WO2020110502A1 - Conveyance information generation device, conveyance system, control method, program, and recording medium - Google Patents

Conveyance information generation device, conveyance system, control method, program, and recording medium Download PDF

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Publication number
WO2020110502A1
WO2020110502A1 PCT/JP2019/040988 JP2019040988W WO2020110502A1 WO 2020110502 A1 WO2020110502 A1 WO 2020110502A1 JP 2019040988 W JP2019040988 W JP 2019040988W WO 2020110502 A1 WO2020110502 A1 WO 2020110502A1
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Prior art keywords
transport
information
transfer
moving device
conveyance
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PCT/JP2019/040988
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French (fr)
Japanese (ja)
Inventor
祐二 川元
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オムロン株式会社
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management

Definitions

  • the present invention relates to a transportation information generation device, a transportation system, and the like.
  • Patent Document 1 in order to reduce the movement loss time of a collection vehicle, “to display the collection information necessary for collection per round on a monitor and when the collection work ends Then, in order to newly display the collection information for the next round on the monitor, the collection information providing points that can provide the collection information to the collection vehicle are scattered on the transport path.” There is.
  • Patent Document 2 in order to create a route plan that minimizes the total transport time without causing a plurality of transport devices such as AGVs to collide with each other in a short time, “a route plan based on an evaluation index unique to each AGV”.
  • a route optimization unit having an optimization function, a communication unit that wirelessly communicates the route plans of all AGVs, and a route that does not cause interference or deadlock as all the AGVs while coordinating with other AGVs.
  • a distributed control device is disclosed which has a distributed coordinator capable of creating a plan.
  • Japanese Patent Laid-Open Publication Japanese Patent Laid-Open No. 2009-263018
  • Japanese Patent Laid-Open Publication Japanese Patent Laid-Open Publication
  • Japanese Patent Application Laid-Open No. 2004-280213 Japanese Patent Application Laid-Open No. 2004-280213
  • An object of one aspect of the present invention is to provide a transfer information generating device and a transfer system capable of improving the transfer efficiency of a transfer moving device.
  • the transport information generating apparatus includes (i) a first position at which a transport moving device loads a transport target object, and a second position at which the transport target object is unloaded.
  • a first input unit for accepting an input of basic transport information indicating a transport route including the information of (1), and (ii) the transport work indicated by the plurality of basic transport information accepted by the first input unit,
  • a first calculator that generates combined conveyance information indicating a conveyance path realized by the conveyance movement device, and (iii) output that outputs the combined conveyance information to a conveyance movement device management device that controls conveyance movement of the conveyance movement device. And a section.
  • a transport system including a transport moving device, a transport moving device management device, and a transport information generating device;
  • the apparatus includes (i) a first input unit that receives an input of basic transport information indicating a transport path including information on a first position where the transport moving apparatus loads a transport target and a second position where the transport target is unloaded. And (ii) a first calculation for generating combined transport information indicating a transport route for realizing the transport work indicated by the plurality of basic transport information received by the first input unit by one transport moving device.
  • an output unit that outputs the combined transport information to the transport moving device management device;
  • the transport moving device includes a transport moving device control unit;
  • the control unit receives the combined transfer information from the transfer moving device management apparatus, and causes the transfer moving device to execute a transfer operation based on the combined transfer information.
  • the control method of the transport information generation device includes: (i) a first position at which the transport moving device loads a transport target object; A first input step for accepting an input of basic transport information indicating a transport route including information on a second position to be lowered, and (ii) a transport operation indicated by the plurality of basic transport information accepted by the first input step, A first calculation step of generating combined transfer information indicating a transfer path realized by one transfer transfer device; and (iii) a transfer transfer device management device for controlling transfer transfer of the transfer transfer device based on the combined transfer information. And an output step for outputting to.
  • a transfer information generating device and a transfer system capable of improving the transfer efficiency of a transfer/moving device.
  • FIG. 6 is a flowchart showing an example of processing after receiving combined transport information in the transport system according to the embodiment of the present invention.
  • the present embodiment an embodiment according to one aspect of the present invention (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings. It should be noted that although the data that appears in this embodiment is described in natural language, more specifically, it is specified by a computer-recognizable pseudo language, command, parameter, machine language, or the like.
  • FIG. 1 is a schematic diagram of the transport information generation device according to the present embodiment.
  • the function of the transport information generation device 1 can be summarized as "generate composite transport information based on a plurality of basic transport information". That is, the transport information generating device 1 is a device that converts a plurality of transport routes into a transport route that can be executed by one transport moving device.
  • the first input unit 101 receives basic transport information.
  • This basic transfer information indicates the transfer route of the transfer target, and also includes the stacking position (first position) and the unloading position (second position) of the transfer target.
  • the first calculation unit 102 generates combined transport information based on a plurality of such basic transport information.
  • the combined transport information indicates a transport path that allows a single transport work device to execute a plurality of transport operations based on a plurality of basic transport information.
  • the first output unit 103 outputs the combined transport information to the transport moving device management device 3.
  • the transfer/moving device management apparatus 3 sends the combined transfer information to the transfer/moving device control unit 41.
  • the transport/moving device control unit 41 causes the transport/moving device 4 to perform a transport operation based on the combined transport information (see also FIG. 2 after the output by the first output unit).
  • the transfer information generating device 1 can improve the transfer efficiency of the transfer moving device 4. That is, in the prior art, the transport moving device performed the transport work based on each basic transport information. However, by using the transport information generating device 1, the transport moving device 4 can transfer the composite transport information. It came to carry out the transfer work based on.
  • the configuration of the transfer system according to the embodiment of the present invention will be described based on FIG.
  • the transport system 1000 can be mounted in, for example, an automated factory or warehouse.
  • the transport system 1000 includes a transport information generating device 1, a transport moving device management device 3, and a transport moving device 4.
  • the transport system 1000 includes an integrated management platform 2 in an optional configuration.
  • the transport information generation device 1 includes a combined transport information generation unit 13 and optionally includes an input/output interface 11, a basic transport information generation unit 12, and a corrected transport information generation unit 14.
  • the input/output interface 11 mediates input/output between the conveyance information generation device 1 and another device.
  • the input/output interface 11 is, for example, an interface for a field network such as Ethernet (registered trademark).
  • the basic transport information generation unit 12 generates basic transport information based on the object instruction information.
  • the combined transfer information generation unit 13 generates combined transfer information based on the basic transfer information.
  • the corrected transport information generation unit 14 generates corrected transport information based on the combined transport information. Detailed configurations of the basic transport information generation unit 12, the combined transport information generation unit 13, and the corrected transport information generation unit 14 will be described later in the section "Configuration example of transport information generation device".
  • the transport/moving device management device 3 is a device that comprehensively manages the transport/moving device 4.
  • the combined transport information generated by the transport information generating device 1 is transmitted to the transport moving device controller 41 of the transport moving device 4 via the transport moving device management device 3.
  • the transfer/moving device 4 is a device for transferring an object to be transferred.
  • the transfer/movement device 4 can be, for example, an autonomous mobile robot, a wireless transfer vehicle, a flying body (drone), or the like. Although four transport moving devices 4 are illustrated in FIG. 2, the number of transport moving devices 4 is not particularly limited as long as it is one or more.
  • the transport moving device 4 includes a transport moving device control unit 41.
  • the transfer/movement device control unit 41 controls transfer transfer, and includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.
  • the integrated management platform 2 gives the conveyance information generation device 1 the object instruction information for instructing the object to be conveyed.
  • the target instruction information is, for example, information having the content of “moving the cargo X from the position A to the position B”.
  • the comprehensive management platform 2 can be a logistics management system such as ERP (Enterprise Resources Planning), MES (Manufacturing Execution System), WMS (Warehouse Management System), or the like.
  • the integrated management platform 2, the transport information generation device 1, and the transport mobile device management device 3 are drawn in different blocks. However, these blocks may be implemented by the same entity.
  • the transport information generating device 1 and the transport moving device management device 3 may be included in the same device or may be operated by the same CPU or the like.
  • the transportation information generation device 1 includes a transportation information generation device control unit 10 and a storage unit 20.
  • the conveyance information generation device control unit 10 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and controls each component according to information processing.
  • the storage unit 20 is, for example, an auxiliary storage device such as a hard disk drive or a solid state drive, and stores data necessary for processing in the transport information generation device control unit 10.
  • the transfer information generation device control unit 10 includes a combined transfer information generation unit 13, a basic transfer information generation unit 12, and a corrected transfer information generation unit 14.
  • the composite transport information generation unit 13 includes a first input unit 101, a first calculation unit 102, and a first output unit 103.
  • the first input unit 101 receives, as an input, the basic transport information output from the second output unit.
  • the first calculator 102 generates combined transport information based on the plurality of basic transport information.
  • the first calculation unit 102 refers to the arrangement information 201, the conveyance state information 202, and the loading capacity information 203.
  • the first output unit 103 outputs the combined transport information generated by the first calculation unit 102 to the corrected transport information generation unit 14 (third input unit 107).
  • the basic transport information generation unit 12 includes a second input unit 104, a second calculation unit 105, and a second output unit 106.
  • the second input unit 104 receives the object instruction information as an input.
  • the second calculation unit 105 generates basic transport information based on the target object instruction information received by the second input unit 104.
  • the second output unit 106 outputs the basic transport information to the composite transport information generation unit 13 (first input unit).
  • the modified transport information generation unit 14 includes a third input unit 107, a third calculation unit 108, and a third output unit 109.
  • the third input unit 107 receives the combined conveyance information as an input.
  • the third calculation unit 108 generates corrected transport information based on the combined transport information received by the third input unit 107.
  • the third calculation unit 108 refers to the time zone in which the transport work is performed.
  • the third output unit 109 outputs the corrected transport information to the transport moving device management device 3.
  • the transfer information generation device control unit 10 also includes a transfer state information acquisition unit 110 that acquires the transfer state information 202 indicating the state of the transfer moving device 4.
  • the transport state information 202 can be acquired, for example, through communication with the transport moving device 4.
  • the arrangement information 201, the transportation state information 202, and the loading capacity information 203 are as described in the section [Means for solving the problem].
  • the flow chart of FIG. 4 is summarized as follows: (i) basic transport information is generated based on the object instruction information, (ii) synthetic transport information is generated based on a plurality of basic transport information if possible, ( iii) If necessary, the combined transport information is modified to generate modified transport information.
  • the second input unit 104 receives an input of the object instruction information.
  • the target object instruction information may be received from the integrated management platform 2 or may be directly input to the transport information generation device 1 via an operation input unit (not shown).
  • the second calculation unit 105 refers to the arrangement information and generates basic transport information.
  • the placement information includes information about the placement of the object to be conveyed and the route. Therefore, the second calculation unit 105 "accumulates the cargos X at the position A, passes the route R, and then moves to the position B based on the object instruction information having the content of "moving the cargo X from the position A to the position B". It is possible to generate basic transport information having the content of "loading cargo X with.”
  • the second input unit 104 and the second calculation unit 105 generate a plurality of basic transport information by repeating the steps of S10 and S11.
  • the basic transport information generated by the second calculator 105 is sent to the first input unit 101 via the second output unit 106.
  • the sub-step in which the first input unit 101 receives the basic transport information corresponds to the “first input step” of the control method according to the aspect of the present invention.
  • the first calculator 102 refers to the transport state information 202, which is information indicating the state of the transport moving apparatus 4, and selects a transport moving apparatus suitable for executing the basic transport information.
  • the transport state information 202 required at this time is acquired by the transport state information acquisition unit 110. Details of this step will be described later in the item of “selecting an appropriate transport moving device”.
  • S12 can also be executed after the combined transport information is generated (for example, between S15 and S16).
  • the first calculation unit 102 refers to the transport state information 202 and selects an appropriate transport moving device for executing the combined transport information.
  • the first calculator 102 determines whether or not there is second basic transport information associated with the first basic transport information.
  • the first basic transport information and the second basic transport information are different basic transport information. If the determination result is YES, the process proceeds to S14, and if the determination result is NO, the process proceeds to S16.
  • the transport route of the first basic transport information and the transport route of the second basic transport information are at least Whether or not some of them are common”.
  • the transport route of the combined transport information based on the first basic transport information and the second basic transport information is the transport route of the first basic transport information and the transport route of the second basic transport information. Is it shorter than the sum of?
  • the first calculation unit 102 determines whether the total of the objects to be transported in the first basic transport information and the second basic transport information is within the range of the loading amount of the transport moving device 4. In this determination, the loading capacity information 203 is referred to. If the determination result is YES, the process proceeds to S15, and if NO, the process proceeds to S16.
  • the first calculation unit 102 generates combined transport information based on the first basic transport information and the second basic transport information. This step corresponds to the “first calculation step” of the control method according to one aspect of the present invention.
  • the generated combined transport information is sent to the third input unit 107 via the first output unit 103.
  • the third calculation unit 108 estimates how much the transfer work is delayed based on the time zone in which the transfer work is performed. For example, the third calculating unit 108 estimates how much the transfer work will be delayed based on the information input by the operator in advance. Alternatively, the third calculating unit 108 estimates how much the transfer work is delayed by learning the history of the past transfer work performed by the transfer moving device 4. This learning can be performed by, for example, a neural network, a support vector machine, a self-organizing map, or reinforcement learning.
  • the third calculation unit 108 estimate how much the transfer work is delayed based on the transfer route of the combined transfer information in addition to the time zone in which the transfer work is performed.
  • the information to be referred to when estimating the delay of the transportation work is "the transportation device is congested at position A on Monday afternoon” and "on Sunday, because the temporary cargo is placed at position B, it cannot be passed. ", including the time zone and position is typical. Therefore, there is a tendency that the delay of the transfer work can be more accurately estimated based on both the time zone in which the transfer work is performed and the transfer route of the combined transfer information.
  • the third calculation unit 108 determines whether the estimated delay is large. In one example, this determination is made based on whether or not the estimated transport time exceeds a predetermined threshold value (for example, a time twice as long as the "transport time estimated when there is no delay factor"). The predetermined threshold may be changed according to the priority of the combined transport information. If the determination result is YES, the process proceeds to S18, and if NO, the process proceeds to S19.
  • a predetermined threshold value for example, a time twice as long as the "transport time estimated when there is no delay factor"
  • the third calculation unit 108 changes the transport path and generates corrected transport information.
  • the transport route in the corrected transport information is, for example, a transport route that avoids congestion or obstacles.
  • the third output unit outputs the corrected transport information to the transport moving device management device 3.
  • the expression “combined transport information" in the steps after S16 may be read as “basic transport information” when the process of the transport information generation device 1 does not pass through S15.
  • the “corrected transport information” in S19 may be read as “composite transport information” if S18 has not passed through S18, and “basic transport information” if S18 did not pass through. You should read it.
  • FIG. 5 is a flow chart showing an example of such processing
  • FIG. 6 is a diagram in which such processing is applied to a specific scene.
  • a transfer/movement device that can start a transfer operation based on basic transfer information earliest (specifically, a transfer/movement device that can reach the first position, which is the stacking position of objects to be transferred earliest). Is a flow for selecting ".”
  • the “suitable transfer/moving device” can be selected based on other criteria (see the description in [Means for Solving the Problems]). Even in such a case, the transport moving device can be appropriately selected according to the following description.
  • the transport state information acquisition unit 110 acquires the transport state information 202 indicating the state of the transport moving device 4.
  • the transport state information 202 can be acquired, for example, by communicating with the transport moving device 4.
  • the first calculation unit 102 selects a certain transport moving device 4 and determines whether the transport moving device 4 is performing a transport operation. Since the transport state information 202 may include whether or not the transport moving device 4 is performing the transport operation, the first calculator 102 may make this determination by referring to the transport state information 202. If the determination result is YES, the process proceeds to S123, and if the determination result is NO, the process proceeds to S124.
  • the first calculating unit 102 estimates the time required for the transport moving device 4 selected in S122 to move from the current position to the first position. Since the position of the transport moving device 4 can be included in the transport state information 202, the first calculator 102 may make this determination by referring to the transport state information 202.
  • the first calculation unit 102 estimates the time required to complete the transfer work being executed by the transfer/moving device 4 selected in S122. This estimation can be performed based on the transport state information 202.
  • the first calculation unit 102 estimates the time required for the transporting and moving device 4 selected in S122 to move from the end point of the transporting work being executed to the first position. This estimation can also be performed based on the transport state information 202.
  • the first calculator 102 calculates the time required for the transporting and moving device 4 selected in S122 to reach the first position. This required time is the required time until the transport moving device 4 moves to the first position when the transport moving device 4 selected in S122 is being executed (that is, when the transport moving device 4 selected in S122 is not performing the transport work). On the other hand, in the case of passing through S124 and S125 (that is, when the transfer/movement device 4 selected in S122 is performing the transfer work), the transfer/movement device 4 ends the transfer work in progress, and further the transfer work is performed. This is the time required to move from the completed position to the first position.
  • S127 the first calculation unit 102 determines whether or not the required time to reach the first position has been calculated for all the transport moving apparatuses 4. If the determination is YES, the process proceeds to S128. If the determination is NO, the process proceeds to S122 and the steps up to S126 are repeated to calculate the time required for the other transport moving devices 4 to reach the first position.
  • the first calculation unit selects the transport moving device 4 that reaches the first position earliest. By repeating S122 to S126, the required time to reach the first position has been calculated for all of the transfer/moving apparatuses 4, and therefore the transfer/moving apparatus 4 with the shortest required time may be selected from among these.
  • FIG. 6A is a schematic diagram showing the position of the transfer/moving device at a certain time point
  • FIG. 6B shows the transfer state of the transfer/moving devices (1) to (4) at the time shown in FIG. 6A. It is a table showing.
  • the transfer moving device can move on the broken line. It takes one minute for the transport moving device to move from one grid point to an adjacent grid point (one block).
  • a black square represents an arrangement section, in which various objects to be conveyed are arranged.
  • the transfer device (1) is transferring the objects to be transferred that have been stacked by PickUpA to GoalA. Since Goal-A is one block away from the current position of the transfer device (1), the transfer work is expected to be completed in 1 minute.
  • the transport moving device (2) is transporting the transport objects stacked by PickUpB to GoalB, and the transport operation is expected to be completed in 1 minute.
  • the transfer device (3) is transferring the objects to be transferred that have been stacked by PickUpC to GoalC, and the transfer operation is expected to be completed after 3 minutes.
  • the transfer device (4) is not currently performing a transfer operation and is on standby.
  • Goal A and Pick Up A are 9 blocks apart, so it takes 9 minutes to move between them. That is, it takes 10 minutes for the transfer moving device (1) to finish the transfer operation currently being executed and reach PickUpA. Similarly, it takes 12 minutes for the transfer moving device (2), 15 minutes for the transfer moving device (3), and 11 minutes for the transfer moving device (4) before reaching PickUp A. Therefore, under the situation shown in FIG. 6, the first calculating unit 102 selects the transport moving device (1) as an appropriate transport moving device.
  • the transfer/movement device control unit 41 receives the combined transfer information from the transfer/transfer device management device 3, and causes the transfer/transfer device 4 to start the transfer operation based on the combined transfer information.
  • the transfer/movement device control unit 41 determines whether or not there is an obstacle on the transfer route. This determination can be performed, for example, by referring to the information from the imaging device or the proximity sensor mounted on the transport/moving device 4. If the determination is YES, the process proceeds to S22, and if the determination is NO, the process proceeds to S26.
  • the determination in S21 is YES, "there is an obstacle on the transport path of the transport moving device 4 that was not supposed at the time when the transport information generating device 1 generates the combined transport information". That's what it means. That is, the steps S23 to S25 are operations for dealing with an unexpected obstacle.
  • the transfer/moving device controller 41 determines whether the obstacle is a person or an object. This determination can be performed, for example, by analyzing the image acquired by the imaging device. Alternatively, it can be performed by attaching an RFID tag storing an identifier to a worker or a cargo and reading the identifier through communication. If the obstacle is a person, the process proceeds to S23, and if it is an object, the process proceeds to S25.
  • the transfer/movement device controller 41 determines whether or not the priority of the transfer target is high. Since the priority of the object to be conveyed can be included in the combined conveyance information, the conveyance movement device control unit 41 may make this determination by referring to the combined conveyance information. If the priority is high, the process proceeds to S24, and if the priority is low, the process proceeds to S25.
  • S24 the transfer/moving device controller 41 issues a warning to the person who is an obstacle to move. For example, a voice message "please clear the passage” is issued via a notification unit (not shown). Since the person who is the obstacle moves according to this instruction, the state in which the obstacle is on the transport path of the transport moving device 4 has been eliminated.
  • the transfer/moving device control unit 41 feeds back the combined transfer instruction to the transfer information generating device 1.
  • the fed-back combined conveyance instruction is corrected by the conveyance information generation device control unit 10 (for example, by the third calculation unit 108), and corrected conveyance information is generated. Specifically, the transport route is changed so as not to pass through a position that cannot be moved due to an obstacle.
  • the corrected transfer information is sent again to the transfer/moving device controller 41 via the transfer/moving device management device 3, and the transfer/moving device controller 41 causes the transfer/moving device 4 to execute the transfer operation based on the corrected transfer instruction. ..
  • the conveyance information generation device control unit 10 updates the arrangement information 201 and the conveyance state information 202 and stores them in the storage unit 20.
  • the information on the position and the number of the objects to be transferred, which is included in the arrangement information 201 reflects the result of the transfer operation.
  • the position and the status (whether or not the carrying work is being executed) of the carrying moving device 4 included in the carrying state information 202 are also updated to those at the end of the carrying work.
  • the transfer information generation device control unit 10 acquires the history of the transfer work of the transfer moving device 4. Further, the transfer information generation device control unit 10 adds the history of the transfer work obtained by the current transfer work to the history of the transfer work accumulated so far and updates it. To give a specific example, the history of the transport work such as “a traffic jam has occurred at the position A” and “an obstacle exists at the position B” accompanying the current transport work of the transport/moving device 4 has been accumulated so far. It is added to the history of the transfer work.
  • the timing at which S28 is executed is not limited to that shown in FIG. That is, the “acquisition of the history of the transfer work” and the “update of the transfer work history” are not always performed at the end of the transfer work.
  • the above processing may be performed at the same time as the feedback of the combined transport information is performed (that is, at the same time as S25).
  • the control block of the transport information generation device 1 (particularly the transport information generation device control unit 10, the first input unit 101, the first calculation unit 102, the first output unit 103, the second input unit 104, the second calculation unit 105, the second).
  • the output unit 106, the third input unit 107, the third calculation unit 108, the third output unit 109, and the transportation state information acquisition unit 110) are realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. It may be realized by software.
  • the transport information generation device 1 is equipped with a computer that executes the instructions of a program that is software that realizes each function.
  • the computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes the program to achieve the object of the present invention.
  • a processor for example, a CPU (Central Processing Unit) can be used.
  • the recording medium a "non-transitory tangible medium" such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the program may be further provided.
  • the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, or the like) capable of transmitting the program.
  • any transmission medium communication network, broadcast wave, or the like
  • one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.
  • a transport information generating apparatus is a basic indicating a transport route including (i) information of a first position where a transport moving apparatus loads a transport target object and a second position where the transport target object loads and unloads the transport target object.
  • a first input unit that receives an input of transfer information; and (ii) a transfer route that realizes the transfer work indicated by the plurality of basic transfer information received by the first input unit by one transfer moving device.
  • a first calculation unit that generates the combined transport information shown, and (iii) an output unit that outputs the combined transport information to a transport moving device management device that controls the transport movement of the transport moving device.
  • a transport system is a transport system including a transport moving device, a transport moving device management device, and a transport information generating device; A first input unit that receives input of basic transport information indicating a transport route including information on a first position for loading the transport target and a second position for loading the transport target; and (ii) the first input unit A first calculation unit that generates combined conveyance information indicating a conveyance path for realizing the conveyance work indicated by the plurality of basic conveyance information received by the one conveyance movement device; and (iii) the combined conveyance information. And an output unit that outputs to the transport moving device management device; the transport moving device includes a transport moving device control unit; and the transport moving device control unit includes the transport moving device management device.
  • the composite transport information is received from and the transport operation device is caused to perform the transport operation based on the composite transport information.
  • a control method for a transfer information generating device is (i) a transfer route including information on a first position at which a transfer moving device loads a transfer target and a second position at which the transfer target loads and unloads the transfer target.
  • a second input step of accepting an input of basic transport information indicating (1), and (ii) the transport work indicated by the plurality of basic transport information accepted by the first input step is realized by one transport moving device.
  • the method includes a first calculation step of generating combined conveyance information indicating a conveyance path, and (iii) an output step of outputting the combined conveyance information to a conveyance movement device management device that controls conveyance movement of the conveyance movement device.
  • the transfer information generation device can generate combined transfer information based on a plurality of basic transfer information. Then, the transfer/movement device can perform the transfer operation based on the combined transfer information.
  • the carrying operation by the carrying/moving device is more efficient based on the combined carrying information than on the basis of individual basic carrying information. Therefore, the transfer information generating device and the transfer system can improve the transfer efficiency of the transfer moving device.
  • Basis transport information is information indicating the transport route of the transport target object.
  • the transport path includes (i) a first position where the transport moving device loads the transport target and (ii) a second position where the transport target is unloaded.
  • the basic transport information may have the content of transporting one type of transport target object from the first position to the second position.
  • the basic transport information has the content of “loading the cargo X at the position A, unloading the cargo X at the position B via the route R”.
  • the conveyance target, the stacking position, or the unloading position of the basic conveyance information may be different from each other.
  • the basic transport information is that "cargo X is stacked at position A, route R1 is passed, cargo Y is stacked at position B, route X is loaded, and cargo X and cargo Y are unloaded at position C". It may be the content.
  • the basic transport information may include information such as the number of cargoes to be transported and the priority of transportation.
  • Composite transport information is information that is generated based on a plurality of basic transport information and that indicates the transport route of the transport target object.
  • the transfer operation based on the combined transfer information can be realized by one transfer moving device.
  • the composite transportation information is “the cargo X is stacked at the position A, routed through the route R1, the cargo Y is stacked at the position B, routed through the route R2, the cargo X is unloaded at the position C, and routed through the route R3. Then, the cargo Y is unloaded at the position D”.
  • the composite transport information may have the content of stacking or unloading different types of transport targets at the same position.
  • the combined transportation information may be content for stacking or unloading the same type of transportation target objects at different positions.
  • “Improving the efficiency of transportation” means performing the transportation operation based on the combined transportation information generated based on the plurality of basic transportation information, rather than performing the transportation operation based on each of the plurality of basic transportation information. It means that some advantage is brought about. Examples of such advantages include shortening the time required for carrying work, shortening the moving distance of the carrying moving device, and reducing the number of carrying moving devices required for operating the carrying system. ..
  • the first calculation unit refers to arrangement information of a route on which the transport moving device can move, and generates the combined transport information.
  • the transport route of the composite transport information can be configured by a route in which the transport moving device can move.
  • the combined transport information can be generated so that the transport route avoids an obstacle that the transport moving device cannot move.
  • the composite transport information can be generated by selecting a transport path on which each of the transport moving device traveling on the floor and the transport moving device flying in the air can move.
  • the “arrangement information” is information indicating the arrangement of various objects existing in the place where the transfer/movement device moves.
  • the placement information includes, for example, placement of objects to be transported, placement of passages, placement of obstacles, and the like. Further, the placement information may include information such as the number of objects to be transported that are placed and whether or not a passage can be passed.
  • the first calculation unit in the transportation information generation device, the first calculation unit generates the combined transportation information based on a plurality of the basic transportation information having at least some transportation routes in common.
  • the moving distance of the transfer route of the combined transfer information is shorter than the sum of the moving distances of the transfer routes of the basic transfer information. That is, the total moving distance required for the carrying work is shortened, and the carrying efficiency is improved. This is because, when carrying out the carrying work based on the combined carrying information, the number of times of moving the common part of the carrying paths of the respective basic carrying information can be small. For example, the transport route of the combined transport information needs to be moved only once in the common portion of the transport routes of the individual basic transport information.
  • the transportation information generation device further includes a transportation state information acquisition unit that acquires transportation state information indicating a transportation state of the transportation device; the first calculation unit is configured such that the transportation state information acquisition unit is The composite transportation information is generated by referring to the acquired transportation state information.
  • the transfer information generating device can generate the combined transfer information based on the transfer state of the transfer moving device. For example, of the plurality of stacking positions in the combined transport information, the stacking position closest to the transport moving device can be the first stacking position. For this reason, it is possible to further improve the efficiency of transportation by the transportation device.
  • the "transport status information” is information indicating the status of the transport moving device.
  • Examples of the transfer information include the position of the transfer moving device, whether the transfer moving device is performing a transfer operation, and the like.
  • the transfer state information acquisition unit acquires transfer state information of a plurality of the transfer moving devices; With reference to the transport state information, the transport moving device that performs the transport operation based on the combined transport information is selected.
  • the transfer information generation device can select a transfer transfer device suitable for executing the transfer operation based on the combined transfer information from the plurality of transfer transfer devices.
  • a transporting/moving device include (i) a transporting/moving device that can start the transporting work based on the basic transporting information or the combined transporting information, and (ii) a transporting work based on the combined transporting information that can be completed earliest.
  • the transfer moving device include: (iii) a transfer moving device having the shortest total moving distance for executing the transfer operation based on the combined transfer information.
  • the first calculation unit refers to load capacity information of the transfer target in the transfer movement device and generates the combined transfer information.
  • the transfer information generation device can generate the combined transfer information so that the total of the transfer target objects falls within the range of the load capacity of the transfer moving device, for example. That is, the combined transfer information that can be realized by the transfer device can be generated more reliably.
  • the "loading capacity information" is information on the loading capacity of the transfer device.
  • Examples of the load capacity information include the maximum load amount of the transfer moving device, the load amount of the transfer moving device at the present time, and the remaining load amount of the transfer moving device at the present time.
  • the loading amount of the transfer moving device may be acquired by actually measuring the weight of the transfer target, or may be acquired by referring to the weight information associated with the transfer target.
  • the conveyance information generation device includes (i) a second input unit that receives an input of object instruction information that indicates a conveyance target; and (ii) the object that is received by the second input unit.
  • a second calculation unit that generates the basic transport information based on instruction information; and (iii) a second output unit that transmits the basic transport information generated by the second calculation unit to the first input unit, Is further provided.
  • the transfer information generation device can generate the basic transfer information based on the object instruction information.
  • the transport information generating device having the above-described configuration is based on the object instruction information of "moving the cargo X from the position A to the position B" and "at the position A.” It is possible to generate basic transport information having a content of "loading the cargo X, passing the route R1, and unloading the cargo X at the position C". Then, the combined transport information can be generated based on a plurality of such basic transport information. In other words, the composite conveyance information can be output only by inputting the object instruction information.
  • the transportation information generating device is configured to: (i) use a third input unit that receives an input of the combined transportation information; and (ii) perform a transportation operation by the transportation moving device based on the time slot.
  • a third calculation unit that determines whether or not the combined transport information received by the input unit 3 needs to be corrected, and generates corrected transport information if the combined transport information needs to be corrected; Instead, the corrected transport information is output to the transport moving device management device that controls the transport movement of the transport moving device.
  • the transfer information generation device can correct the combined transfer information as needed based on the time zone in which the transfer work is executed. For example, based on information such as "the transportation device is congested at position A on Monday afternoon" and "on Sunday, a temporary cargo is placed at position B, traffic cannot be passed". The necessity of correction is determined. Such information may be input by the operator or may be acquired by operating the transport system. Further, as is clear from the above-described example, it is preferable that the determination as to whether or not the combined transport information needs to be corrected is based on the transport route in addition to the time zone.
  • the third calculating unit calculates an estimated transport time according to a time zone by learning a history of past transport operations performed by the transport moving device, and calculates the estimated transport time. Corrected transportation information is generated based on the transportation time.
  • the transfer information generation device can learn and calculate the expected transfer time according to the time zone from the history of the transfer operation performed by the transfer moving device in the past. That is, it is possible to calculate the expected transport time according to the time zone, based on the history of the transport work obtained by operating the transport system. Therefore, it is possible to more accurately calculate the expected transport time and more accurately determine whether or not to correct the combined transport information.
  • the transport mobile device controller when an obstacle is present on a transport route of the transport work while the transport mobile device is performing the transport work based on the composite transport information: the transport mobile device controller And feeding back the combined transfer information to the transfer information generating device; the transfer information generating device generates corrected transfer information in which the combined transfer information is corrected, and outputs the corrected transfer information to the transfer moving device management device.
  • the transport moving device controller receives the corrected transport information from the transport moving device management device, and causes the transport moving device to perform a transport operation based on the corrected transport information.
  • the transport moving apparatus can receive the corrected transport information by feeding back the synthetic transport information to the transport information generating apparatus when an obstacle exists on the transport path included in the synthetic transport information. .. That is, when there is an obstacle that was not expected at the stage of generating the combined transport information, by receiving the corrected transport information, it is possible to perform the transport work on the transport path that avoids the obstacle.
  • a priority is set in the combined transfer information; on the transfer route of the transfer operation while the transfer moving device is executing the transfer operation based on the combined transfer information.
  • the transfer moving device control unit selects whether to feed back the combined transfer information to the transfer information generating device or issue a warning to the obstacle according to the priority. To do.
  • the transport moving device corrects the composite transport information (that is, changes the transport route) or issues a warning according to the priority level included in the composite transport information. Can be selected. For example, when the priority included in the combined transport information is high and the obstacle can be moved by the warning (when the obstacle is a person, for example), the transport moving device issues a warning and moves the person. be able to. Therefore, the combined transport information having a high priority can be executed more quickly.
  • the carrier information generating device may be realized by a computer, and in this case, a control program of the carrier information generating device that causes the computer to realize the carrier information generating device by operating the computer as each of the means. , And a computer-readable recording medium recording the same are also included in the scope of the present invention.
  • Transport information generating device 4 Transport moving device 41: Transport moving device control unit 101: First input unit 102: First calculating unit 103: First output unit (output unit) 104: 2nd input part 105: 2nd calculation part 106: 2nd output part 107: 3rd input part 108: 3rd calculation part 109: 3rd output part (output part) 110: Transport state information acquisition unit 201: Arrangement information 202: Transport state information 203: Loading capacity information 1000: Transport system S15: First calculation step

Abstract

Provided are a conveyance information generation device and a conveyance system with which it is possible to improve the efficiency of conveyance by a conveyance movement device. A conveyance information generation device (1) according to one embodiment of the present invention comprises: (i) a first input unit (101) for receiving input of basic conveyance information indicating a conveyance path that includes a first position at which conveyed objects are loaded by a conveyance movement device and a second position at which the conveyed objects are unloaded; (ii) a first calculation unit (102) for generating composite conveyance information that indicates the conveyance path, on which a conveyance operation indicated by the plurality of basic conveyance information received by the first input unit (101) is realized by the one conveyance movement device; and (iii) an output unit (first output unit 103) for outputting the composite conveyance information to a conveyance movement device management device that controls conveyance movement of the conveyance movement device.

Description

搬送情報生成装置、搬送システム、制御方法、プログラムおよび記録媒体Transport information generating device, transport system, control method, program and recording medium
　本発明は、搬送情報生成装置および搬送システムなどに関する。 The present invention relates to a transportation information generation device, a transportation system, and the like.
　従来、倉庫や工場などの施設において、搬送対象物を効率よく搬送するための技術が知られている。 Conventionally, in facilities such as warehouses and factories, technologies for efficiently transporting objects to be transported are known.
　例えば、特許文献１は、集品車の移動ロスタイムを小さくするために、「１ラウンドあたりの集品に必要な集品情報をモニタに表示するためと、集品作業がラウンド終了するのに合わせて、次回ラウンド用の集品情報を新たにモニタに表示するために、集品車に集品情報を提供可能な集品情報提供地点を搬送路に点在させた」ピッキングシステムを開示している。 For example, in Patent Document 1, in order to reduce the movement loss time of a collection vehicle, “to display the collection information necessary for collection per round on a monitor and when the collection work ends Then, in order to newly display the collection information for the next round on the monitor, the collection information providing points that can provide the collection information to the collection vehicle are scattered on the transport path." There is.
　また、特許文献２は、複数台のＡＧＶ等の搬送装置が互いに衝突することなく総搬送時間を最短とする経路計画を短時間で作成するために、「各ＡＧＶ独自の評価指標に基づく経路計画最適化機能を備えた経路最適化部、全ＡＧＶの経路計画を無線を介して情報通信する通信部、および、他のＡＧＶとの協調をはかりながら、全ＡＧＶとして干渉やデッドロックを生じない経路計画を作成可能な分散協調部を有する」分散型制御装置を開示している。 In addition, in Patent Document 2, in order to create a route plan that minimizes the total transport time without causing a plurality of transport devices such as AGVs to collide with each other in a short time, “a route plan based on an evaluation index unique to each AGV”. A route optimization unit having an optimization function, a communication unit that wirelessly communicates the route plans of all AGVs, and a route that does not cause interference or deadlock as all the AGVs while coordinating with other AGVs. A distributed control device is disclosed which has a distributed coordinator capable of creating a plan.
日本国公開特許公報「特開２００９－２６３０１８号公報」Japanese Patent Laid-Open Publication "Japanese Patent Laid-Open No. 2009-263018" 日本国公開特許公報「特開２００４－２８０２１３号公報」Japanese Patent Laid-Open Publication "Japanese Patent Application Laid-Open No. 2004-280213"
　しかしながら、上述のような従来技術は、１回１回の搬送を逐次的に実行するものであり、この点に改善の余地が残されていた。 However, the conventional technology as described above sequentially carries out the transportation once, and there is room for improvement in this respect.
　本発明の一態様は、搬送移動装置による搬送の効率を向上させることができる、搬送情報生成装置および搬送システムを提供することを目的とする。 An object of one aspect of the present invention is to provide a transfer information generating device and a transfer system capable of improving the transfer efficiency of a transfer moving device.
　前記の課題を解決するために、本発明の一態様に係る搬送情報生成装置は、（i）搬送移動装置が搬送対象物を積み込む第１位置、および、当該搬送対象物を積み下ろす第２位置の情報を含む搬送経路を示す基本搬送情報の入力を受け付ける第１入力部と、（ii）前記第１入力部によって受け付けられた複数の前記基本搬送情報に示される搬送作業を、１台の前記搬送移動装置によって実現する搬送経路を示す合成搬送情報を生成する第１算出部と、（iii）前記合成搬送情報を、前記搬送移動装置の搬送移動を制御する搬送移動装置管理装置に出力する出力部と、を備える。 In order to solve the above-mentioned problems, the transport information generating apparatus according to an aspect of the present invention includes (i) a first position at which a transport moving device loads a transport target object, and a second position at which the transport target object is unloaded. A first input unit for accepting an input of basic transport information indicating a transport route including the information of (1), and (ii) the transport work indicated by the plurality of basic transport information accepted by the first input unit, A first calculator that generates combined conveyance information indicating a conveyance path realized by the conveyance movement device, and (iii) output that outputs the combined conveyance information to a conveyance movement device management device that controls conveyance movement of the conveyance movement device. And a section.
　同じく前記の問題を解決するために、本発明の一態様に係る搬送システムは、搬送移動装置、搬送移動装置管理装置、および搬送情報生成装置を含んでいる搬送システムであって；前記搬送情報生成装置は、（i）搬送移動装置が搬送対象物を積み込む第１位置、および、当該搬送対象物を積み下ろす第２位置の情報を含む搬送経路を示す基本搬送情報の入力を受け付ける第１入力部と、（ii）前記第１入力部によって受け付けられた複数の前記基本搬送情報に示される搬送作業を、１台の前記搬送移動装置によって実現する搬送経路を示す合成搬送情報を生成する第１算出部と、（iii）前記合成搬送情報を、前記搬送移動装置管理装置に出力する出力部と、を備えており；前記搬送移動装置は、搬送移動装置制御部を備えており；前記搬送移動装置制御部は、前記搬送移動装置管理装置から前記合成搬送情報を受け取り、当該合成搬送情報に基づいて前記搬送移動装置に搬送作業を実行させる。 Also in order to solve the above problem, a transport system according to an aspect of the present invention is a transport system including a transport moving device, a transport moving device management device, and a transport information generating device; The apparatus includes (i) a first input unit that receives an input of basic transport information indicating a transport path including information on a first position where the transport moving apparatus loads a transport target and a second position where the transport target is unloaded. And (ii) a first calculation for generating combined transport information indicating a transport route for realizing the transport work indicated by the plurality of basic transport information received by the first input unit by one transport moving device. And (iii) an output unit that outputs the combined transport information to the transport moving device management device; the transport moving device includes a transport moving device control unit; The control unit receives the combined transfer information from the transfer moving device management apparatus, and causes the transfer moving device to execute a transfer operation based on the combined transfer information.
　同じく前記の課題を解決するために、本発明の一態様に係る搬送情報生成装置の制御方法は、（i）搬送移動装置が搬送対象物を積み込む第１位置、および、当該搬送対象物を積み下ろす第２位置の情報を含む搬送経路を示す基本搬送情報の入力を受け付ける第１入力ステップと、（ii）前記第１入力ステップによって受け付けられた複数の前記基本搬送情報に示される搬送作業を、１台の前記搬送移動装置によって実現する搬送経路を示す合成搬送情報を生成する第１算出ステップと、（iii）前記合成搬送情報を、前記搬送移動装置の搬送移動を制御する搬送移動装置管理装置に出力する出力ステップと、を含む。 Similarly, in order to solve the above-mentioned problem, the control method of the transport information generation device according to one aspect of the present invention includes: (i) a first position at which the transport moving device loads a transport target object; A first input step for accepting an input of basic transport information indicating a transport route including information on a second position to be lowered, and (ii) a transport operation indicated by the plurality of basic transport information accepted by the first input step, A first calculation step of generating combined transfer information indicating a transfer path realized by one transfer transfer device; and (iii) a transfer transfer device management device for controlling transfer transfer of the transfer transfer device based on the combined transfer information. And an output step for outputting to.
　本発明の一態様によれば、搬送移動装置による搬送の効率を向上させることができる、搬送情報生成装置および搬送システムが提供される。 According to an aspect of the present invention, there is provided a transfer information generating device and a transfer system capable of improving the transfer efficiency of a transfer/moving device.
本発明の一側面に係る実施形態における、搬送情報生成装置の例示的な概要図である。It is an exemplary schematic diagram of the conveyance information generation apparatus in the embodiment according to one aspect of the present invention. 本発明の一側面に係る実施形態における、搬送システムの例示的な概要図である。It is an exemplary schematic diagram of a conveyance system in an embodiment concerning one side of the present invention. 本発明の一側面に係る実施形態における、搬送情報生成装置の要部の構成例を表すブロック図である。It is a block diagram showing an example of composition of an important section of a conveyance information generation device in an embodiment concerning one side of the present invention. 本発明の一側面に係る実施形態における、搬送情報生成装置の処理例を表すフロー図である。It is a flow figure showing an example of processing of a conveyance information generation device in an embodiment concerning one side of the present invention. 本発明の一実施形態係る搬送情報生成装置が、最適な搬送移動装置を選択する際の処理例を表すフロー図である。It is a flow figure showing an example of processing when a transportation information generation device concerning one embodiment of the present invention selects an optimal transportation moving device. （ａ）は、ある時点における搬送移動装置の位置を表す模式図である。（ｂ）は、（ａ）に表された時点における、各搬送移動装置の搬送状態を表す表である。（ｃ）は、新規な基本搬送情報に対して、どの搬送移動装置が最適であるかを表す表である。(A) is a schematic diagram showing the position of the conveyance moving device at a certain time. (B) is a table showing the transport state of each transport moving device at the time shown in (a). (C) is a table showing which transport moving device is optimal for new basic transport information. 本発明の一実施形態係る搬送システムにおいて、合成搬送情報を受信した以降の処理例を表すフロー図である。FIG. 6 is a flowchart showing an example of processing after receiving combined transport information in the transport system according to the embodiment of the present invention.
　以下、本発明の一側面に係る実施の形態（以下、「本実施形態」とも表記する）を、図面に基づいて説明する。なお、本実施形態において登場するデータを自然言語により説明しているが、より具体的には、コンピュータが認識可能な疑似言語、コマンド、パラメータ、マシン語等で指定される。 Hereinafter, an embodiment according to one aspect of the present invention (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings. It should be noted that although the data that appears in this embodiment is described in natural language, more specifically, it is specified by a computer-recognizable pseudo language, command, parameter, machine language, or the like.
　§１　適用例
　図１に基づいて、本発明が適用される場面の一例について説明する。図１は、本実施形態に係る搬送情報生成装を、模式的に表したものである。搬送情報生成装置１の機能は、「複数の基本搬送情報に基づいて、合成搬送情報を生成する」と要約することができる。つまり搬送情報生成装置１は、複数の搬送経路に基づいて、１台の搬送移動装置に実行可能な搬送経路に変換する装置である。 §1 Application Example An example of a situation in which the present invention is applied will be described with reference to FIG. FIG. 1 is a schematic diagram of the transport information generation device according to the present embodiment. The function of the transport information generation device 1 can be summarized as "generate composite transport information based on a plurality of basic transport information". That is, the transport information generating device 1 is a device that converts a plurality of transport routes into a transport route that can be executed by one transport moving device.
　本実施の形態において、第１入力部１０１は、基本搬送情報を受け付ける。この基本搬送情報は、搬送対象物の搬送経路を示すものであり、当該搬送対象物の積み上げ位置（第１位置）および積み下ろし位置（第２位置）も含まれている。第１算出部１０２は、このような基本搬送情報の複数に基づいて、合成搬送情報を生成する。合成搬送情報は、複数の基本搬送情報に基づく複数の搬送作業を、１台の搬送作業装置によって実行できるような搬送経路を示すものである。第１出力部１０３は、合成搬送情報を搬送移動装置管理装置３に出力する。搬送移動装置管理装置３は、合成搬送情報を搬送移動装置制御部４１に送る。搬送移動装置制御部４１は、合成搬送情報に基づく搬送作業を、搬送移動装置４に実行させる（第１出力部による出力以降は、図２をも参照）。 In the present embodiment, the first input unit 101 receives basic transport information. This basic transfer information indicates the transfer route of the transfer target, and also includes the stacking position (first position) and the unloading position (second position) of the transfer target. The first calculation unit 102 generates combined transport information based on a plurality of such basic transport information. The combined transport information indicates a transport path that allows a single transport work device to execute a plurality of transport operations based on a plurality of basic transport information. The first output unit 103 outputs the combined transport information to the transport moving device management device 3. The transfer/moving device management apparatus 3 sends the combined transfer information to the transfer/moving device control unit 41. The transport/moving device control unit 41 causes the transport/moving device 4 to perform a transport operation based on the combined transport information (see also FIG. 2 after the output by the first output unit).
　以上の処理を実行することによって、搬送情報生成装置１は、搬送移動装置４による搬送の効率を向上させることができる。すなわち、従来技術においては、搬送移動装置は一つ一つの基本搬送情報に基づく搬送作業を行っていたのであるが、搬送情報生成装置１を利用することにより、搬送移動装置４は、合成搬送情報に基づく搬送作業を実行するようになった。 By executing the above processing, the transfer information generating device 1 can improve the transfer efficiency of the transfer moving device 4. That is, in the prior art, the transport moving device performed the transport work based on each basic transport information. However, by using the transport information generating device 1, the transport moving device 4 can transfer the composite transport information. It came to carry out the transfer work based on.
　§２　構成例
　［搬送システムの構成例］
　図２に基づいて、本発明の一実施形態に係る搬送システムの構成について説明する。搬送システム１０００は、例えば、自動化された工場または倉庫などに実装されうる。搬送システム１０００には、搬送情報生成装置１、搬送移動装置管理装置３および搬送移動装置４が含まれている。また、搬送システム１０００には、任意構成で、総合管理基盤２が含まれている。 §2 Configuration example [Transport system configuration example]
The configuration of the transfer system according to the embodiment of the present invention will be described based on FIG. The transport system 1000 can be mounted in, for example, an automated factory or warehouse. The transport system 1000 includes a transport information generating device 1, a transport moving device management device 3, and a transport moving device 4. In addition, the transport system 1000 includes an integrated management platform 2 in an optional configuration.
　搬送情報生成装置１は、合成搬送情報生成部１３を備えており、また任意構成で、入出力インターフェース１１、基本搬送情報生成部１２および修正搬送情報生成部１４を備えている。入出力インターフェース１１は、搬送情報生成装置１と他の装置との間の、入出力を仲介する。入出力インターフェース１１は、例えば、Ethernet（登録商標）などのフィールドネットワークに対するインターフェースである。基本搬送情報生成部１２は、対象物指示情報に基づいて基本搬送情報を生成する。合成搬送情報生成部１３は、基本搬送情報に基づいて合成搬送情報を生成する。修正搬送情報生成部１４は、合成搬送情報に基づいて修正搬送情報を生成する。基本搬送情報生成部１２、合成搬送情報生成部１３および修正搬送情報生成部１４の詳細な構成については、［搬送情報生成装置の構成例］の項目にて後述する。 The transport information generation device 1 includes a combined transport information generation unit 13 and optionally includes an input/output interface 11, a basic transport information generation unit 12, and a corrected transport information generation unit 14. The input/output interface 11 mediates input/output between the conveyance information generation device 1 and another device. The input/output interface 11 is, for example, an interface for a field network such as Ethernet (registered trademark). The basic transport information generation unit 12 generates basic transport information based on the object instruction information. The combined transfer information generation unit 13 generates combined transfer information based on the basic transfer information. The corrected transport information generation unit 14 generates corrected transport information based on the combined transport information. Detailed configurations of the basic transport information generation unit 12, the combined transport information generation unit 13, and the corrected transport information generation unit 14 will be described later in the section "Configuration example of transport information generation device".
　搬送移動装置管理装置３は、搬送移動装置４を総合的に管理する装置である。搬送情報生成装置１によって生成された合成搬送情報は、搬送移動装置管理装置３を介して、搬送移動装置４の搬送移動装置制御部４１に送信される。 The transport/moving device management device 3 is a device that comprehensively manages the transport/moving device 4. The combined transport information generated by the transport information generating device 1 is transmitted to the transport moving device controller 41 of the transport moving device 4 via the transport moving device management device 3.
　搬送移動装置４は、搬送対象物の搬送を担う装置である。搬送移動装置４は、例えば、自律移動ロボット、無線搬送車、飛行体（ドローン）などでありうる。図２には４つの搬送移動装置４が描かれているが、搬送移動装置４の数は、１つ以上であれば特に限定されない。搬送移動装置４は、搬送移動装置制御部４１を備えている。搬送移動装置制御部４１は、搬送移動を制御するものであって、ＣＰＵ(Central Processing Unit)、ＲＡＭ(Random Access Memory)、ＲＯＭ(Read Only Memory)などを備えている。 The transfer/moving device 4 is a device for transferring an object to be transferred. The transfer/movement device 4 can be, for example, an autonomous mobile robot, a wireless transfer vehicle, a flying body (drone), or the like. Although four transport moving devices 4 are illustrated in FIG. 2, the number of transport moving devices 4 is not particularly limited as long as it is one or more. The transport moving device 4 includes a transport moving device control unit 41. The transfer/movement device control unit 41 controls transfer transfer, and includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.
　総合管理基盤２は、搬送情報生成装置１に、搬送対象物を指示する対象物指示情報を与える。対象物指示情報とは、例えば、「貨物Ｘを位置Ａから位置Ｂに移動させる」という内容の情報である。総合管理基盤２は、例えば、ＥＲＰ(Enterprise Resources Planning)、ＭＥＳ(Manufacturing Execution System)、ＷＭＳ(Warehouse Management System)などの、物流管理システムでありうる。 The integrated management platform 2 gives the conveyance information generation device 1 the object instruction information for instructing the object to be conveyed. The target instruction information is, for example, information having the content of “moving the cargo X from the position A to the position B”. The comprehensive management platform 2 can be a logistics management system such as ERP (Enterprise Resources Planning), MES (Manufacturing Execution System), WMS (Warehouse Management System), or the like.
　図２では、総合管理基盤２、搬送情報生成装置１および搬送移動装置管理装置３を、異なるブロックで描いている。しかし、これらのブロックは、同じ実体によって実装されていてもよい。例えば、搬送情報生成装置１と搬送移動装置管理装置３とは、同じ装置に含まれていてもよいし、同じＣＰＵなどによって動作するものであってもよい。 In FIG. 2, the integrated management platform 2, the transport information generation device 1, and the transport mobile device management device 3 are drawn in different blocks. However, these blocks may be implemented by the same entity. For example, the transport information generating device 1 and the transport moving device management device 3 may be included in the same device or may be operated by the same CPU or the like.
　［搬送情報生成装置の構成例］
　図３に基づいて、本発明の一実施形態に係る搬送情報生成装置の構成について説明する。搬送情報生成装置１は、搬送情報生成装置制御部１０と、記憶部２０とを備えている。搬送情報生成装置制御部１０は、ＣＰＵ（Central Processing Unit）、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）などを備えており、情報処理に応じて各構成要素の制御を行う。記憶部２０は、例えば、ハードディスクドライブ、ソリッドステートドライブなどの補助記憶装置であり、搬送情報生成装置制御部１０における処理に必要なデータが格納されている。 [Configuration Example of Transport Information Generation Device]
The configuration of the carrier information generation device according to the embodiment of the present invention will be described based on FIG. The transportation information generation device 1 includes a transportation information generation device control unit 10 and a storage unit 20. The conveyance information generation device control unit 10 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and controls each component according to information processing. The storage unit 20 is, for example, an auxiliary storage device such as a hard disk drive or a solid state drive, and stores data necessary for processing in the transport information generation device control unit 10.
　搬送情報生成装置制御部１０は、合成搬送情報生成部１３、基本搬送情報生成部１２および修正搬送情報生成部１４を備えている。 The transfer information generation device control unit 10 includes a combined transfer information generation unit 13, a basic transfer information generation unit 12, and a corrected transfer information generation unit 14.
　合成搬送情報生成部１３は、第１入力部１０１、第１算出部１０２および第１出力部１０３を含んでいる。第１入力部１０１は、第２出力部から出力される基本搬送情報を、入力として受け付ける。第１算出部１０２は、複数の基本搬送情報に基づいて合成搬送情報を生成する。合成搬送情報の生成に際して、第１算出部１０２は、配置情報２０１、搬送状態情報２０２、積載能力情報２０３を参照する。第１出力部１０３は、第１算出部１０２が生成した合成搬送情報を、修正搬送情報生成部１４（第３入力部１０７）へと出力する。 The composite transport information generation unit 13 includes a first input unit 101, a first calculation unit 102, and a first output unit 103. The first input unit 101 receives, as an input, the basic transport information output from the second output unit. The first calculator 102 generates combined transport information based on the plurality of basic transport information. When generating the combined conveyance information, the first calculation unit 102 refers to the arrangement information 201, the conveyance state information 202, and the loading capacity information 203. The first output unit 103 outputs the combined transport information generated by the first calculation unit 102 to the corrected transport information generation unit 14 (third input unit 107).
　基本搬送情報生成部１２は、第２入力部１０４、第２算出部１０５および第２出力部１０６を含んでいる。第２入力部１０４は、対象物指示情報を入力として受け付ける。第２算出部１０５は、第２入力部１０４が受け付けた対象物指示情報に基づいて、基本搬送情報を生成する。第２出力部１０６は、基本搬送情報を合成搬送情報生成部１３（第１入力部）へと出力する。 The basic transport information generation unit 12 includes a second input unit 104, a second calculation unit 105, and a second output unit 106. The second input unit 104 receives the object instruction information as an input. The second calculation unit 105 generates basic transport information based on the target object instruction information received by the second input unit 104. The second output unit 106 outputs the basic transport information to the composite transport information generation unit 13 (first input unit).
　修正搬送情報生成部１４は、第３入力部１０７、第３算出部１０８および第３出力部１０９を含んでいる。第３入力部１０７は、合成搬送情報を入力として受け付ける。第３算出部１０８は、第３入力部１０７が受け付けた合成搬送情報に基づいて、修正搬送情報を生成する。修正搬送情報の生成に際して、第３算出部１０８は、搬送作業が行われる時間帯を参照する。第３出力部１０９は、修正搬送情報を搬送移動装置管理装置３へと出力する。 The modified transport information generation unit 14 includes a third input unit 107, a third calculation unit 108, and a third output unit 109. The third input unit 107 receives the combined conveyance information as an input. The third calculation unit 108 generates corrected transport information based on the combined transport information received by the third input unit 107. When generating the corrected transport information, the third calculation unit 108 refers to the time zone in which the transport work is performed. The third output unit 109 outputs the corrected transport information to the transport moving device management device 3.
　また、搬送情報生成装置制御部１０は、搬送移動装置４の状態を示す搬送状態情報２０２を取得する、搬送状態情報取得部１１０を備えている。搬送状態情報２０２は、例えば、搬送移動装置４との通信を介して取得することができる。 The transfer information generation device control unit 10 also includes a transfer state information acquisition unit 110 that acquires the transfer state information 202 indicating the state of the transfer moving device 4. The transport state information 202 can be acquired, for example, through communication with the transport moving device 4.
　配置情報２０１、搬送状態情報２０２および積載能力情報２０３については、〔課題を解決するための手段〕の項目にて説明した通りである。 The arrangement information 201, the transportation state information 202, and the loading capacity information 203 are as described in the section [Means for solving the problem].
　§３　動作例
　［対象物指示情報の入力から修正搬送情報の送信まで］
　図４に基づいて、対象物指示情報の入力から修正搬送情報の送信までの、搬送情報生成装置１の処理例を説明する。なお、以下で説明する処理手順は一例に過ぎず、各処理は可能な限り変更されてよい。また、以下で説明する処理手順について、実施の形態に応じて、適宜、ステップを省略、置換および追加することができる。 §3 Example of operation [From input of object instruction information to transmission of corrected transport information]
A processing example of the transport information generation device 1 from the input of the object instruction information to the transmission of the corrected transport information will be described with reference to FIG. The processing procedure described below is merely an example, and each processing may be changed as much as possible. Further, in the processing procedure described below, steps can be omitted, replaced, and added as appropriate according to the embodiment.
　図４のフロー図は、概略すると、（i）対象物指示情報に基づいて基本搬送情報を生成する、（ii）可能ならば、複数の基本搬送情報に基づいて合成搬送情報を生成する、（iii）必要ならば、合成搬送情報を修正して修正搬送情報を生成する、という流れになっている。 The flow chart of FIG. 4 is summarized as follows: (i) basic transport information is generated based on the object instruction information, (ii) synthetic transport information is generated based on a plurality of basic transport information if possible, ( iii) If necessary, the combined transport information is modified to generate modified transport information.
　（Ｓ１０）
　Ｓ１０において、第２入力部１０４は、対象物指示情報の入力を受け付ける。対象物指示情報は、総合管理基盤２から受け取ってもよいし、操作入力部（不図示）を介して搬送情報生成装置１に直接入力されてもよい。 (S10)
In S10, the second input unit 104 receives an input of the object instruction information. The target object instruction information may be received from the integrated management platform 2 or may be directly input to the transport information generation device 1 via an operation input unit (not shown).
　（Ｓ１１）
　Ｓ１１において、第２算出部１０５は、配置情報を参照して基本搬送情報を生成する。前述した通り、配置情報には、搬送対象物および経路の配置に関する情報が含まれている。そのため第２算出部１０５は、「貨物Ｘを位置Ａから位置Ｂに移動させる」という内容の対象物指示情報に基づいて、「位置Ａで貨物Ｘを積み上げ、経路Ｒを経由して、位置Ｂで貨物Ｘを積み下ろす」という内容の基本搬送情報を生成することができる。第２入力部１０４および第２算出部１０５は、Ｓ１０およびＳ１１のステップを繰返すことにより、複数の基本搬送情報を生成する。 (S11)
In S11, the second calculation unit 105 refers to the arrangement information and generates basic transport information. As described above, the placement information includes information about the placement of the object to be conveyed and the route. Therefore, the second calculation unit 105 "accumulates the cargos X at the position A, passes the route R, and then moves to the position B based on the object instruction information having the content of "moving the cargo X from the position A to the position B". It is possible to generate basic transport information having the content of "loading cargo X with." The second input unit 104 and the second calculation unit 105 generate a plurality of basic transport information by repeating the steps of S10 and S11.
　第２算出部１０５が生成した基本搬送情報は、第２出力部１０６を介して、第１入力部１０１に送られる。このとき、第１入力部１０１が基本搬送情報を受け取るサブステップが、本発明の一態様に係る制御方法の「第１入力ステップ」に該当する。 The basic transport information generated by the second calculator 105 is sent to the first input unit 101 via the second output unit 106. At this time, the sub-step in which the first input unit 101 receives the basic transport information corresponds to the “first input step” of the control method according to the aspect of the present invention.
　（Ｓ１２）
　Ｓ１２において、第１算出部１０２は、搬送移動装置４の状態を示す情報である搬送状態情報２０２を参照して、基本搬送情報の実行に適切な搬送移動装置を選択する。このときに必要となる搬送状態情報２０２は、搬送状態情報取得部１１０が取得する。このステップの詳細については、［適切な搬送移動装置の選択］の項目で後述する。 (S12)
In S12, the first calculator 102 refers to the transport state information 202, which is information indicating the state of the transport moving apparatus 4, and selects a transport moving apparatus suitable for executing the basic transport information. The transport state information 202 required at this time is acquired by the transport state information acquisition unit 110. Details of this step will be described later in the item of “selecting an appropriate transport moving device”.
　なお、Ｓ１２は、合成搬送情報の生成後（例えば、Ｓ１５とＳ１６との間）に実行することもできる。この場合、第１算出部１０２は、搬送状態情報２０２を参照して、合成搬送情報の実行に適切な搬送移動装置を選択する。 Note that S12 can also be executed after the combined transport information is generated (for example, between S15 and S16). In this case, the first calculation unit 102 refers to the transport state information 202 and selects an appropriate transport moving device for executing the combined transport information.
　（Ｓ１３）
　Ｓ１３において、第１算出部１０２は、第１基本搬送情報と関連付けられる第２基本搬送情報があるか否かを判定する。ここで、第１基本搬送情報と第２基本搬送情報とは、互いに異なる基本搬送情報である。判定結果がＹＥＳならばＳ１４に移行し、ＮＯならばＳ１６に移行する。 (S13)
In S13, the first calculator 102 determines whether or not there is second basic transport information associated with the first basic transport information. Here, the first basic transport information and the second basic transport information are different basic transport information. If the determination result is YES, the process proceeds to S14, and if the determination result is NO, the process proceeds to S16.
　「第１基本搬送情報と第２基本搬送情報とが関連付けられるか否か」の判定基準の例としては、「第１基本搬送情報の搬送経路と第２基本搬送情報の搬送経路とは、少なくとも一部が共通しているか否か」が挙げられる。前記判定基準の他の例としては、「第１基本搬送情報および第２基本搬送情報に基づく合成搬送情報の搬送経路が、第１基本搬送情報の搬送経路と第２基本搬送情報の搬送経路との合計よりも短いか」が挙げられる。 As an example of the criterion of “whether the first basic transport information and the second basic transport information are associated with each other”, “the transport route of the first basic transport information and the transport route of the second basic transport information are at least Whether or not some of them are common”. As another example of the determination criterion, "the transport route of the combined transport information based on the first basic transport information and the second basic transport information is the transport route of the first basic transport information and the transport route of the second basic transport information. Is it shorter than the sum of?
　（Ｓ１４）
　Ｓ１４において、第１算出部１０２は、第１基本搬送情報および第２基本搬送情報における搬送対象物の合計が、搬送移動装置４の積載量の範囲内であるか否かを判定する。この判定の際には、積載能力情報２０３が参照される。判定結果がＹＥＳならばＳ１５に移行し、ＮＯならばＳ１６に移行する。 (S14)
In S14, the first calculation unit 102 determines whether the total of the objects to be transported in the first basic transport information and the second basic transport information is within the range of the loading amount of the transport moving device 4. In this determination, the loading capacity information 203 is referred to. If the determination result is YES, the process proceeds to S15, and if NO, the process proceeds to S16.
　（Ｓ１５）
　Ｓ１５において、第１算出部１０２は、第１基本搬送情報および第２基本搬送情報に基づいて、合成搬送情報を生成する。このステップは、本発明の一態様に係る制御方法の「第１算出ステップ」に該当する。生成された合成搬送情報は、第１出力部１０３を介して、第３入力部１０７へと送られる。 (S15)
In S15, the first calculation unit 102 generates combined transport information based on the first basic transport information and the second basic transport information. This step corresponds to the “first calculation step” of the control method according to one aspect of the present invention. The generated combined transport information is sent to the third input unit 107 via the first output unit 103.
　（Ｓ１６）
　Ｓ１６において、第３算出部１０８は、搬送作業が行われる時間帯に基づいて、搬送作業がどの程度遅れるかを推定する。例えば、第３算出部１０８は、事前に操作者によって入力された情報基づいて、搬送作業がどの程度遅れるのかを推定する。あるいは、第３算出部１０８は、搬送移動装置４による過去の搬送作業の履歴を学習することにより、搬送作業がどの程度遅れるかを推定する。この学習は、例えば、ニューラルネットワーク、サポートベクターマシン、自己組織化マップ、強化学習によって行うことができる。 (S16)
In S16, the third calculation unit 108 estimates how much the transfer work is delayed based on the time zone in which the transfer work is performed. For example, the third calculating unit 108 estimates how much the transfer work will be delayed based on the information input by the operator in advance. Alternatively, the third calculating unit 108 estimates how much the transfer work is delayed by learning the history of the past transfer work performed by the transfer moving device 4. This learning can be performed by, for example, a neural network, a support vector machine, a self-organizing map, or reinforcement learning.
　ここで、第３算出部１０８は、搬送作業が行われる時間帯に加えて、合成搬送情報の搬送経路にも基づいて搬送作業がどの程度遅れるかを推定することが好ましい。搬送作業の遅れを推定する際に参照する情報は、「月曜日の午後は、位置Ａにおいて搬送移動装置が渋滞する」、「日曜日には、位置Ｂに仮置きの貨物が置かれるので、通行できない」のように、時間帯および位置を含むものが典型的である。そのため、搬送作業が行われる時間帯および合成搬送情報の搬送経路の両方に基づく方が、より正確に搬送作業の遅れを推定できる傾向にある。 Here, it is preferable that the third calculation unit 108 estimate how much the transfer work is delayed based on the transfer route of the combined transfer information in addition to the time zone in which the transfer work is performed. The information to be referred to when estimating the delay of the transportation work is "the transportation device is congested at position A on Monday afternoon" and "on Sunday, because the temporary cargo is placed at position B, it cannot be passed. ", including the time zone and position is typical. Therefore, there is a tendency that the delay of the transfer work can be more accurately estimated based on both the time zone in which the transfer work is performed and the transfer route of the combined transfer information.
　（Ｓ１７）
　Ｓ１７において、第３算出部１０８は、推定される遅れが大きいか否かを判定する。一例において、この判定は、想定される搬送時間が所定の閾値（例えば、「遅れの要因がない場合に推定される搬送時間」の２倍の時間）を超えるか否かで判定される。所定の閾値は、合成搬送情報の優先度によって変更されてもよい。判定結果がＹＥＳならばＳ１８に移行し、ＮＯならばＳ１９に移行する。 (S17)
In S17, the third calculation unit 108 determines whether the estimated delay is large. In one example, this determination is made based on whether or not the estimated transport time exceeds a predetermined threshold value (for example, a time twice as long as the "transport time estimated when there is no delay factor"). The predetermined threshold may be changed according to the priority of the combined transport information. If the determination result is YES, the process proceeds to S18, and if NO, the process proceeds to S19.
　（Ｓ１８）
　Ｓ１８において、第３算出部１０８は、搬送経路を変更して修正搬送情報を生成する。修正搬送情報における搬送経路は、例えば、渋滞または障害物を回避するような搬送経路となっている。 (S18)
In S18, the third calculation unit 108 changes the transport path and generates corrected transport information. The transport route in the corrected transport information is, for example, a transport route that avoids congestion or obstacles.
　（Ｓ１９）
　Ｓ１９において、第３出力部は、修正搬送情報を搬送移動装置管理装置３に対して出力する。 (S19)
In S19, the third output unit outputs the corrected transport information to the transport moving device management device 3.
　なお、Ｓ１６以降のステップにおける「合成搬送情報」という表現は、搬送情報生成装置１の処理がＳ１５を経なかった場合は、「基本搬送情報」と読み換えればよい。同様に、Ｓ１９における「修正搬送情報」は、Ｓ１５を経てＳ１８を経なかった場合は「合成搬送情報」と読み換えればよく、Ｓ１５を経ずＳ１８も経なかった場合は「基本搬送情報」と読み換えればよい。 Note that the expression "combined transport information" in the steps after S16 may be read as "basic transport information" when the process of the transport information generation device 1 does not pass through S15. Similarly, the "corrected transport information" in S19 may be read as "composite transport information" if S18 has not passed through S18, and "basic transport information" if S18 did not pass through. You should read it.
　［適切な搬送移動装置の選択］
　図５、６に基づいて、適切な搬送移動装置を選択するステップ（図４におけるＳ１２）の、処理の一例を説明する。図５は、このような処理の一例を表すフロー図であり、図６は、このような処理を具体的な場面に当て嵌めた図である。 [Selection of appropriate transfer device]
An example of the process of the step (S12 in FIG. 4) of selecting an appropriate transport moving device will be described based on FIGS. FIG. 5 is a flow chart showing an example of such processing, and FIG. 6 is a diagram in which such processing is applied to a specific scene.
　以下に説明するのは、「基本搬送情報に基づく搬送作業に、最も早く着手できる搬送移動装置（具体的には、搬送対象物の積み上げ位置である第１位置に最も早く到達できる搬送移動装置）」を選択するためのフローである。しかし、「適切な搬送移動装置」は、他の基準で選択することもできる（〔課題を解決するための手段〕の記載を参照）。このような場合も、以下の説明に準じて、適切は搬送移動装置を選択することができる。 What will be described below is "a transfer/movement device that can start a transfer operation based on basic transfer information earliest (specifically, a transfer/movement device that can reach the first position, which is the stacking position of objects to be transferred earliest). Is a flow for selecting "." However, the “suitable transfer/moving device” can be selected based on other criteria (see the description in [Means for Solving the Problems]). Even in such a case, the transport moving device can be appropriately selected according to the following description.
　（Ｓ１２１）
　Ｓ１２１において、搬送状態情報取得部１１０は、搬送移動装置４の状態を示す搬送状態情報２０２を取得する。搬送状態情報２０２は、例えば、搬送移動装置４との間で通信を行うことによって取得することができる。 (S121)
In S121, the transport state information acquisition unit 110 acquires the transport state information 202 indicating the state of the transport moving device 4. The transport state information 202 can be acquired, for example, by communicating with the transport moving device 4.
　（Ｓ１２２）
　Ｓ１２２において、第１算出部１０２は、ある搬送移動装置４を選択し、当該搬送移動装置４が搬送作業を実行中か否かを判定する。搬送移動装置４が搬送作業の実行中か否かは搬送状態情報２０２に含まれうるので、第１算出部１０２は、搬送状態情報２０２を参照してこの判定を行ってもよい。判定結果がＹＥＳならばＳ１２３に移行し、ＮＯならばＳ１２４に移行する。 (S122)
In S122, the first calculation unit 102 selects a certain transport moving device 4 and determines whether the transport moving device 4 is performing a transport operation. Since the transport state information 202 may include whether or not the transport moving device 4 is performing the transport operation, the first calculator 102 may make this determination by referring to the transport state information 202. If the determination result is YES, the process proceeds to S123, and if the determination result is NO, the process proceeds to S124.
　（Ｓ１２３）
　Ｓ１２３において、第１算出部１０２は、Ｓ１２２において選択した搬送移動装置４が、現在の位置から第１位置まで移動するまでの所要時間を推定する。搬送移動装置４の位置は搬送状態情報２０２に含まれうるので、第１算出部１０２は、搬送状態情報２０２を参照してこの判定を行ってもよい。 (S123)
In S123, the first calculating unit 102 estimates the time required for the transport moving device 4 selected in S122 to move from the current position to the first position. Since the position of the transport moving device 4 can be included in the transport state information 202, the first calculator 102 may make this determination by referring to the transport state information 202.
　（Ｓ１２４）
　Ｓ１２３において、第１算出部１０２は、Ｓ１２２において選択した搬送移動装置４が実行中の搬送作業を、終了させるまでの所要時間を推定する。この推定は、搬送状態情報２０２に基づいて行うことができる。 (S124)
In S123, the first calculation unit 102 estimates the time required to complete the transfer work being executed by the transfer/moving device 4 selected in S122. This estimation can be performed based on the transport state information 202.
　（Ｓ１２５）
　Ｓ１２５において、第１算出部１０２は、Ｓ１２２において選択した搬送移動装置４が、実行中の搬送作業の終了地点から第１位置に移動するまでの所要時間を推定する。この推定も、搬送状態情報２０２に基づいて行うことができる。 (S125)
In S125, the first calculation unit 102 estimates the time required for the transporting and moving device 4 selected in S122 to move from the end point of the transporting work being executed to the first position. This estimation can also be performed based on the transport state information 202.
　（Ｓ１２６）
　Ｓ１２６において、第１算出部１０２は、Ｓ１２２において選択した搬送移動装置４が第１位置に到達するまでの所要時間を算出する。この所要時間は、Ｓ１２３を経由した場合（すなわち、Ｓ１２２で選択した搬送移動装置４が搬送作業を実行中でない場合）は、搬送移動装置４が第１位置に移動するまでの所要時間である。一方、Ｓ１２４およびＳ１２５を経由した場合（すなわち、Ｓ１２２で選択した搬送移動装置４が搬送作業を実行中である場合）は、搬送移動装置４が実行中の搬送作業を終了させ、さらに当該搬送作業が終了した位置から第１位置に移動するまでの所要時間である。 (S126)
In S126, the first calculator 102 calculates the time required for the transporting and moving device 4 selected in S122 to reach the first position. This required time is the required time until the transport moving device 4 moves to the first position when the transport moving device 4 selected in S122 is being executed (that is, when the transport moving device 4 selected in S122 is not performing the transport work). On the other hand, in the case of passing through S124 and S125 (that is, when the transfer/movement device 4 selected in S122 is performing the transfer work), the transfer/movement device 4 ends the transfer work in progress, and further the transfer work is performed. This is the time required to move from the completed position to the first position.
　（Ｓ１２７）
　Ｓ１２７において、第１算出部１０２は、全ての搬送移動装置４について第１位置に到達するまでの所要時間を算出したか否かを判定する。判定がＹＥＳならばＳ１２８に移行する。判定がＮＯならばＳ１２２に移行し、Ｓ１２６までのステップを繰返すことによって、他の搬送移動装置４についても第１位置に到達するまでの所要時間を算出する。 (S127)
In S127, the first calculation unit 102 determines whether or not the required time to reach the first position has been calculated for all the transport moving apparatuses 4. If the determination is YES, the process proceeds to S128. If the determination is NO, the process proceeds to S122 and the steps up to S126 are repeated to calculate the time required for the other transport moving devices 4 to reach the first position.
　（Ｓ１２８）
　Ｓ１２８において、第１算出部は、第１位置に到達するのが最も早い搬送移動装置４を選択する。Ｓ１２２～Ｓ１２６を繰返すことによって、全ての搬送移動装置４について第１位置に到達するまでの所要時間が算出されているから、この中から最も所要時間の短い搬送移動装置４を選択すればよい。 (S128)
In S128, the first calculation unit selects the transport moving device 4 that reaches the first position earliest. By repeating S122 to S126, the required time to reach the first position has been calculated for all of the transfer/moving apparatuses 4, and therefore the transfer/moving apparatus 4 with the shortest required time may be selected from among these.
　［適切な搬送移動装置の選択の具体例］
　図６に基づいて、前述したフローをより具体的に説明する。図６の（ａ）はある時点における搬送移動装置の位置を表す模式図であり、（ｂ）は（ａ）に示された時点における、搬送移動装置（１）～（４）の搬送状態を表す表である。 [Specific example of selection of appropriate transport moving device]
The above-described flow will be described more specifically based on FIG. 6. 6A is a schematic diagram showing the position of the transfer/moving device at a certain time point, and FIG. 6B shows the transfer state of the transfer/moving devices (1) to (4) at the time shown in FIG. 6A. It is a table showing.
　（ａ）の模式図中、搬送移動装置は、破線上を移動することができる。搬送移動装置は、ある格子点から隣接する格子点まで（１ブロック）移動するのに、１分間を要する。黒い四角は配置区画を表し、ここに各種の搬送対象物が配置されている。 In the schematic diagram of (a), the transfer moving device can move on the broken line. It takes one minute for the transport moving device to move from one grid point to an adjacent grid point (one block). A black square represents an arrangement section, in which various objects to be conveyed are arranged.
　（ｂ）の表によると、搬送移動装置（１）は、PickUp Aで積み上げた搬送対象物を、Goal Aに搬送中である。Goal Aは搬送移動装置（１）の現在位置から１ブロック離れているので、搬送作業は１分後に終了する見込みである。同様に、搬送移動装置（２）は、PickUp Bで積み上げた搬送対象物を、Goal Bに搬送中であり、１分後に搬送作業が終了する見込みである。搬送移動装置（３）は、PickUp Cで積み上げた搬送対象物を、Goal Cに搬送中であり、３分後に搬送作業が終了する見込みである。搬送移動装置（４）は、現在搬送作業を行っておらず、待機中である。 According to the table in (b), the transfer device (1) is transferring the objects to be transferred that have been stacked by PickUpA to GoalA. Since Goal-A is one block away from the current position of the transfer device (1), the transfer work is expected to be completed in 1 minute. Similarly, the transport moving device (2) is transporting the transport objects stacked by PickUpB to GoalB, and the transport operation is expected to be completed in 1 minute. The transfer device (3) is transferring the objects to be transferred that have been stacked by PickUpC to GoalC, and the transfer operation is expected to be completed after 3 minutes. The transfer device (4) is not currently performing a transfer operation and is on standby.
　ここで、「PickUp Aで積み上げた搬送対象物を、Goal Aに搬送する」という新規な基本搬送情報が受け付けられたとする。Goal AとPickUp Aとは９ブロック離れているから、この間を移動するために９分間を要する。すなわち、搬送移動装置（１）が現在実行中の搬送作業を終了させ、PickUp Aに到達するまでには、１０分間を要する。同様に、PickUp Aに到達するまでに、搬送移動装置（２）は１２分間、搬送移動装置（３）は１５分間、搬送移動装置（４）は１１分間を要する。したがって、図６に示される状況の下では、第１算出部１０２は、搬送移動装置（１）を適切な搬送移動装置として選択する。 Here, it is assumed that the new basic transport information "transport the objects stacked by PickUp A to Goal A" has been received. Goal A and Pick Up A are 9 blocks apart, so it takes 9 minutes to move between them. That is, it takes 10 minutes for the transfer moving device (1) to finish the transfer operation currently being executed and reach PickUpA. Similarly, it takes 12 minutes for the transfer moving device (2), 15 minutes for the transfer moving device (3), and 11 minutes for the transfer moving device (4) before reaching PickUp A. Therefore, under the situation shown in FIG. 6, the first calculating unit 102 selects the transport moving device (1) as an appropriate transport moving device.
　［搬送作業の開始以降］
　図７に基づいて、搬送情報生成装置１が、合成搬送情報を搬送移動装置管理装置３に出力した後の処理例を説明する。なお、［対象物指示情報の入力から修正搬送情報の送信まで］の項目で説明した通り、図７における「合成搬送情報」の表記は、適宜「基本搬送情報」または「修正搬送情報」と読み換えることができる。 [After the start of transfer work]
An example of processing after the transport information generation device 1 outputs the combined transport information to the transport moving device management device 3 will be described with reference to FIG. 7. In addition, as described in the item from [Input of object instruction information to transmission of correction conveyance information], the notation of “composite conveyance information” in FIG. 7 is read as “basic conveyance information” or “correction conveyance information” as appropriate. Can be exchanged.
　（Ｓ２０）
　Ｓ２０において、搬送移動装置制御部４１は、搬送移動装置管理装置３から合成搬送情報を受信し、搬送移動装置４に当該合成搬送情報に基づく搬送作業を開始させる。 (S20)
In S20, the transfer/movement device control unit 41 receives the combined transfer information from the transfer/transfer device management device 3, and causes the transfer/transfer device 4 to start the transfer operation based on the combined transfer information.
　（Ｓ２１）
　Ｓ２１において、搬送移動装置制御部４１は、搬送経路上の障害物の有無を判定する。この判定は、例えば、搬送移動装置４に搭載されている撮像装置や接近センサからの情報を参照して行うことができる。判定がＹＥＳならばＳ２２に移行し、ＮＯならばＳ２６に移行する。 (S21)
In S21, the transfer/movement device control unit 41 determines whether or not there is an obstacle on the transfer route. This determination can be performed, for example, by referring to the information from the imaging device or the proximity sensor mounted on the transport/moving device 4. If the determination is YES, the process proceeds to S22, and if the determination is NO, the process proceeds to S26.
　ここで、Ｓ２１における判定がＹＥＳであるということは、「搬送移動装置４の搬送経路上に、搬送情報生成装置１が合成搬送情報を生成する時点では想定されていなかった障害物が存在する」ということである。つまり、Ｓ２３～Ｓ２５のステップは、想定外の障害物に対処する動作ということになる。 Here, the determination in S21 is YES, "there is an obstacle on the transport path of the transport moving device 4 that was not supposed at the time when the transport information generating device 1 generates the combined transport information". That's what it means. That is, the steps S23 to S25 are operations for dealing with an unexpected obstacle.
　（Ｓ２２）
　Ｓ２２において、搬送移動装置制御部４１は、障害物が人であるか物であるかを判定する。この判定は、例えば、撮像装置の取得した画像を分析することにより行うことができる。あるいは、作業者や貨物に識別子を格納したＲＦＩＤタグを貼付し、通信により当該識別子を読み取ることによって行うこともできる。障害物が人である場合はＳ２３に移行し、物である場合はＳ２５に移行する。 (S22)
In S22, the transfer/moving device controller 41 determines whether the obstacle is a person or an object. This determination can be performed, for example, by analyzing the image acquired by the imaging device. Alternatively, it can be performed by attaching an RFID tag storing an identifier to a worker or a cargo and reading the identifier through communication. If the obstacle is a person, the process proceeds to S23, and if it is an object, the process proceeds to S25.
　（Ｓ２３）
　Ｓ２３において、搬送移動装置制御部４１は、搬送対象物の優先度が高いか否かを判定する。搬送対象物の優先度は合成搬送情報に含まれうるので、搬送移動装置制御部４１は、合成搬送情報を参照してこの判定を行ってもよい。優先度が高い場合はＳ２４に移行し、優先度が低い場合はＳ２５に移行する。 (S23)
In S23, the transfer/movement device controller 41 determines whether or not the priority of the transfer target is high. Since the priority of the object to be conveyed can be included in the combined conveyance information, the conveyance movement device control unit 41 may make this determination by referring to the combined conveyance information. If the priority is high, the process proceeds to S24, and if the priority is low, the process proceeds to S25.
　（Ｓ２４）
　Ｓ２４において、搬送移動装置制御部４１は、障害物となっている人に対して、移動を促す旨の警告を発する。例えば、報知部（不図示）を介して、「通路を空けてください」という内容の音声を発する。障害物となっている人は、この指示に従って移動するので、搬送移動装置４の搬送経路上に障害物がある状態は解消されたことになる。 (S24)
In S24, the transfer/moving device controller 41 issues a warning to the person who is an obstacle to move. For example, a voice message "please clear the passage" is issued via a notification unit (not shown). Since the person who is the obstacle moves according to this instruction, the state in which the obstacle is on the transport path of the transport moving device 4 has been eliminated.
　（Ｓ２５）
　Ｓ２５において、搬送移動装置制御部４１は、合成搬送指示を搬送情報生成装置１にフィードバックする。フィードバックされた合成搬送指示は、搬送情報生成装置制御部１０によって（例えば、第３算出部１０８によって）修正され、修正搬送情報が生成される。具体的には、障害物によって移動できない位置を通らないように、搬送経路が変更される。修正搬送情報は、搬送移動装置管理装置３を介して再び搬送移動装置制御部４１に送られ、搬送移動装置制御部４１は、当該修正搬送指示に基づいた搬送作業を搬送移動装置４に実行させる。 (S25)
In S25, the transfer/moving device control unit 41 feeds back the combined transfer instruction to the transfer information generating device 1. The fed-back combined conveyance instruction is corrected by the conveyance information generation device control unit 10 (for example, by the third calculation unit 108), and corrected conveyance information is generated. Specifically, the transport route is changed so as not to pass through a position that cannot be moved due to an obstacle. The corrected transfer information is sent again to the transfer/moving device controller 41 via the transfer/moving device management device 3, and the transfer/moving device controller 41 causes the transfer/moving device 4 to execute the transfer operation based on the corrected transfer instruction. ..
　（Ｓ２６）
　Ｓ２６において、搬送移動装置４の搬送作業が完了する。すなわち、合成搬送情報に含まれる積み上げ作業および積み下ろし作業が、すべて完了する。 (S26)
In S26, the transfer operation of the transfer/movement device 4 is completed. That is, the stacking work and the unloading work included in the combined transport information are all completed.
　（Ｓ２７）
　Ｓ２７において、搬送情報生成装置制御部１０は、配置情報２０１および搬送状態情報２０２を更新し、記憶部２０に格納する。その結果、例えば、配置情報２０１に含まれる搬送対象物の位置および個数に関する情報は、搬送作業の結果を反映したものとなる。あるいは、例えば、搬送状態情報２０２に含まれる搬送移動装置４の位置およびステータス（搬送作業を実行中であるか否か）も、搬送作業の終了時のものに更新される。 (S27)
In S<b>27, the conveyance information generation device control unit 10 updates the arrangement information 201 and the conveyance state information 202 and stores them in the storage unit 20. As a result, for example, the information on the position and the number of the objects to be transferred, which is included in the arrangement information 201, reflects the result of the transfer operation. Alternatively, for example, the position and the status (whether or not the carrying work is being executed) of the carrying moving device 4 included in the carrying state information 202 are also updated to those at the end of the carrying work.
　（Ｓ２８）
　Ｓ２８において、搬送情報生成装置制御部１０は、搬送移動装置４の搬送作業の履歴を取得する。さらに搬送情報生成装置制御部１０は、今回の搬送作業によって得られた搬送作業の履歴を、これまでに蓄積されてきた搬送作業の履歴に追加し、更新する。具体例を挙げると、搬送移動装置４の今回の搬送作業に伴う、「位置Ａにおいて渋滞が発生した」「位置Ｂにおいて障害物が存在した」などの搬送作業の履歴が、これまでに蓄積されてきた搬送作業の履歴に追加される。 (S28)
In S28, the transfer information generation device control unit 10 acquires the history of the transfer work of the transfer moving device 4. Further, the transfer information generation device control unit 10 adds the history of the transfer work obtained by the current transfer work to the history of the transfer work accumulated so far and updates it. To give a specific example, the history of the transport work such as “a traffic jam has occurred at the position A” and “an obstacle exists at the position B” accompanying the current transport work of the transport/moving device 4 has been accumulated so far. It is added to the history of the transfer work.
　なお、Ｓ２８が実行されるタイミングは、図７に示すものに限らない。つまり、「搬送作業の履歴の取得」および「搬送作業履歴の更新」は、搬送作業の終了時点に行われるとは限らない。例えば、合成搬送情報のフィードバックを行うと同時に（つまりＳ２５と同時に）、前記の処理を行ってもよい。 The timing at which S28 is executed is not limited to that shown in FIG. That is, the “acquisition of the history of the transfer work” and the “update of the transfer work history” are not always performed at the end of the transfer work. For example, the above processing may be performed at the same time as the feedback of the combined transport information is performed (that is, at the same time as S25).
　〔ソフトウェアによる実現例〕
　搬送情報生成装置１の制御ブロック（特に搬送情報生成装置制御部１０、第１入力部１０１、第１算出部１０２、第１出力部１０３、第２入力部１０４、第２算出部１０５、第２出力部１０６、第３入力部１０７、第３算出部１０８、第３出力部１０９、搬送状態情報取得部１１０）は、集積回路（ＩＣチップ）等に形成された論理回路（ハードウェア）によって実現してもよいし、ソフトウェアによって実現してもよい。 [Example of software implementation]
The control block of the transport information generation device 1 (particularly the transport information generation device control unit 10, the first input unit 101, the first calculation unit 102, the first output unit 103, the second input unit 104, the second calculation unit 105, the second). The output unit 106, the third input unit 107, the third calculation unit 108, the third output unit 109, and the transportation state information acquisition unit 110) are realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. It may be realized by software.
　後者の場合、搬送情報生成装置１は、各機能を実現するソフトウェアであるプログラムの命令を実行するコンピュータを備えている。このコンピュータは、例えば１つ以上のプロセッサを備えているとともに、前記プログラムを記憶したコンピュータ読み取り可能な記録媒体を備えている。そして、前記コンピュータにおいて、前記プロセッサが前記プログラムを前記記録媒体から読み取って実行することにより、本発明の目的が達成される。前記プロセッサとしては、例えばＣＰＵ（Central Processing Unit）を用いることができる。前記記録媒体としては、「一時的でない有形の媒体」、例えば、ＲＯＭ（Read Only Memory）などの他、テープ、ディスク、カード、半導体メモリ、プログラマブルな論理回路などを用いることができる。また、前記プログラムを展開するＲＡＭ（Random Access Memory）などをさらに備えていてもよい。また、前記プログラムは、当該プログラムを伝送可能な任意の伝送媒体（通信ネットワークや放送波など）を介して、前記コンピュータに供給されてもよい。なお、本発明の一態様は、前記プログラムが電子的な伝送によって具現化された、搬送波に埋め込まれたデータ信号の形態でも実現されうる。 In the latter case, the transport information generation device 1 is equipped with a computer that executes the instructions of a program that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes the program to achieve the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-transitory tangible medium" such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the program may be further provided. Further, the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, or the like) capable of transmitting the program. Note that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.
　〔まとめ〕
　本発明の一態様に係る搬送情報生成装置は、（i）搬送移動装置が搬送対象物を積み込む第１位置、および、当該搬送対象物を積み下ろす第２位置の情報を含む搬送経路を示す基本搬送情報の入力を受け付ける第１入力部と、（ii）前記第１入力部によって受け付けられた複数の前記基本搬送情報に示される搬送作業を、１台の前記搬送移動装置によって実現する搬送経路を示す合成搬送情報を生成する第１算出部と、（iii）前記合成搬送情報を、前記搬送移動装置の搬送移動を制御する搬送移動装置管理装置に出力する出力部と、を備える。 [Summary]
A transport information generating apparatus according to one aspect of the present invention is a basic indicating a transport route including (i) information of a first position where a transport moving apparatus loads a transport target object and a second position where the transport target object loads and unloads the transport target object. A first input unit that receives an input of transfer information; and (ii) a transfer route that realizes the transfer work indicated by the plurality of basic transfer information received by the first input unit by one transfer moving device. A first calculation unit that generates the combined transport information shown, and (iii) an output unit that outputs the combined transport information to a transport moving device management device that controls the transport movement of the transport moving device.
　本発明の一態様に係る搬送システムは、搬送移動装置、搬送移動装置管理装置、および搬送情報生成装置を含んでいる搬送システムであって；前記搬送情報生成装置は、（i）搬送移動装置が搬送対象物を積み込む第１位置、および、当該搬送対象物を積み下ろす第２位置の情報を含む搬送経路を示す基本搬送情報の入力を受け付ける第１入力部と、（ii）前記第１入力部によって受け付けられた複数の前記基本搬送情報に示される搬送作業を、１台の前記搬送移動装置によって実現する搬送経路を示す合成搬送情報を生成する第１算出部と、（iii）前記合成搬送情報を、前記搬送移動装置管理装置に出力する出力部と、を備えており；前記搬送移動装置は、搬送移動装置制御部を備えており；前記搬送移動装置制御部は、前記搬送移動装置管理装置から前記合成搬送情報を受け取り、当該合成搬送情報に基づいて前記搬送移動装置に搬送作業を実行させる。 A transport system according to an aspect of the present invention is a transport system including a transport moving device, a transport moving device management device, and a transport information generating device; A first input unit that receives input of basic transport information indicating a transport route including information on a first position for loading the transport target and a second position for loading the transport target; and (ii) the first input unit A first calculation unit that generates combined conveyance information indicating a conveyance path for realizing the conveyance work indicated by the plurality of basic conveyance information received by the one conveyance movement device; and (iii) the combined conveyance information. And an output unit that outputs to the transport moving device management device; the transport moving device includes a transport moving device control unit; and the transport moving device control unit includes the transport moving device management device. The composite transport information is received from and the transport operation device is caused to perform the transport operation based on the composite transport information.
　本発明の一態様に係る搬送情報生成装置の制御方法は、（i）搬送移動装置が搬送対象物を積み込む第１位置、および、当該搬送対象物を積み下ろす第２位置の情報を含む搬送経路を示す基本搬送情報の入力を受け付ける第１入力ステップと、（ii）前記第１入力ステップによって受け付けられた複数の前記基本搬送情報に示される搬送作業を、１台の前記搬送移動装置によって実現する搬送経路を示す合成搬送情報を生成する第１算出ステップと、（iii）前記合成搬送情報を、前記搬送移動装置の搬送移動を制御する搬送移動装置管理装置に出力する出力ステップと、を含む。 A control method for a transfer information generating device according to an aspect of the present invention is (i) a transfer route including information on a first position at which a transfer moving device loads a transfer target and a second position at which the transfer target loads and unloads the transfer target. A second input step of accepting an input of basic transport information indicating (1), and (ii) the transport work indicated by the plurality of basic transport information accepted by the first input step is realized by one transport moving device. The method includes a first calculation step of generating combined conveyance information indicating a conveyance path, and (iii) an output step of outputting the combined conveyance information to a conveyance movement device management device that controls conveyance movement of the conveyance movement device.
　前記の構成によれば、前記搬送情報生成装置は、複数の基本搬送情報に基づいて合成搬送情報を生成することができる。そして、搬送移動装置は、合成搬送情報に基づいて搬送作業を実行することができる。搬送移動装置による搬送作業は、個々の基本搬送情報に基づくものよりも、合成搬送情報に基づくものの方が効率的である。したがって、前記搬送情報生成装置および前記搬送システムは、搬送移動装置による搬送の効率を向上させることができる。 According to the above configuration, the transfer information generation device can generate combined transfer information based on a plurality of basic transfer information. Then, the transfer/movement device can perform the transfer operation based on the combined transfer information. The carrying operation by the carrying/moving device is more efficient based on the combined carrying information than on the basis of individual basic carrying information. Therefore, the transfer information generating device and the transfer system can improve the transfer efficiency of the transfer moving device.
　「基本搬送情報」とは、搬送対象物の搬送経路を示す情報である。この搬送経路には、（i）搬送移動装置が搬送対象物を積み込む第１位置と、（ii）当該搬送対象物を積み下ろす第２位置とが含まれている。一実施形態において、基本搬送情報は、１種類の搬送対象物を、第１位置から第２位置まで搬送するという内容であってもよい。例えば、基本搬送情報は、「位置Ａで貨物Ｘを積み上げ、経路Ｒを経由して、位置Ｂで貨物Ｘを積み下ろす」という内容のものである。他の実施形態において、基本搬送情報の搬送対象物、積み上げ位置または積み下ろし位置は、異なる複数のものであってもよい。例えば、基本搬送情報は、「位置Ａで貨物Ｘを積み上げ、経路Ｒ１を経由し、位置Ｂで貨物Ｙを積み上げ、経路Ｒ２を経由して、位置Ｃで貨物Ｘおよび貨物Ｙを積み下ろす」という内容であってもよい。 "Basic transport information" is information indicating the transport route of the transport target object. The transport path includes (i) a first position where the transport moving device loads the transport target and (ii) a second position where the transport target is unloaded. In one embodiment, the basic transport information may have the content of transporting one type of transport target object from the first position to the second position. For example, the basic transport information has the content of “loading the cargo X at the position A, unloading the cargo X at the position B via the route R”. In another embodiment, the conveyance target, the stacking position, or the unloading position of the basic conveyance information may be different from each other. For example, the basic transport information is that "cargo X is stacked at position A, route R1 is passed, cargo Y is stacked at position B, route X is loaded, and cargo X and cargo Y are unloaded at position C". It may be the content.
　このほか、基本搬送情報には、搬送する貨物の数、搬送の優先度などの情報が含まれていてもよい。 In addition to this, the basic transport information may include information such as the number of cargoes to be transported and the priority of transportation.
　「合成搬送情報」とは、複数の基本搬送情報に基づいて生成される、搬送対象物の搬送経路を示す情報である。合成搬送情報に基づく搬送作業は、１台の搬送移動装置によって実現可能である。一例において、合成搬送情報は、「位置Ａで貨物Ｘを積み上げ、経路Ｒ１を経由し、位置Ｂで貨物Ｙを積み上げ、経路Ｒ２を経由し、位置Ｃで貨物Ｘを積み下ろし、経路Ｒ３を経由して、位置Ｄで貨物Ｙを積み下ろす」という内容のものである。 “Composite transport information” is information that is generated based on a plurality of basic transport information and that indicates the transport route of the transport target object. The transfer operation based on the combined transfer information can be realized by one transfer moving device. In one example, the composite transportation information is “the cargo X is stacked at the position A, routed through the route R1, the cargo Y is stacked at the position B, routed through the route R2, the cargo X is unloaded at the position C, and routed through the route R3. Then, the cargo Y is unloaded at the position D”.
　基となる基本搬送情報によっては、合成搬送情報は、同じ位置において、異なる種類の搬送対象物の積み上げまたは積み下ろしを行う内容でありうる。あるいは、合成搬送情報は、異なる位置において、同じ種類の搬送対象物の積み上げまたは積み下ろしを行う内容でありうる。 ㆍDepending on the basic basic transport information, the composite transport information may have the content of stacking or unloading different types of transport targets at the same position. Alternatively, the combined transportation information may be content for stacking or unloading the same type of transportation target objects at different positions.
　「搬送の効率を向上させる」とは、複数の基本搬送情報のそれぞれに基づく搬送作業を実行するよりも、当該複数の基本搬送情報に基づいて生成された合成搬送情報に基づく搬送作業を実行したことにより、何らかの利点が生じることを意味する。このような利点の例としては、搬送作業の所要時間が短縮される、搬送移動装置の移動距離が短縮される、搬送システムの運用に必要な搬送移動装置の数を削減できる、などが挙げられる。 “Improving the efficiency of transportation” means performing the transportation operation based on the combined transportation information generated based on the plurality of basic transportation information, rather than performing the transportation operation based on each of the plurality of basic transportation information. It means that some advantage is brought about. Examples of such advantages include shortening the time required for carrying work, shortening the moving distance of the carrying moving device, and reducing the number of carrying moving devices required for operating the carrying system. ..
　一実施形態において、前記第１算出部は、前記搬送移動装置が移動可能な経路の配置情報を参照し、前記合成搬送情報を生成する。 In one embodiment, the first calculation unit refers to arrangement information of a route on which the transport moving device can move, and generates the combined transport information.
　前記の構成によれば、例えば、合成搬送情報の搬送経路を、搬送移動装置の移動が可能な経路から構成させることができる。より具体的な例を挙げると、前記の構成によれば、搬送移動装置が移動できない障害物を避けた搬送経路となるように、合成搬送情報を生成することができる。また、移動可能な経路が異なる複数種類の搬送移動装置を管理している場合には、当該搬送移動装置の種類に応じた合成搬送情報を生成することもできる。例えば、床面を走行する搬送移動装置と、空中を飛行する搬送移動装置とのそれぞれが移動可能な搬送経路を選択して、合成搬送情報を生成することができる。 According to the above configuration, for example, the transport route of the composite transport information can be configured by a route in which the transport moving device can move. As a more specific example, according to the above configuration, the combined transport information can be generated so that the transport route avoids an obstacle that the transport moving device cannot move. In addition, when managing a plurality of types of transport moving apparatuses having different movable routes, it is possible to generate combined transport information according to the type of the transport moving apparatus. For example, the composite transport information can be generated by selecting a transport path on which each of the transport moving device traveling on the floor and the transport moving device flying in the air can move.
　ここで、「配置情報」とは、搬送移動装置が移動する場に存在する、種々の物の配置を示す情報である。配置情報には、例えば、搬送対象物の配置、通路の配置、障害物の配置などが含まれる。また、配置情報に、配置されている搬送対象物の個数や、通路の通行の可否などの情報を含めてもよい。 Here, the “arrangement information” is information indicating the arrangement of various objects existing in the place where the transfer/movement device moves. The placement information includes, for example, placement of objects to be transported, placement of passages, placement of obstacles, and the like. Further, the placement information may include information such as the number of objects to be transported that are placed and whether or not a passage can be passed.
　一実施形態において、前記搬送情報生成装置では、前記第１算出部は、少なくとも一部の搬送経路が共通している複数の前記基本搬送情報に基づいて前記合成搬送情報を生成する。 In one embodiment, in the transportation information generation device, the first calculation unit generates the combined transportation information based on a plurality of the basic transportation information having at least some transportation routes in common.
　前記の構成によれば、合成搬送情報の搬送経路の移動距離が、基本搬送情報の搬送経路の移動距離を合計したものよりも短くなる。すなわち、搬送作業に要する総移動距離が短縮され、搬送の効率が向上する。これは、合成搬送情報に基づいて搬送作業を行う場合は、個々の基本搬送情報の搬送経路のうち共通する部分を移動する回数が少なくて済むからである。例えば、合成搬送情報の搬送経路は、個々の基本搬送情報の搬送経路のうち共通する部分を１回移動するだけでよい。 According to the above configuration, the moving distance of the transfer route of the combined transfer information is shorter than the sum of the moving distances of the transfer routes of the basic transfer information. That is, the total moving distance required for the carrying work is shortened, and the carrying efficiency is improved. This is because, when carrying out the carrying work based on the combined carrying information, the number of times of moving the common part of the carrying paths of the respective basic carrying information can be small. For example, the transport route of the combined transport information needs to be moved only once in the common portion of the transport routes of the individual basic transport information.
　一実施形態において、前記搬送情報生成装置は、前記搬送移動装置の搬送状態を示す搬送状態情報を取得する搬送状態情報取得部をさらに備え；前記第１算出部は、前記搬送状態情報取得部が取得した前記搬送状態情報を参照し、前記合成搬送情報を生成する。 In one embodiment, the transportation information generation device further includes a transportation state information acquisition unit that acquires transportation state information indicating a transportation state of the transportation device; the first calculation unit is configured such that the transportation state information acquisition unit is The composite transportation information is generated by referring to the acquired transportation state information.
　前記の構成によれば、搬送情報生成装置は、搬送移動装置の搬送状態に基づいて合成搬送情報を生成することができる。例えば、合成搬送情報における複数の積み上げ位置のうち、最も搬送移動装置に近いものを、最初の積み上げ位置とすることができる。このため、搬送移動装置による搬送の効率をより向上させることができる。 According to the above configuration, the transfer information generating device can generate the combined transfer information based on the transfer state of the transfer moving device. For example, of the plurality of stacking positions in the combined transport information, the stacking position closest to the transport moving device can be the first stacking position. For this reason, it is possible to further improve the efficiency of transportation by the transportation device.
　ここで、「搬送状態情報」とは、搬送移動装置の状態を示す情報である。搬送情報の例としては、搬送移動装置の位置、搬送移動装置が搬送作業中であるか否か、などが挙げられる。 Here, the "transport status information" is information indicating the status of the transport moving device. Examples of the transfer information include the position of the transfer moving device, whether the transfer moving device is performing a transfer operation, and the like.
　一実施形態において、前記搬送情報生成装置では、前記搬送状態情報取得部は、複数の前記搬送移動装置の搬送状態情報を取得し；さらに、前記第１算出部は、複数の前記搬送移動装置の搬送状態情報を参照して、前記合成搬送情報による搬送作業を行う前記搬送移動装置を選択する。 In one embodiment, in the transfer information generation device, the transfer state information acquisition unit acquires transfer state information of a plurality of the transfer moving devices; With reference to the transport state information, the transport moving device that performs the transport operation based on the combined transport information is selected.
　前記の構成によれば、搬送情報生成装置は、複数の搬送移動装置の中から、合成搬送情報に基づく搬送作業を実行させるのに適した搬送移動装置を選択することができる。このような搬送移動装置の例としては、（i）基本搬送情報または合成搬送情報に基づく搬送作業に、最も早く着手できる搬送移動装置、（ii）合成搬送情報に基づく搬送作業を、最も早く完了させられる搬送移動装置、（iii）合成搬送情報に基づく搬送作業を実行するための総移動距離が、最も短い搬送移動装置、などが挙げられる。 According to the above configuration, the transfer information generation device can select a transfer transfer device suitable for executing the transfer operation based on the combined transfer information from the plurality of transfer transfer devices. Examples of such a transporting/moving device include (i) a transporting/moving device that can start the transporting work based on the basic transporting information or the combined transporting information, and (ii) a transporting work based on the combined transporting information that can be completed earliest. Examples of the transfer moving device include: (iii) a transfer moving device having the shortest total moving distance for executing the transfer operation based on the combined transfer information.
　一実施形態において、前記搬送情報生成装置では、前記第１算出部は、前記搬送移動装置における前記搬送対象物の積載能力情報を参照し、前記合成搬送情報を生成する。 In one embodiment, in the transfer information generation device, the first calculation unit refers to load capacity information of the transfer target in the transfer movement device and generates the combined transfer information.
　前記の構成によれば、搬送情報生成装置は、例えば、搬送対象物の合計が搬送移動装置の積載可能量の範囲内となるように、合成搬送情報を生成することができる。つまり、搬送移動装置に実現可能な合成搬送情報を、より確実に生成することができる。 According to the above configuration, the transfer information generation device can generate the combined transfer information so that the total of the transfer target objects falls within the range of the load capacity of the transfer moving device, for example. That is, the combined transfer information that can be realized by the transfer device can be generated more reliably.
　ここで、「積載能力情報」とは、搬送移動装置の積載能力に関する情報のことである。積載能力情報の例としては、搬送移動装置の最大積載量、現時点における搬送移動装置の積載量、現時点における搬送移動装置の積載量の残り、などが挙げられる。搬送移動装置の積載量は、例えば、搬送対象物の重量を実際に測定することによって取得してもよいし、搬送対象物に関連付けられた重量情報を参照することによって取得してもよい。 Here, the "loading capacity information" is information on the loading capacity of the transfer device. Examples of the load capacity information include the maximum load amount of the transfer moving device, the load amount of the transfer moving device at the present time, and the remaining load amount of the transfer moving device at the present time. The loading amount of the transfer moving device may be acquired by actually measuring the weight of the transfer target, or may be acquired by referring to the weight information associated with the transfer target.
　一実施形態において、前記搬送情報生成装置は、（i）搬送対象物を指示する対象物指示情報の入力を受け付ける第２入力部と、（ii）前記第２入力部によって受け付けられた前記対象物指示情報に基づいて、前記基本搬送情報を生成する第２算出部と、（iii）前記第２算出部によって生成された前記基本搬送情報を前記第１入力部に送信する第２出力部と、をさらに備える。 In one embodiment, the conveyance information generation device includes (i) a second input unit that receives an input of object instruction information that indicates a conveyance target; and (ii) the object that is received by the second input unit. A second calculation unit that generates the basic transport information based on instruction information; and (iii) a second output unit that transmits the basic transport information generated by the second calculation unit to the first input unit, Is further provided.
　前記の構成によれば、搬送情報生成装置は、対象物指示情報に基づいて基本搬送情報を生成することができる。より具体的な例を挙げて説明すると、前記の構成を有する搬送情報生成装置は、「貨物Ｘを位置Ａから位置Ｂに移動させる」という内容の対象物指示情報に基づいて、「位置Ａで貨物Ｘを積み上げ、経路Ｒ１を経由し、位置Ｃで貨物Ｘを積み下ろす」という内容の基本搬送情報を生成することができる。そして、このような基本搬送情報の複数に基づいて、合成搬送情報を生成することができる。つまり、対象物指示情報を入力するだけで、合成搬送情報を出力できるようになる。 According to the above configuration, the transfer information generation device can generate the basic transfer information based on the object instruction information. Explaining with a more specific example, the transport information generating device having the above-described configuration is based on the object instruction information of "moving the cargo X from the position A to the position B" and "at the position A." It is possible to generate basic transport information having a content of "loading the cargo X, passing the route R1, and unloading the cargo X at the position C". Then, the combined transport information can be generated based on a plurality of such basic transport information. In other words, the composite conveyance information can be output only by inputting the object instruction information.
　一実施形態において、前記搬送情報生成装置は、（i）前記合成搬送情報の入力を受け付ける第３入力部と、（ii）前記搬送移動装置による搬送作業が行われる時間帯に基づいて、前記第３入力部によって受け付けられた前記合成搬送情報の修正要否を判定し、修正要の場合に修正搬送情報を生成する第３算出部と、をさらに備え；前記出力部は、前記合成搬送情報に代えて前記修正搬送情報を、前記搬送移動装置の搬送移動を制御する搬送移動装置管理装置に出力する。 In one embodiment, the transportation information generating device is configured to: (i) use a third input unit that receives an input of the combined transportation information; and (ii) perform a transportation operation by the transportation moving device based on the time slot. A third calculation unit that determines whether or not the combined transport information received by the input unit 3 needs to be corrected, and generates corrected transport information if the combined transport information needs to be corrected; Instead, the corrected transport information is output to the transport moving device management device that controls the transport movement of the transport moving device.
　前記の構成によれば、搬送情報生成装置は、搬送作業が実行される時間帯に基づき、必要に応じて合成搬送情報を修正することが可能となる。例えば、「月曜日の午後は、位置Ａにおいて搬送移動装置が渋滞する」、「日曜日には、位置Ｂに仮置きの貨物が置かれるので、通行できない」などの情報に基づいて、合成搬送情報の修正要否が判定される。このような情報は、操作者によって入力されてもよいし、搬送システムを稼働させることによって取得してもよい。また、前述の例から明らかであるように、合成搬送情報の修正要否の判定は、時間帯に加えて搬送経路にも基づくことが好ましい。 According to the above configuration, the transfer information generation device can correct the combined transfer information as needed based on the time zone in which the transfer work is executed. For example, based on information such as "the transportation device is congested at position A on Monday afternoon" and "on Sunday, a temporary cargo is placed at position B, traffic cannot be passed". The necessity of correction is determined. Such information may be input by the operator or may be acquired by operating the transport system. Further, as is clear from the above-described example, it is preferable that the determination as to whether or not the combined transport information needs to be corrected is based on the transport route in addition to the time zone.
　一実施形態において、前記搬送情報生成装置では、前記第３算出部は、前記搬送移動装置による過去の搬送作業の履歴を学習することにより、時間帯に応じた予想搬送時間を算出し、当該予想搬送時間に基づいて修正搬送情報を生成する。 In one embodiment, in the transport information generating device, the third calculating unit calculates an estimated transport time according to a time zone by learning a history of past transport operations performed by the transport moving device, and calculates the estimated transport time. Corrected transportation information is generated based on the transportation time.
　前記の構成によれば、搬送情報生成装置は、時間帯に応じた予想搬送時間を、搬送移動装置による過去の搬送作業の履歴から学習して算出することができる。つまり、搬送システムを稼働させることによって得られる搬送作業の履歴に基づいて、時間帯に応じた予想搬送時間を算出することができる。それゆえ、より正確に予想搬送時間を算出し、より正確に合成搬送情報の修正要否を判定することができる。 According to the above configuration, the transfer information generation device can learn and calculate the expected transfer time according to the time zone from the history of the transfer operation performed by the transfer moving device in the past. That is, it is possible to calculate the expected transport time according to the time zone, based on the history of the transport work obtained by operating the transport system. Therefore, it is possible to more accurately calculate the expected transport time and more accurately determine whether or not to correct the combined transport information.
　一実施形態において、前記搬送システムでは、前記搬送移動装置が前記合成搬送情報に基づく搬送作業を実行中に、当該搬送作業の搬送経路上に障害物が存在した場合：前記搬送移動装置制御部は、前記合成搬送情報を前記搬送情報生成装置にフィードバックし；前記搬送情報生成装置は、前記合成搬送情報を修正した修正搬送情報を生成し、当該修正搬送情報を前記搬送移動装置管理装置に出力し；前記搬送移動装置制御部は、前記搬送移動装置管理装置から前記修正搬送情報を受け取り、当該修正搬送情報に基づいて前記搬送移動装置に搬送作業を実行させる。 In one embodiment, in the transport system, when an obstacle is present on a transport route of the transport work while the transport mobile device is performing the transport work based on the composite transport information: the transport mobile device controller And feeding back the combined transfer information to the transfer information generating device; the transfer information generating device generates corrected transfer information in which the combined transfer information is corrected, and outputs the corrected transfer information to the transfer moving device management device. The transport moving device controller receives the corrected transport information from the transport moving device management device, and causes the transport moving device to perform a transport operation based on the corrected transport information.
　前記の構成によれば、搬送移動装置は、合成搬送情報に含まれる搬送経路上に障害物が存在する場合、搬送情報生成装置に合成搬送情報をフィードバックして、修正搬送情報を受け取ることができる。つまり、合成搬送情報を生成した段階では想定されていなかった障害物がある場合に、修正搬送情報を受け取ることによって、当該障害物を回避する搬送経路にて搬送作業を行うことができる。 According to the above configuration, the transport moving apparatus can receive the corrected transport information by feeding back the synthetic transport information to the transport information generating apparatus when an obstacle exists on the transport path included in the synthetic transport information. .. That is, when there is an obstacle that was not expected at the stage of generating the combined transport information, by receiving the corrected transport information, it is possible to perform the transport work on the transport path that avoids the obstacle.
　一実施形態において、前記搬送システムでは、前記合成搬送情報には優先度が設定されており；前記搬送移動装置が前記合成搬送情報に基づく搬送作業を実行中に、当該搬送作業の搬送経路上に障害物が存在した場合、前記搬送移動装置制御部は、前記優先度に応じて、前記合成搬送情報を前記搬送情報生成装置にフィードバックするか、前記障害物に対して警告を発するか、を選択する。 In one embodiment, in the transfer system, a priority is set in the combined transfer information; on the transfer route of the transfer operation while the transfer moving device is executing the transfer operation based on the combined transfer information. When there is an obstacle, the transfer moving device control unit selects whether to feed back the combined transfer information to the transfer information generating device or issue a warning to the obstacle according to the priority. To do.
　前記の構成によれば、搬送移動装置は、合成搬送情報に含まれている優先度の高低に応じて、合成搬送情報を修正するか（つまり、搬送経路を変更するか）、警告を発するかを選択することができる。例えば、合成搬送情報に含まれている優先度が高く、かつ、警告により障害物を移動させられる場合（障害物が人である場合など）、搬送移動装置は、警告を出して人を移動させることができる。そのため、優先度が高い合成搬送情報を、より迅速に実行することができる。 According to the above configuration, the transport moving device corrects the composite transport information (that is, changes the transport route) or issues a warning according to the priority level included in the composite transport information. Can be selected. For example, when the priority included in the combined transport information is high and the obstacle can be moved by the warning (when the obstacle is a person, for example), the transport moving device issues a warning and moves the person. be able to. Therefore, the combined transport information having a high priority can be executed more quickly.
　なお、前記搬送情報生成装置は、コンピュータによって実現してもよく、この場合には、コンピュータを前記各手段として動作させることにより前記搬送情報生成装置をコンピュータにて実現させる搬送情報生成装置の制御プログラム、およびそれを記録したコンピュータ読み取り可能な記録媒体も、本発明の範疇に含まれる。 The carrier information generating device may be realized by a computer, and in this case, a control program of the carrier information generating device that causes the computer to realize the carrier information generating device by operating the computer as each of the means. , And a computer-readable recording medium recording the same are also included in the scope of the present invention.
　本発明は前述した各実施形態に限定されるものではなく、請求項に示した範囲で種々の変更が可能であり、異なる実施形態にそれぞれ開示された技術的手段を適宜組み合わせて得られる実施形態についても本発明の技術的範囲に含まれる。 The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining the technical means disclosed in the different embodiments Is also included in the technical scope of the present invention.
　　　１　：搬送情報生成装置
　　　４　：搬送移動装置
　　４１　：搬送移動装置制御部
　１０１　：第１入力部
　１０２　：第１算出部
　１０３　：第１出力部（出力部）
　１０４　：第２入力部
　１０５　：第２算出部
　１０６　：第２出力部
　１０７　：第３入力部
　１０８　：第３算出部
　１０９　：第３出力部（出力部）
　１１０　：搬送状態情報取得部
　２０１　：配置情報
　２０２　：搬送状態情報
　２０３　：積載能力情報
１０００　：搬送システム
　Ｓ１５　：第１算出ステップ 1: Transport information generating device 4: Transport moving device 41: Transport moving device control unit 101: First input unit 102: First calculating unit 103: First output unit (output unit)
104: 2nd input part 105: 2nd calculation part 106: 2nd output part 107: 3rd input part 108: 3rd calculation part 109: 3rd output part (output part)
110: Transport state information acquisition unit 201: Arrangement information 202: Transport state information 203: Loading capacity information 1000: Transport system S15: First calculation step

Claims (15)

  1. 　搬送移動装置が搬送対象物を積み込む第１位置、および、当該搬送対象物を積み下ろす第２位置の情報を含む搬送経路を示す基本搬送情報の入力を受け付ける第１入力部と、
    　前記第１入力部によって受け付けられた複数の前記基本搬送情報に示される搬送作業を、１台の前記搬送移動装置によって実現する搬送経路を示す合成搬送情報を生成する第１算出部と、
    　前記合成搬送情報を、前記搬送移動装置の搬送移動を制御する搬送移動装置管理装置に出力する出力部と、
    を備える搬送情報生成装置。     A first input unit that receives input of basic transport information indicating a transport route including information on a first position at which the transport moving device loads a transport target and a second position at which the transport target is unloaded;
    A first calculation unit that generates combined conveyance information that indicates a conveyance path that realizes the conveyance work indicated by the plurality of basic conveyance information received by the first input unit by one conveyance movement device;
    An output unit that outputs the combined transport information to a transport moving device management device that controls the transport movement of the transport moving device,
    A transport information generation device including.
  2. 　前記第１算出部は、前記搬送移動装置が移動可能な経路の配置情報を参照し、前記合成搬送情報を生成する請求項１に記載の搬送情報生成装置。 The transfer information generating device according to claim 1, wherein the first calculating unit generates the combined transfer information by referring to arrangement information of a route on which the transfer moving device can move.
  3. 　前記第１算出部は、少なくとも一部の搬送経路が共通している複数の前記基本搬送情報に基づいて前記合成搬送情報を生成する請求項１または２に記載の搬送情報生成装置。 The transport information generation device according to claim 1 or 2, wherein the first calculation unit generates the combined transport information based on a plurality of the basic transport information having at least some of the transport routes in common.
  4. 　前記搬送移動装置の搬送状態を示す搬送状態情報を取得する搬送状態情報取得部をさらに備え、
    　前記第１算出部は、前記搬送状態情報取得部が取得した前記搬送状態情報を参照し、前記合成搬送情報を生成する請求項１～３のいずれか１項に記載の搬送情報生成装置。     Further comprising a transfer state information acquisition unit for acquiring transfer state information indicating a transfer state of the transfer moving device,
    4. The transport information generation device according to claim 1, wherein the first calculation unit refers to the transport state information acquired by the transport state information acquisition unit and generates the combined transport information.
  5. 　前記搬送状態情報取得部は、複数の前記搬送移動装置の搬送状態情報を取得し、さらに、
    　前記第１算出部は、複数の前記搬送移動装置の搬送状態情報を参照して、前記合成搬送情報による搬送作業を行う前記搬送移動装置を選択する、請求項４に記載の搬送情報生成装置。     The transfer state information acquisition unit acquires the transfer state information of the plurality of transfer moving devices,
    The transport information generation device according to claim 4, wherein the first calculation unit refers to transport state information of a plurality of transport transport devices and selects the transport transport device that performs a transport operation based on the combined transport information.
  6. 　前記第１算出部は、前記搬送移動装置における前記搬送対象物の積載能力情報を参照し、前記合成搬送情報を生成する、請求項１～５のいずれか１項に記載の搬送情報生成装置。 The transport information generation device according to any one of claims 1 to 5, wherein the first calculation unit refers to loading capacity information of the transport target in the transport moving device and generates the combined transport information.
  7. 　搬送対象物を指示する対象物指示情報の入力を受け付ける第２入力部と、
    　前記第２入力部によって受け付けられた前記対象物指示情報に基づいて、前記基本搬送情報を生成する第２算出部と、
    　前記第２算出部によって生成された前記基本搬送情報を前記第１入力部に送信する第２出力部と、
    をさらに備える、請求項１～６のいずれか１項に記載の搬送情報生成装置。     A second input unit for accepting input of object instruction information for instructing an object to be conveyed;
    A second calculation unit that generates the basic transport information based on the object instruction information received by the second input unit;
    A second output unit for transmitting the basic transport information generated by the second calculation unit to the first input unit;
    The transport information generating apparatus according to claim 1, further comprising:
  8. 　前記合成搬送情報の入力を受け付ける第３入力部と、
    　前記搬送移動装置による搬送作業が行われる時間帯に基づいて、前記第３入力部によって受け付けられた前記合成搬送情報の修正要否を判定し、修正要の場合に修正搬送情報を生成する第３算出部と、
    をさらに備え、
    　前記出力部は、前記合成搬送情報に代えて前記修正搬送情報を、前記搬送移動装置の搬送移動を制御する搬送移動装置管理装置に出力する、請求項１～７のいずれか１項に記載の搬送情報生成装置。     A third input unit for receiving the input of the combined conveyance information;
    Thirdly, it is determined whether or not the composite transport information received by the third input unit needs to be corrected based on a time zone in which the transport operation is performed by the transport moving device, and when the correction is required, the corrected transport information is generated. A calculator,
    Further equipped with,
    The output unit outputs the corrected transport information instead of the combined transport information to a transport moving device management device that controls the transport movement of the transport moving device. Transport information generation device.
  9. 　前記第３算出部は、前記搬送移動装置による過去の搬送作業の履歴を学習することにより、時間帯に応じた予想搬送時間を算出し、当該予想搬送時間に基づいて修正搬送情報を生成する請求項８に記載の搬送情報生成装置。 The third calculating unit calculates an estimated transport time according to a time zone by learning a history of past transport operations performed by the transport moving device, and generates corrected transport information based on the estimated transport time. Item 8. The transport information generation device according to item 8.
  10. 　搬送移動装置、搬送移動装置管理装置、および搬送情報生成装置を含んでいる搬送システムであって、
    　前記搬送情報生成装置は、
    　　搬送移動装置が搬送対象物を積み込む第１位置、および、当該搬送対象物を積み下ろす第２位置の情報を含む搬送経路を示す基本搬送情報の入力を受け付ける第１入力部と、
    　　前記第１入力部によって受け付けられた複数の前記基本搬送情報に示される搬送作業を、１台の前記搬送移動装置によって実現する搬送経路を示す合成搬送情報を生成する第１算出部と、
    　　前記合成搬送情報を、前記搬送移動装置管理装置に出力する出力部と、
    を備えており、
    　前記搬送移動装置は、搬送移動装置制御部を備えており、
    　　前記搬送移動装置制御部は、前記搬送移動装置管理装置から前記合成搬送情報を受け取り、当該合成搬送情報に基づいて前記搬送移動装置に搬送作業を実行させる、搬送システム。     A transport system including a transport moving device, a transport moving device management device, and a transport information generating device,
    The carrier information generation device,
    A first input unit that receives input of basic transport information indicating a transport path including information on a first position at which the transport moving device loads a transport target and a second position at which the transport target is unloaded;
    A first calculation unit that generates combined conveyance information that indicates a conveyance path that realizes the conveyance work indicated by the plurality of basic conveyance information received by the first input unit by one conveyance movement device;
    An output unit that outputs the combined transport information to the transport moving device management device,
    Is equipped with
    The transfer moving device includes a transfer moving device control unit,
    The transport system, wherein the transport moving device control unit receives the combined transport information from the transport moving device management device, and causes the transport moving device to perform a transport operation based on the combined transport information.
  11. 　前記搬送移動装置が前記合成搬送情報に基づく搬送作業を実行中に、当該搬送作業の搬送経路上に障害物が存在した場合、
    　前記搬送移動装置制御部は、前記合成搬送情報を前記搬送情報生成装置にフィードバックし、
    　前記搬送情報生成装置は、前記合成搬送情報を修正した修正搬送情報を生成し、当該修正搬送情報を前記搬送移動装置管理装置に出力し、
    　前記搬送移動装置制御部は、前記搬送移動装置管理装置から前記修正搬送情報を受け取り、当該修正搬送情報に基づいて前記搬送移動装置に搬送作業を実行させる、請求項１０に記載の搬送システム。     When an obstacle exists on the transfer route of the transfer operation while the transfer device is executing the transfer operation based on the combined transfer information,
    The transfer moving device controller feeds back the combined transfer information to the transfer information generating device,
    The transfer information generation device generates corrected transfer information in which the combined transfer information is corrected, and outputs the corrected transfer information to the transfer moving device management device,
    The transport system according to claim 10, wherein the transport moving device control unit receives the corrected transport information from the transport moving device management device, and causes the transport moving device to perform a transport operation based on the corrected transport information.
  12. 　前記合成搬送情報には優先度が設定されており、
    　前記搬送移動装置が前記合成搬送情報に基づく搬送作業を実行中に、当該搬送作業の搬送経路上に障害物が存在した場合、
    　前記搬送移動装置制御部は、前記優先度に応じて、前記合成搬送情報を前記搬送情報生成装置にフィードバックするか、前記障害物に対して警告を発するか、を選択する、請求項１０または１１に記載の搬送システム。     Priority is set in the composite transport information,
    When an obstacle exists on the transfer route of the transfer operation while the transfer device is executing the transfer operation based on the combined transfer information,
    The transport moving device controller selects whether to feed back the combined transport information to the transport information generating device or issue a warning to the obstacle according to the priority. The transport system described in.
  13. 　搬送移動装置が搬送対象物を積み込む第１位置、および、当該搬送対象物を積み下ろす第２位置の情報を含む搬送経路を示す基本搬送情報の入力を受け付ける第１入力ステップと、
    　前記第１入力ステップによって受け付けられた複数の前記基本搬送情報に示される搬送作業を、１台の前記搬送移動装置によって実現する搬送経路を示す合成搬送情報を生成する第１算出ステップと、
    　前記合成搬送情報を、前記搬送移動装置の搬送移動を制御する搬送移動装置管理装置に出力する出力ステップと、
    を含む、搬送情報生成装置の制御方法。     A first input step of receiving an input of basic transport information indicating a transport path including information on a first position where the transport moving device loads a transport target and a second position where the transport target is unloaded;
    A first calculation step of generating combined conveyance information indicating a conveyance path for realizing the conveyance work indicated by the plurality of basic conveyance information received by the first input step by one conveyance movement device;
    An output step of outputting the combined transport information to a transport moving device management device that controls the transport movement of the transport moving device;
    A method for controlling a transfer information generating device, including:
  14. 　請求項１～１２のいずれか１項に記載の搬送情報生成装置としてコンピュータを機能させるための搬送情報生成プログラムであって、コンピュータを前記第１入力部、前記第１算出部および前記出力部として機能させるための搬送情報生成プログラム。 A transport information generation program for causing a computer to function as the transport information generation device according to claim 1, wherein the computer serves as the first input unit, the first calculation unit, and the output unit. A transport information generation program for functioning.
  15. 　請求項１４に記載の搬送情報生成プログラムが格納されている、コンピュータ読み取り可能な記録媒体。 A computer-readable recording medium that stores the transport information generation program according to claim 14.
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