limited to this, and multiple AGVs connected via a communication network will be described. The AGV controller 12 may control a predetermined number of grouped AGVs 2. For example, if a monitoring area E1 exists on each floor, one AGV controller and one or more cameras 13 are assigned to the monitoring area E1 on each floor, and they are grouped into the monitoring area E1 on each floor. A predetermined number of AGV2 is arranged, a predetermined number of RBP3 is arranged in the pallet collection area E11 of each floor, and one AGV controller controls the predetermined number of grouped AGV2 and transports the predetermined number of RBP3. It's okay. For example, each AGV2 stores group identification information and AGV identification information. The AGV controller 12 identifies the AGV 2 based on the group identification information and AGV identification information received through communication with the AGV 2, and transmits a control signal to control transport of the RBP 2 by the AGV 2.

Here, it is assumed that a predetermined number of RBPs 3 are arranged in the pallet collection area E11 on the first floor. The upper server 11 detects the RBP identification information of the RBP 3 placed on the first floor from the marker included in the captured image data output from the camera 13 on the first floor, and detects the RBP identification information of the RBP 3 placed on the first floor. RBP information related to RBP3 is stored. The AGV controller 12 assigned to the first floor receives RBP information regarding the RBP 3 placed on the first floor from the upper server 11. Further, the AGV controller 12 assigned to the first floor is based on the AGV information regarding the AGV 2 located on the first floor, the RBP information regarding the RBP 3 located on the first floor, etc. The RBP 3 placed on the first floor is collected by the placed AGV 2 and placed in the pallet placement area E12.

For example, when a predetermined number of RBPs 3 collected in the pallet arrangement area E12 on the first floor are transported (moved across floors) to the pallet collection area E11 on the second floor by an elevator or the like, the first The AGV controller 12 assigned to the floor is transported from the first floor to the second floor to the AGV controller 12 assigned to the second floor based on the inter-floor movement detection signal of a predetermined number of RBPs 3. The RBP information regarding RBP3 is transferred. For example, the host server 11 analyzes the image of the camera 13 installed in the elevator, detects movement of a predetermined number of RBPs 3 between floors, and sends a detection signal to the AGV controller 12 assigned to the first floor. do. Alternatively, the host server 11 detects (estimates) the movement of a predetermined number of RBPs 3 between floors based on the weight detected by the weight sensor installed in the elevator, and sends the detection to the AGV controller 12 assigned to the first floor. A signal may also be transmitted. The AGV controller 12 that has received the detection signal transfers RBP information regarding the RBP 3 transported from the first floor to the second floor to the AGV controller 12 assigned to the second floor.

As described above, even in an environment where RBP3 circulates through multiple floors at a large-scale logistics base, by applying the transport control system of this embodiment, RBP3 can be efficiently collected within the same floor. Then, the collected RBP3 can be moved and distributed to other floors.

As described above, according to the present embodiment, it is possible to provide a transport control device and a program that can efficiently transport a plurality of casually scattered pallets.

Although several embodiments of the invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention, as well as within the scope of the invention described in the claims and its equivalents.
Hereinafter, the invention described in the original claims of this application will be additionally described.
[C1]
an acquisition unit that acquires transport vehicle information regarding a plurality of transport vehicles at arbitrary positions within the pallet collection area, and pallet information regarding a plurality of pallets at arbitrary positions within the pallet collection area;
Based on the transport vehicle information and the pallet information, a predetermined pallet is moved to a pallet placement area on a predetermined travel route for a predetermined transport vehicle based on a transport plan for each pallet that is set according to the transport priority of each pallet. an output section that outputs a control signal for transport;
A transport control device comprising:
[C2]
The conveyance control device of [C1], wherein the pallet conveyance plan is set according to the conveyance priority of each pallet based on information regarding a conveyance distance indicating the distance from each pallet to the pallet placement area.
[C3]
The conveyance control device of [C1] or [C2], wherein the pallet conveyance plan is set according to the conveyance priority of each pallet based on information regarding the orientation of each pallet.
[C4]
The pallet transport plan is set according to a combination of a pallet and a transport vehicle that transports the pallet, and the combination is set based on the transport vehicle information and the transport priority, any one of [C1] to [C3]. or one conveyance control device.
[C5]
The transport control device of [C4], wherein the combination is set based on information regarding the position of each transport vehicle and information regarding the position of each pallet.
[C6]
The transport control device of [C4] or [C5], wherein the combination is set based on information regarding the orientation of each transport vehicle and information regarding the orientation of each pallet.
[C7]
The transport control device according to any one of [C4] to [C6], wherein the combination is set based on information regarding the type of each transport vehicle and information regarding the type of each pallet.
[C8]
The acquisition unit acquires the palette information multiple times at a predetermined timing,
The pallet transport plan is reset based on the detection of a change in the number of pallets due to the introduction of pallets into the pallet collection area, and the change in the number of pallets is detected based on the pallet information acquired multiple times. The transport control device of any one of [C1] to [C7].
[C9]
to the computer,
a step of acquiring transport vehicle information regarding a plurality of transport vehicles at an arbitrary position within a pallet collection area, and pallet information regarding a plurality of pallets at an arbitrary position within the pallet collection area;
Based on the transport vehicle information and the pallet information, a predetermined pallet is moved to a pallet placement area on a predetermined travel route for a predetermined transport vehicle based on a transport plan for each pallet that is set according to the transport priority of each pallet. A procedure for outputting control signals for transport, and a program for executing the steps.

1...Transport control system 2...AGV
3...RBP
4...Pallet alignment position 11...Upper server 12...AGV controller 13...Camera 14...Network 21...Processor 22...ROM
23...RAM
24... Auxiliary storage device 25... Communication interface 26... Drive unit 121... Processor 122... ROM
123...RAM
124... Auxiliary storage device 125... Communication interface 126... Input/output unit 401, 402, 403, 404... Pallet alignment position 1211... Acquisition unit 1212... Setting unit 1213... Processing unit 1214... Output unit E1... Monitoring area E11... Pallet collection area E12...Pallet placement area

Claims (8)

A camera that photographs the monitoring area including the pallet collection area;
Transport vehicle information including information regarding the positions and orientations of a plurality of transport vehicles at arbitrary positions within the pallet collection area and a plurality of pallets at arbitrary positions within the pallet collection area are obtained from the captured image data output from the camera. an acquisition unit that acquires pallet information including information regarding the position and orientation of the
From the conveyance vehicle information and the pallet information, the conveyance priority of each pallet is based on the sum of the score included in the information about the conveyance distance indicating the distance from each pallet to the pallet placement area and the score included in the information about the orientation of each pallet. an output unit that outputs a control signal that causes a predetermined transport vehicle to transport a predetermined pallet to a pallet placement area on a predetermined travel route based on a transport plan for each pallet set according to the above;
A transport control system equipped with The acquisition unit acquires conveyance vehicle information including information regarding the position and orientation of the conveyance vehicle from the marker of the conveyance vehicle included in the captured image data, and also acquires conveyance vehicle information including information regarding the position and orientation of the conveyance vehicle from the marker of the pallet included in the captured image data. 2. The conveyance control system according to claim 1, wherein pallet information including information regarding the position and orientation of the pallet is acquired. The conveyance control system according to claim 1 or 2, wherein the pallet conveyance plan is set according to a combination of a pallet and a conveyance vehicle that conveys the pallet, and the combination is set based on the conveyance vehicle information and the conveyance priority. . 4. The transport control system according to claim 3, wherein the combination is set based on information regarding the position of each transport vehicle and information regarding the position of each pallet. 5. The transport control system according to claim 3, wherein the combination is set based on information regarding the orientation of each transport vehicle and information regarding the orientation of each pallet. 6. The transport control system according to claim 3, wherein the combination is set based on information regarding the type of each transport vehicle and information regarding the type of each pallet. The acquisition unit acquires the palette information multiple times at a predetermined timing,
The pallet transport plan is reset based on the detection of a change in the number of pallets due to the introduction of pallets into the pallet collection area, and the change in the number of pallets is detected based on the pallet information acquired multiple times. The conveyance control system according to any one of claims 1 to 6. to the computer,
Transport vehicle information including information regarding the positions and orientations of a plurality of transport vehicles at arbitrary positions within the pallet collection area and the pallet collection area are obtained from captured image data output from a camera that photographs a monitoring area including the pallet collection area. retrieving pallet information including information about the positions and orientations of multiple pallets at arbitrary positions within the
From the conveyance vehicle information and the pallet information, the conveyance priority of each pallet is based on the sum of the score included in the information about the conveyance distance indicating the distance from each pallet to the pallet placement area and the score included in the information about the orientation of each pallet. a procedure for outputting a control signal to a predetermined transport vehicle to cause a predetermined transport vehicle to transport a predetermined pallet to a pallet placement area on a predetermined travel route based on a transport plan for each pallet set according to the method; .