JP2003196780A - Carrier system and method for searching carrier route - Google Patents
Carrier system and method for searching carrier routeInfo
- Publication number
- JP2003196780A JP2003196780A JP2001396083A JP2001396083A JP2003196780A JP 2003196780 A JP2003196780 A JP 2003196780A JP 2001396083 A JP2001396083 A JP 2001396083A JP 2001396083 A JP2001396083 A JP 2001396083A JP 2003196780 A JP2003196780 A JP 2003196780A
- Authority
- JP
- Japan
- Prior art keywords
- route
- transport
- information
- management device
- management
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000004891 communication Methods 0.000 abstract description 16
- 238000012546 transfer Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 238000012545 processing Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、複数の管理装置が
搬送経路を複数の領域に分割して管理する搬送システム
に係わり、特に搬送経路の探索方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport system in which a plurality of management devices divides and manages a transport route into a plurality of regions, and more particularly to a method for searching a transport route.
【０００２】[0002]
【従来の技術】近年、生産ラインの自動化が進んだ工場
などでは、工場の大規模化にともない、生産に使用する
各種資材を無人搬送車を用いて指定場所に搬送する搬送
システムが稼働している。このような搬送システムで
は、工場内を複数の領域に分け、複数の管理装置により
各領域内の搬送経路の情報や無人搬送車の運行をそれぞ
れ管理するようになっている。ところで、搬送元の起点
と搬送先の終点の領域が異なる場合、その搬送経路は複
数の領域に跨る。そのため、従来より、複数の管理装置
を統括する専任の管理装置を用いて搬送経路を探索した
り、複数の管理装置が互いに連携動作を行って搬送経路
を探索したりするようになっている。2. Description of the Related Art In recent years, in factories where production lines have been automated, along with the increase in the scale of factories, a conveyor system that conveys various materials used for production to designated locations by using an automated guided vehicle has come into operation. There is. In such a transport system, the factory is divided into a plurality of areas, and a plurality of management devices manage the information on the transport routes in each area and the operation of the automated guided vehicle, respectively. By the way, when the area of the starting point of the carrying source and the area of the ending point of the carrying destination are different, the carrying route extends over a plurality of areas. Therefore, conventionally, a dedicated management device that supervises a plurality of management devices is used to search for a transport route, or a plurality of management devices cooperate with each other to search for a transport route.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、上記従
来技術では、搬送経路を探索するために複数の管理装置
を統括する専任の管理装置を別途用意する必要がある。
又、同時に複数の搬送経路の探索要求が発生し、専任の
管理装置の処理能力に対する負荷が重くなると、１つの
搬送経路の探索にかかる時間が長くなり、無人搬送車の
運行が滞ってしまう。このようにして搬送システムがダ
ウンすることにより、工場全体の稼働が停止するといっ
た問題があった。なお、専任の管理装置に処理能力の高
いものを利用すれば管理装置にかかる負荷を低減するこ
とができるが、管理装置の価格はその処理能力に比例し
て高くなるため、搬送システムの導入にかかるユーザの
費用負担が増大する。However, in the above-mentioned conventional technique, it is necessary to separately prepare a dedicated management device for controlling a plurality of management devices in order to search for the transport route.
Further, if a request for searching a plurality of transfer routes is made at the same time and the load on the processing capacity of the dedicated management device becomes heavy, the time required to search one transfer route becomes long, and the operation of the automatic guided vehicle is delayed. Thus, there is a problem that the operation of the entire factory is stopped due to the transportation system going down. It should be noted that if a dedicated management device with high processing capacity is used, the load on the management device can be reduced, but the price of the management device will increase in proportion to its processing capacity, so it will be necessary to install a transport system. The cost burden on such users increases.
【０００４】他方、複数の管理装置が連携動作する場
合、各管理装置が、自己管理領域における搬送経路の探
索結果を頻繁に他の管理装置に対して送信するため、各
管理装置間の通信負荷が重くなり、通信速度の低下など
の通信障害が発生する。これにより、上記と同様にして
搬送経路の探索時間が長くなり、搬送システムがダウン
してしまう虞があった。なお、通信経路に通信速度の速
いものを利用すれば通信負荷を低減することができる
が、通信速度を向上するための各管理装置の通信機能の
変更や通信回線の増設などの設備投資にかかる費用をユ
ーザが負担しなければならない。On the other hand, when a plurality of management devices operate in cooperation with each other, each management device frequently transmits the search result of the transport route in the self-management area to another management device, so that the communication load between the management devices is increased. Will be heavy, and communication failure such as decrease in communication speed will occur. As a result, in the same manner as above, the time for searching the transport route becomes long, and the transport system may be down. Although it is possible to reduce the communication load by using a communication path with a high communication speed, it takes a capital investment such as changing the communication function of each management device or adding a communication line to improve the communication speed. The user has to bear the cost.
【０００５】本発明は、上記問題点に鑑みてなされたも
ので、複数の管理装置が搬送経路を複数の領域に分割し
て管理する搬送システムにおいて、搬送経路を探索する
専任の管理装置を新たに設けることなく、又、搬送経路
を探索する際に各管理装置間の通信負荷が増大すること
のない搬送システム及び搬送経路探索方法を提供するこ
とを目的とする。The present invention has been made in view of the above problems, and a new dedicated management device for searching a transportation route is newly added in a transportation system in which a plurality of management devices divides a transportation route into a plurality of regions for management. It is an object of the present invention to provide a transport system and a transport route search method which are not provided in the above and do not increase the communication load between the management devices when searching for the transport route.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
に、本発明の搬送システムは、複数の管理装置が搬送経
路を複数の領域に分割して管理する搬送システムにおい
て、各管理装置が、他の管理装置にアクセスして当該他
の管理装置が管理する領域の搬送経路の情報を予め取得
する経路情報取得手段と、前記経路情報取得手段により
取得した搬送経路の情報を記憶する経路情報記憶手段
と、搬送経路の探索要求を受信した場合に、前記経路情
報記憶手段の搬送経路の情報又は自己管理領域の搬送経
路の情報の少なくとも一方に基づいて当該探索要求に対
する搬送経路を探索する経路探索手段とを備えることを
特徴とする。In order to achieve the above object, the transport system of the present invention is a transport system in which a plurality of management devices divides a transport path into a plurality of regions and manages the management routes. A route information acquisition unit that accesses another management device and acquires in advance information of a transfer route of an area managed by the other management device, and a route information storage that stores the information of the transfer route acquired by the route information acquisition unit. Means, and a route search for searching a transport route for the search request based on at least one of the transport route information of the route information storage means and the transport route information of the self-management area when the transport route search request is received. And means.
【０００７】この発明によれば、経路情報取得手段が他
の管理装置にアクセスして当該他の管理装置が管理する
領域の搬送経路の情報を取得し、経路情報記憶手段が経
路情報取得手段の取得した搬送経路の情報を記憶する。
そして、搬送経路の探索要求を受信した場合に、経路探
索手段が経路情報記憶手段の搬送経路の情報又は自己管
理領域の搬送経路の情報の少なくとも一方に基づいて当
該探索要求に対する搬送経路を探索する。これにより、
各管理装置は、自己管理領域はもとより経路情報記憶手
段により搬送経路全体の情報を把握することが可能とな
り、搬送システムでは、任意の管理装置が搬送経路を探
索することができる。According to the present invention, the route information acquisition means accesses the other management device to obtain information on the transport route in the area managed by the other management device, and the route information storage means functions as the route information acquisition means. Information on the acquired transport route is stored.
Then, when the search request for the transport route is received, the route search unit searches for the transport route corresponding to the search request based on at least one of the transport route information in the route information storage unit and the transport route information in the self-management area. . This allows
Each management device can grasp the information of the entire transportation route by the route information storage means as well as the self-management area, and in the transportation system, any management device can search the transportation route.
【０００８】また、本発明の搬送システムは、上記発明
において、前記各搬送経路の情報が、当該搬送経路の出
入口と接続する他の領域の情報を含むことを特徴とす
る。Further, the transport system of the present invention is characterized in that, in the above-mentioned invention, the information on each of the transport routes includes information on another area connected to an entrance / exit of the transport route.
【０００９】この発明によれば、各搬送経路の情報が、
搬送経路の出入口と接続する他の領域の情報を含むの
で、各管理装置は、座標情報などの情報量の多い情報を
用いずに搬送経路の情報を管理することができる。According to the present invention, the information of each transport route is
Since the information about other areas connected to the entrance / exit of the transport route is included, each management device can manage the information of the transport route without using information having a large amount of information such as coordinate information.
【００１０】また、本発明の搬送システムは、上記発明
において、前記各搬送経路の情報が、当該搬送経路の利
用価値を示す情報を含むことを特徴とする。Further, the transport system of the present invention is characterized in that, in the above invention, the information of each of the transport routes includes information indicating a utility value of the transport route.
【００１１】この発明によれば、搬送経路の情報が、搬
送経路の利用価値を示す情報を含んでいるので、各管理
装置は、探索した搬送経路の利用価値を算出することが
できる。According to the present invention, since the information on the transport route includes the information indicating the utility value of the transport route, each management device can calculate the utility value of the searched transport route.
【００１２】また、本発明の搬送システムは、上記発明
において、前記管理装置が、該管理装置の管理領域に含
まれる搬送経路の起点に対する出口を探索する起点経路
探索手段を備えることを特徴とする。Further, in the transport system of the present invention, in the above invention, the management device is provided with a starting point route searching means for searching an exit for a starting point of the transport route included in the management area of the management device. .
【００１３】この発明によれば、起点経路探索手段が管
理装置の管理領域に含まれる搬送経路の起点に対する出
口を探索するので、起点が搬送経路上にない場合でも、
任意の管理装置が、起点を含む管理領域の管理装置に当
該管理領域の起点に対する搬送経路を問い合わせて起点
を含む搬送経路を探索することができる。According to the present invention, since the starting point route searching means searches for the exit for the starting point of the conveying route included in the management area of the management device, even if the starting point is not on the conveying route,
An arbitrary management apparatus can inquire the management apparatus of the management area including the starting point about the transportation path for the starting point of the management area and search for the transportation path including the starting point.
【００１４】また、本発明の搬送システムは、上記発明
において、前記管理装置が、該管理装置の管理領域に含
まれる搬送経路の終点に対する入口を探索する終点経路
探索手段を備えることを特徴とする。Further, the transport system of the present invention is characterized in that, in the above invention, the management device includes an end point route searching means for searching an entrance for an end point of the transport route included in the management area of the management device. .
【００１５】この発明によれば、終点経路探索手段が管
理装置の管理領域に含まれる搬送経路の終点に対する入
口を探索するので、終点が搬送経路上にない場合でも、
任意の管理装置が、終点を含む管理領域の管理装置に当
該管理領域の終点に対する搬送経路を問い合わせて終点
を含む搬送経路を探索することができる。According to the present invention, since the end point route searching means searches for the entrance to the end point of the transport route included in the management area of the management device, even if the end point is not on the transport route,
An arbitrary management apparatus can inquire the management apparatus of the management area including the end point about the transfer path for the end point of the management area and search for the transfer path including the end point.
【００１６】また、上記目的を達成するために、本発明
の搬送経路探索方法は、複数の管理装置が搬送経路を複
数の領域に分割して管理する搬送システムに用いる搬送
経路探索方法であって、各管理装置が、他の管理装置に
アクセスして当該他の管理装置が管理する領域の搬送経
路の情報を取得する処理と、取得した搬送経路の情報を
記憶する処理と、搬送経路の探索要求を受信した場合
に、前記他の管理装置から取得した搬送経路の情報又は
自己管理領域の搬送経路の情報の少なくとも一方に基づ
いて当該探索要求に対する搬送経路を探索する処理とを
有することを特徴とする。Further, in order to achieve the above object, the transport route searching method of the present invention is a transport route searching method used in a transport system in which a plurality of management devices divides a transport route into a plurality of areas and manages it. , A process in which each management device accesses another management device to acquire information on a transport route in an area managed by the other management device, a process of storing the acquired information on the transport route, and a search for the transport route When a request is received, a process for searching a transport route for the search request based on at least one of the transport route information acquired from the other management device and the transport route information of the self-management area is included. And
【００１７】この発明によれば、各管理装置が、他の管
理装置にアクセスして当該他の管理装置が管理する領域
の搬送経路の情報を取得し、他の管理装置が取得した搬
送経路の情報を記憶する。そして、搬送経路の探索要求
を受信した場合に、各管理装置が、他の管理装置から取
得した搬送経路の情報又は自己管理領域の搬送経路の情
報の少なくとも一方に基づいて探索要求に対する搬送経
路を探索する。これにより、各管理装置は、自己管理領
域はもとより経路情報記憶手段により搬送経路全体の情
報を把握するので、搬送システムでは、任意の管理装置
が搬送経路を探索することができる。According to the present invention, each management device accesses another management device to acquire information on the transport route of the area managed by the other management device, and the transport route acquired by the other management device is acquired. Store information. Then, in the case of receiving the transport route search request, each management device determines the transport route for the search request based on at least one of the transport route information acquired from the other management device and the transport route information of the self-management area. Explore. As a result, each management device grasps the information of the entire transport route by the route information storage means as well as the self-management area, so that in the transport system, any management device can search for the transport route.
【００１８】また、本発明の搬送経路探索方法は、上記
発明において、前記各搬送経路の情報が、当該搬送経路
の出入口と接続する他の領域の情報を含むことを特徴と
する。Further, the transport route searching method of the present invention is characterized in that, in the above invention, the information on each of the transport routes includes information on another area connected to an entrance / exit of the transport route.
【００１９】この発明によれば、各搬送経路の情報が、
搬送経路の出入口と接続する他の領域の情報を含むの
で、各管理装置は、座標情報などの情報量の多い情報を
用いずに搬送経路の情報を管理することができる。According to the present invention, the information of each transport route is
Since the information about other areas connected to the entrance / exit of the transport route is included, each management device can manage the information of the transport route without using information having a large amount of information such as coordinate information.
【００２０】また、本発明の搬送経路探索方法は、上記
発明において、前記各搬送経路の情報が、当該搬送経路
の利用価値を示す情報を含むことを特徴とする。Further, the transport route searching method of the present invention is characterized in that, in the above invention, the information of each transport route includes information indicating a utility value of the transport route.
【００２１】この発明によれば、搬送経路の情報が、搬
送経路の利用価値を示す情報を含んでいるので、各管理
装置は、探索した搬送経路の利用価値を算出することが
できる。According to the present invention, since the information on the transport route includes the information indicating the utility value of the transport route, each management device can calculate the utility value of the searched transport route.
【００２２】また、本発明の搬送経路探索方法は、上記
発明において、前記管理装置が、該管理装置の管理領域
に含まれる搬送経路の起点に対する出口を探索する処理
を有することを特徴とする。Further, the transport route searching method of the present invention is characterized in that, in the above invention, the management device has a process of searching an exit for a starting point of a transport route included in a management area of the management device.
【００２３】この発明によれば、管理装置がその管理領
域に含まれる起点に対する出口を探索するので、起点が
搬送経路上にない場合でも、任意の管理装置が、起点を
含む管理領域の管理装置に当該管理領域の起点に対する
搬送経路を問い合わせて起点を含む搬送経路を探索する
ことができる。According to the present invention, since the management device searches for the exit for the starting point included in the management area, even if the starting point is not on the transport route, any management apparatus can manage the management area of the management area including the starting point. By inquiring about the transport route for the starting point of the management area, the transport route including the starting point can be searched.
【００２４】また、本発明の搬送経路探索方法は、上記
発明において、前記管理装置が、該管理装置の管理領域
に含まれる搬送経路の終点に対する入口を探索する処理
を有することを特徴とする。Further, the transport route searching method of the present invention is characterized in that, in the above invention, the management device has a process of searching for an entrance to an end point of the transport route included in the management area of the management device.
【００２５】この発明によれば、管理装置がその管理領
域に含まれる終点に対する入口を探索するので、終点が
搬送経路上にない場合でも、任意の管理装置が、終点を
含む管理領域の管理装置に当該管理領域の終点に対する
搬送経路を問い合わせて終点を含む搬送経路を探索する
ことができる。According to the present invention, since the management device searches for the entrance for the end point included in the management area, even if the end point is not on the transport route, any management device can manage the management area of the management area including the end point. By inquiring about the transport route for the end point of the management area, the transport route including the end point can be searched.
【００２６】[0026]
【発明の実施の形態】以下、本発明の一実施形態につい
て図面を参照して説明する。図１は本実施形態による搬
送システムの構成を示したブロック図である。この図に
おいて、本実施形態による搬送システム（以下、適宜本
システムと称す）は、搬送経路Ｌを複数の領域Ａｎ（ｎ
は自然数）に分割してそれぞれ管理する複数の管理装置
Ｔｎ（ｎは自然数）、各管理装置を通信可能に接続する
ＬＡＮ（Local Area Network）などのネットワーク１
０、管理装置Ｔｎに対して搬送要求を送信する要求端末
２０、搬送経路Ｌを走行する無人搬送車３０から構成さ
れる。なお、要求端末２０が送信する搬送要求には、探
索すべき搬送経路の起点及び終点の情報が含まれてい
て、これら各点の情報は全ての管理装置に対して送信さ
れるようになっている。このように構成された本システ
ムでは、要求端末２０が搬送要求を送信すると、これを
受信した管理装置Ｔｎがその搬送要求に対する搬送経路
を探索し、無人搬送車３０が探索された搬送経路を走行
して各種資材を搬送する。BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the transport system according to the present embodiment. In this figure, the transport system according to the present embodiment (hereinafter appropriately referred to as the present system) has a plurality of regions An (n
Is a natural number), and a plurality of management devices Tn (n is a natural number) that are managed by dividing the management device into one, and a network 1 such as a LAN (Local Area Network) that communicably connects the management devices
0, a request terminal 20 for transmitting a transfer request to the management device Tn, and an automatic guided vehicle 30 traveling on the transfer route L. The transport request transmitted by the request terminal 20 includes information on the start point and the end point of the transport route to be searched, and the information on each of these points is transmitted to all management devices. There is. In the present system configured as described above, when the request terminal 20 transmits a transport request, the management device Tn that receives the transport request searches the transport route for the transport request, and the automated guided vehicle 30 travels on the searched transport route. And carry various materials.
【００２７】次に管理装置Ｔｎの構成について図２を参
照して説明する。なお、各管理装置は何れも同一に構成
できる。管理装置Ｔｎは、例えばワークステーションな
どのコンピュータ装置により構成され、対応する領域Ａ
ｎの搬送経路の情報を管理するもので、搬送経路の情報
を記憶する経路情報ＤＢ１（経路情報記憶手段）と、各
部を制御して搬送要求に対する搬送経路を探索する制御
部２（経路情報取得手段、経路探索手段、起点経路探索
手段、終点経路探索手段）と、ネットワーク１０を介し
て他の管理装置にアクセスしてデータを送受信する通信
部３とを備え、通信部３がネットワークを介して搬送要
求を受信すると、制御部２が経路情報ＤＢ１を参照して
その搬送要求に対する搬送経路を探索する。Next, the configuration of the management device Tn will be described with reference to FIG. Note that each management device can be configured in the same way. The management device Tn is composed of a computer device such as a workstation and has a corresponding area A.
n for managing the information of the transport route, and a route information DB 1 (route information storage means) for storing the information of the transport route, and a control unit 2 for controlling the respective units to search the transport route for the transport request (route information acquisition) Means, route search means, starting point route search means, end point route search means), and a communication unit 3 for accessing other management devices via the network 10 to send and receive data, and the communication unit 3 via the network. When the transport request is received, the control unit 2 refers to the route information DB1 to search for the transport route corresponding to the transport request.
【００２８】ここで、搬送経路の情報について図３を参
照して説明する。この図において搬送経路Ｌは、管理装
置Ｔ１〜Ｔ４によりそれぞれ対応する領域Ａ１〜Ａ４に
分割されて管理され、図中の矢印により各領域内及び各
領域間の通行方向が指定されている（図３（ａ））。
又、図中の×印は領域Ａ１の搬送経路Ｌの一部が通行不
可（閉鎖）であることを示している。例えば領域Ａ１の
搬送経路Ｌは、その通行方向により異なる経路〜を
含み、各経路は、それぞれ領域Ａ１に隣接する他の領域
間を繋いでいる（図３（ｂ））。したがって、各経路は
その入口及び出口に繋がる他の領域の情報（領域名：Ａ
ｎ）により定義され、例えば経路は、「入口：領域Ａ
３」、「出口：領域Ａ２」と定義される。このようにし
て得られた経路〜の入口及び出口の情報を含む情報
が領域１の搬送経路の情報となる（図３（ｃ））。Here, the information on the transport path will be described with reference to FIG. In this figure, the conveyance route L is divided into corresponding areas A1 to A4 by the management devices T1 to T4 and managed, and the arrows in the figure specify the passage directions in and between the areas (FIG. 3 (a)).
Further, the cross mark in the drawing indicates that a part of the transport path L in the area A1 is impassable (closed). For example, the transport route L in the area A1 includes different routes depending on the traveling direction, and each route connects other areas adjacent to the area A1 (FIG. 3B). Therefore, each route has information (area name: A) on other areas connected to its entrance and exit.
n), for example, the route is “entrance: area A
3 ”and“ exit: area A2 ”. The information including the information on the entrance and the exit of the routes to thus obtained becomes the information on the transport route of the area 1 (FIG. 3C).
【００２９】又、ここでは領域１の搬送経路の情報に
は、各経路の状態（通行可／閉鎖）を示す情報と通行コ
スト（利用価値）の情報とが含まれており、経路の場
合、その状態は通行不可（閉鎖）、通行コストは６００
０になっている。このように経路の状態を含むようにす
ると、本システムでは、予め閉鎖されている経路を探索
範囲から除外して搬送経路の探索にかかる時間を短縮す
ることができる。他方、経路の通行コストの情報を含む
ようにすると、本システムでは、複数の搬送経路が探索
された場合に、最小コストの搬送経路を選択して経費を
削減できる。Further, here, the information of the transport route of the area 1 includes the information indicating the state (passable / closed) of each route and the information of the transit cost (use value). The state is impassable (closed), the transit cost is 600
It is 0. By including the state of the route in this way, in the present system, it is possible to shorten the time required to search the transport route by excluding the route that is closed in advance from the search range. On the other hand, by including the information on the travel cost of the route, in this system, when a plurality of transport routes are searched, the cost can be reduced by selecting the transport route with the minimum cost.
【００３０】経路情報ＤＢ１は、他の管理装置からそれ
ぞれ取得した他の管理装置に対応する領域の搬送経路の
情報と、自己管理領域Ａｎの搬送経路の情報をそれぞれ
の領域毎に記憶するデータベースで、例えば図３（ｃ）
に例示した情報を記憶している。又、経路情報ＤＢ１
は、ハードディスク装置や光磁気ディスク装置、フラッ
シュメモリ、ＲＡＭ（Random Access Memory）等の書き
換え可能な記憶媒体により構成して、搬送経路の変更や
各ルートの状態変化などに応じて更新できるようにする
とよい。このようにすれば、常に最新の搬送経路の情報
に基づいて正確に搬送経路を探索することができる。The route information DB1 is a database that stores information on the transport routes of the regions corresponding to the other management devices respectively acquired from the other management devices and information on the transport routes of the self-managed region An for each region. , For example, FIG. 3 (c)
The information illustrated in FIG. Also, route information DB1
Is composed of a rewritable storage medium such as a hard disk device, a magneto-optical disk device, a flash memory, a RAM (Random Access Memory), etc., and can be updated in accordance with changes in the transport route or state changes of each route. Good. By doing so, it is possible to always accurately search the transport route based on the latest information on the transport route.
【００３１】制御部２は、ネットワーク１０を介して他
の管理装置にアクセスして、他の管理装置が管理する領
域の搬送経路の情報を取得する機能と、要求端末２０か
ら搬送要求を受信した場合に、経路情報ＤＢ１を参照し
て他の管理装置の管理領域又は自己管理領域の少なくと
も一方の搬送経路の情報に基づいて当該搬送要求に対す
る搬送経路を探索する機能とを備える。又、本実施形態
では、制御部２は、管理装置Ｔｎの管理領域に含まれる
搬送経路の起点に対する出口とその終点に対する入口を
探索する機能をさらに備え、探索すべき搬送経路の起点
や終点が搬送経路上にない場合でも、任意の管理装置
が、それら各点を含む領域の管理装置から起点や終点に
対する最寄りの入口や出口の情報を取得して搬送経路を
探索することができる。又、制御部２は、自己の管理す
る領域の搬送経路の情報が更新される度に、その更新情
報を他の管理装置に対して送信する機能を備えるとよ
い。このようにすれば、各管理装置では最新の搬送経路
の情報が共有でき、何れの管理装置でも、最新の搬送経
路の情報に基づいて正確な搬送経路を探索することがで
きる。The control unit 2 receives another transport request from the request terminal 20 and a function of accessing another management device via the network 10 to obtain information on the transport route of the area managed by the other management device. In this case, it has a function of referring to the route information DB 1 and searching a transport route for the transport request based on information of at least one transport route of the management region of the other management device or the self-management region. Further, in the present embodiment, the control unit 2 further has a function of searching for an exit for the starting point and an entrance for the ending point of the transportation route included in the management area of the management device Tn, and the starting point and the ending point of the transportation route to be searched are Even if it is not on the transport route, any management device can search the transport route by acquiring information on the nearest entrance or exit to the start point or the end point from the management device in the area including each point. Further, it is preferable that the control unit 2 has a function of transmitting the updated information to another management device each time the information on the transport route of the area managed by the control unit 2 is updated. In this way, the management devices can share the latest information on the transport route, and any management device can search for an accurate transport route based on the information on the latest transport route.
【００３２】なお、制御部２は、例えばＣＰＵ（中央演
算処理部）やメモリにより構成され、制御部２の機能を
実現するためのプログラム（図示せず）をメモリにロー
ドしてＣＰＵが実行することによりその機能を実現させ
るものである。又、管理装置Ｔｎには、周辺機器として
入力装置、表示装置など（いずれも図示せず）が接続さ
れるものとする。ここで、入力装置とは、キーボード、
マウスなどの入力デバイスのことをいう。他方、表示装
置とは、ＣＲＴ（Cathode RayTube）や液晶表示装置な
どのことをいう。これにより、本システムのユーザは、
管理装置Ｔｎを操作して適宜搬送経路の探索状況をその
表示装置上に表示させて確認することができる。The control unit 2 is composed of, for example, a CPU (central processing unit) and a memory. A program (not shown) for realizing the function of the control unit 2 is loaded into the memory and executed by the CPU. By doing so, the function is realized. Further, it is assumed that an input device, a display device, etc. (none of which are shown) are connected as peripheral devices to the management device Tn. Here, the input device is a keyboard,
An input device such as a mouse. On the other hand, the display device refers to a CRT (Cathode RayTube), a liquid crystal display device, or the like. This allows users of this system to
By operating the management device Tn, the search status of the transport route can be appropriately displayed and confirmed on the display device.
【００３３】次に、本実施形態による搬送システムの動
作について図４〜７を参照して説明する。ここでは搬送
経路Ｌが管理装置Ｔ１〜Ｔ６によりそれぞれ対応する領
域Ａ１〜Ａ６に分割して管理されている場合について説
明し、搬送要求に基づく搬送経路の起点が領域Ａ１に含
まれ、他方、その終点が領域Ａ５に含まれている。Next, the operation of the transfer system according to this embodiment will be described with reference to FIGS. Here, the case where the transport route L is managed by being divided into corresponding regions A1 to A6 by the management devices T1 to T6, respectively, and the starting point of the transport route based on the transport request is included in the region A1, and on the other hand, The end point is included in the area A5.
【００３４】図４は本システムの動作フローを示した図
である。まず、本システムが起動すると各管理装置は各
自が管理する領域の搬送経路の情報を前述した方法によ
り作成する（ステップＳ１）。又、各管理装置は作成し
た情報を各自の経路情報ＤＢ１に記憶するとともに、ネ
ットワーク１０を介して他の管理装置に対して送信する
（ステップＳ２）。各管理装置は、他の管理装置から受
信した搬送経路の情報を、それぞれ各自の経路情報ＤＢ
１に記憶する（ステップＳ３）。又、各搬送経路の情報
には、経路の状態（通行可／閉鎖）と通行コストの情報
が含まれている。これにより、各管理装置が全ての領域
（領域Ａ１〜Ａ６）の搬送経路の情報を共有することが
できる。なお、上記ステップＳ１〜Ｓ３の動作は、搬送
経路の情報の更新に伴い適宜実行されるとよい。これに
より、各管理装置では常に最新の搬送経路の情報を共有
できる。FIG. 4 is a diagram showing an operation flow of this system. First, when the present system is activated, each management device creates information on the transport route of the area managed by each management device by the method described above (step S1). Further, each management device stores the created information in its own route information DB1 and transmits it to another management device via the network 10 (step S2). Each management device stores the information of the transport route received from the other management device in its own route information DB.
1 (step S3). Further, the information on each transport route includes information on the state of the route (passable / closed) and the traveling cost. As a result, each management device can share the information of the transport routes of all the areas (areas A1 to A6). The operations of steps S1 to S3 described above may be appropriately executed when the information on the transport route is updated. As a result, each management device can always share the latest information on the transport route.
【００３５】次いで、要求端末２０から搬送要求が送信
され、例えば管理装置Ｔ１に対して搬送経路の探索が要
求されると（ステップＳ４）、管理装置Ｔ１は、搬送要
求の起点の位置情報に基づいて、起点が自己管理領域Ａ
１にあるかどうかを判定する（ステップＳ５）。この判
定は、例えば搬送要求の起点の座標情報に基づいて行わ
れる。ここでは起点が領域Ａ１に存在するので（ＹＥ
Ｓ）、管理装置Ｔ１は、起点に対する出口とその経路を
探索して（ステップＳ５ａ）、その探索結果を他の管理
装置から参照可能に、図示しないメモリ又は経路情報Ｄ
Ｂ１などに適宜記憶する。又、この処理と並行して搬送
要求の終点を含む領域Ａ５の管理装置Ｔ５は、同様にし
て終点に対する入口とその経路を探索する（ステップＳ
５ｂ）。この探索結果は管理装置Ｔ５から管理装置Ｔ１
へ転送される。Next, when the transport request is transmitted from the request terminal 20 and, for example, the management device T1 is requested to search for the transport route (step S4), the management device T1 is based on the position information of the starting point of the transport request. And the starting point is self-management area A
It is determined whether it is 1 (step S5). This determination is performed, for example, based on the coordinate information of the starting point of the transport request. Here, since the starting point is in the area A1, (YE
S), the management device T1 searches for an exit for the starting point and its route (step S5a), and the search result can be referred to from other management devices, and the memory or route information D not shown
It is appropriately stored in B1 or the like. Further, in parallel with this processing, the management device T5 in the area A5 including the end point of the transport request similarly searches for an entrance to the end point and its route (step S).
5b). This search result is transmitted from the management device T5 to the management device T1.
Transferred to.
【００３６】そして、管理装置Ｔ１は、経路情報ＤＢ１
から搬送経路の情報を参照して、経路探索用の探索空間
を作成する（ステップＳ６）。このとき管理装置Ｔ１
は、予め閉鎖中の経路等を除外した探索空間を作成する
とよい。管理装置Ｔ１は、この探索空間に基づいて起点
から終点までの搬送経路を探索し（ステップＳ７）、探
索結果を無人搬送車３０に送信する。これにより、無人
搬送車３０は探索経路を走行して各種資材を搬送する
（ステップＳ８）。Then, the management device T1 uses the route information DB1.
To create a search space for route search with reference to the information on the transport route (step S6). At this time, the management device T1
May create a search space excluding previously closed routes. The management device T1 searches the transport route from the starting point to the end point based on this search space (step S7), and transmits the search result to the automatic guided vehicle 30. As a result, the automatic guided vehicle 30 travels along the searched route and carries various materials (step S8).
【００３７】図５はステップＳ６に示した処理により作
成された探索空間の模式図である。この図において領域
Ａ１〜Ａ６に対応する各探索空間の出入口は各領域の搬
送経路の情報に基づいて相互に対応付けられている。
又、図６はステップＳ７に示した探索処理の態様を探索
木を用いて示した図である。なお、図５及び図６の図中
の×印は、ステップＳ７に示した探索処理に基づいて探
索経路から除外された経路（枝狩りされた経路）を示
す。これらの図から、［起点］〜［領域Ａ１出口１］〜
［領域Ａ３入口１］〜［領域Ａ３出口１］〜［領域Ａ５
入口１］〜［終点］なる経路を探索すべき搬送経路とし
て得る。FIG. 5 is a schematic diagram of the search space created by the processing shown in step S6. In this figure, the entrances and exits of the respective search spaces corresponding to the areas A1 to A6 are associated with each other based on the information of the transport route of each area.
Further, FIG. 6 is a diagram showing a mode of the search processing shown in step S7 using a search tree. Note that the x mark in the diagrams of FIGS. 5 and 6 indicates a route (a branch-hunted route) that is excluded from the search route based on the search process shown in step S7. From these figures, [starting point]-[area A1 exit 1]-
[Area A3 inlet 1] to [Area A3 outlet 1] to [Area A5]
The routes from entrance 1] to [end point] are obtained as the transport route to be searched.
【００３８】次に、ステップＳ７における管理装置Ｔ１
の探索処理について図７を参照して詳細に説明する。ま
ず、管理装置Ｔ１は、所定のメモリなどに記憶した起点
に対する出口情報に基づいて起点を含む探索空間で起点
に対する出口候補を作成する（ステップＳ１０）。管理
装置Ｔ１は、出口候補の中から１つめの出口を選択し
（ステップＳ１１）、搬送経路の情報に基づいて上記選
択された出口に対応する他の探索空間の入口を選択する
（ステップＳ１２）。管理装置Ｔ１は、搬送経路の情報
に基づいて上記選択された入口から終点に到達できるか
どうかを判定する（ステップＳ１３）。ここで終点に到
達できないと判定すると（ＮＯ）、管理装置Ｔ１は、探
索履歴に基づいて上記選択された入口の探索空間に対す
る探索が初回かどうかを判定する（ステップＳ１４）。
ここで初回の探索でないと判定すると（ＮＯ）、管理装
置Ｔ１は、搬送経路の情報に基づいて上記選択された入
口に対応する出口を選択する（ステップＳ１５）。Next, the management device T1 in step S7
The search process will be described in detail with reference to FIG. First, the management device T1 creates an exit candidate for the starting point in the search space including the starting point based on the exit information for the starting point stored in a predetermined memory or the like (step S10). The management device T1 selects the first exit from the exit candidates (step S11), and selects the entrance of another search space corresponding to the selected exit based on the information of the transport route (step S12). . The management device T1 determines whether or not the end point can be reached from the selected entrance based on the information of the transport route (step S13). If it is determined here that the end point cannot be reached (NO), the management device T1 determines whether or not the search for the search space of the selected entrance is the first time based on the search history (step S14).
If it is determined that the search is not the first search (NO), the management device T1 selects the exit corresponding to the selected entrance based on the information of the transport route (step S15).
【００３９】次いで、管理装置Ｔ１は、探索履歴に基づ
いて上記選択された出口がすでに確認した他の入口から
到達できる出口かどうかを判定する（ステップＳ１
６）。ここで到達できると判定すると（ＹＥＳ）、管理
装置Ｔ１は、搬送経路の情報に基づいて上記選択された
出口までの経路にかかる通行コストと、当該出口までの
経路を含む登録済み解候補の対応する経路にかかる通行
コストとをそれぞれ算出して比較する（ステップＳ１
７）。ここで登録済み解候補の通行コストの方が高い場
合に、管理装置Ｔ１は、登録済み解候補の対応する経路
を上記選択された出口までの経路と置換する（ステップ
Ｓ１８）。そして、上記選択された入口に対応する出口
候補の中から別の出口を選択して（ステップＳ１９）、
ステップＳ１２に示した処理に移る。Next, the management device T1 judges whether or not the selected exit is an exit that can be reached from the already confirmed other entrance based on the search history (step S1).
6). If the management device T1 determines that the route can be reached (YES), the management device T1 associates the traveling cost of the route to the selected exit based on the information of the transport route with the registered solution candidate including the route to the exit. The travel costs of the routes to be calculated are calculated and compared (step S1).
7). Here, when the traffic cost of the registered solution candidate is higher, the management device T1 replaces the route corresponding to the registered solution candidate with the route to the selected exit (step S18). Then, another exit is selected from the exit candidates corresponding to the selected entrance (step S19),
The process moves to step S12.
【００４０】なお、ステップＳ１７に示した比較処理で
登録済み解候補の通行コストの方が低い場合は、ステッ
プＳ１９に示した処理に移る。他方、ステップＳ１６に
示した判定処理で到達できないと判定すると（ＮＯ）、
ステップＳ１２に示した処理に移る。又、ステップＳ１
４に示した判定処理で初回であると判定すると（ＹＥ
Ｓ）、管理装置Ｔ１は、搬送経路の情報に基づいて上記
選択した入口を含む探索空間で、その入口に対応する出
口候補を作成して（ステップＳ１４ａ）、ステップＳ１
１に示した処理に移る。又、ステップＳ１３に示した判
定処理で終点に到達できると判定すると（ＹＥＳ）、管
理装置Ｔ１は、その上記選択された入口までの経路を探
索すべき搬送経路の解候補として登録を行い（ステップ
Ｓ１３ａ）、起点に対応する出口候補の中から別の出口
を選択して（ステップＳ１３ｂ）、ステップＳ１２に示
した処理に移る。このようにして、管理装置Ｔ１は作成
された探索空間の全ての経路に対する探索処理を行い、
搬送要求に基づく起点から終点までの最も通行コストの
低い経路を探索する。If the traveling cost of the registered solution candidate is lower in the comparison process shown in step S17, the process proceeds to step S19. On the other hand, if it is determined that the process cannot be reached in the determination process shown in step S16 (NO),
The process moves to step S12. Also, step S1
If it is judged that it is the first time in the judgment processing shown in (4) (YE
S), the management device T1 creates an exit candidate corresponding to the entrance in the search space including the entrance selected based on the information of the transport route (step S14a), and then the step S1.
Then, the processing shown in 1 is performed. If the management device T1 determines that the end point can be reached in the determination processing shown in step S13 (YES), the management device T1 registers the route to the selected entrance as a solution candidate for the transport route to be searched (step S13). S13a), another exit is selected from the exit candidates corresponding to the starting point (step S13b), and the process shown in step S12 is performed. In this way, the management device T1 performs the search process for all the routes in the created search space,
The route with the lowest travel cost from the start point to the end point based on the transport request is searched.
【００４１】なお、本発明は上述した実施形態に限定さ
れず、本発明の要旨を逸脱しない範囲で種々変更できる
ことは勿論である。例えば、搬送経路の情報は、入口、
出口、状態（通行可／閉鎖）、通行コストに限定される
ことはなく、渋滞情報や距離、時間などの情報を含んで
もよい。このようにすることで、渋滞回避経路や最短経
路、最速経路などを探索することができる。The present invention is not limited to the above-mentioned embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention. For example, information on the transport route is
The information is not limited to the exit, the state (passable / closed), and the traveling cost, and may include information such as traffic congestion information, distance, and time. By doing so, it is possible to search for the congestion avoidance route, the shortest route, the fastest route, and the like.
【００４２】[0042]
【発明の効果】以上説明したように、本発明によれば、
経路情報取得手段が他の管理装置にアクセスして当該他
の管理装置が管理する領域の搬送経路の情報を取得し、
経路情報記憶手段が経路情報取得手段の取得した搬送経
路の情報を記憶する。そして、搬送経路の探索要求を受
信した場合に、経路探索手段が経路情報記憶手段の搬送
経路の情報又は自己管理領域の搬送経路の情報の少なく
とも一方に基づいて当該探索要求に対する搬送経路を探
索するので、各管理装置は、自己管理領域はもとより経
路情報記憶手段により搬送経路全体の情報を把握するこ
とが可能となり、搬送システムでは、任意の管理装置が
搬送経路を探索することができる。したがって、搬送シ
ステムでは、ユーザに対して新たに経路探索用の管理装
置の購入や管理装置間の通信手段の変更にかかる費用を
強いることなく搬送経路を探索する環境を提供できると
いう効果を奏する。As described above, according to the present invention,
The route information acquisition means accesses another management device to acquire information on the transport route of the area managed by the other management device,
The route information storage unit stores the information of the transport route acquired by the route information acquisition unit. Then, when the search request for the transport route is received, the route search unit searches for the transport route corresponding to the search request based on at least one of the transport route information in the route information storage unit and the transport route information in the self-management area. Therefore, each management device can grasp the information of the entire transport route by the route information storage means as well as the self-management area, and in the transport system, any management device can search the transport route. Therefore, in the transport system, it is possible to provide an environment in which the user can search for a transport route without incurring the expense of newly purchasing a management device for route search or changing communication means between the management devices.
【００４３】又、本発明によれば、各搬送経路の情報
が、搬送経路の出入口と接続する他の領域の情報を含む
ので、各管理装置は、座標情報などの情報量の多い情報
を用いずに搬送経路の情報を管理することができる。し
たがって、搬送システムでは、各搬送経路の情報を記憶
するためのメモリ容量を小さくでき、当該メモリにかか
るコストが低減できるという効果を奏する。又、搬送経
路の探索する際の情報量が減るので、各管理装置にかか
る計算負荷が低減され、処理速度が向上するという効果
を奏する。Further, according to the present invention, since the information of each transport path includes the information of other areas connected to the entrance and exit of the transport path, each management device uses information having a large amount of information such as coordinate information. It is possible to manage the information of the transport route without having to do so. Therefore, in the transport system, the memory capacity for storing the information of each transport path can be reduced, and the cost of the memory can be reduced. Further, since the amount of information when searching the transport route is reduced, the calculation load on each management device is reduced, and the processing speed is improved.
【００４４】又、本発明によれば、搬送経路の情報が、
搬送経路の利用価値を示す情報を含んでいるので、各管
理装置は、探索した搬送経路の利用価値を算出すること
ができる。したがって、搬送システムでは、各搬送経路
の距離やコストなどの情報に基づいて最短距離や最小コ
ストの搬送経路を探索することができるという効果を奏
する。Further, according to the present invention, the information of the transport route is
Since the management device includes the information indicating the utility value of the transportation route, each management device can calculate the utility value of the searched transportation route. Therefore, in the transport system, it is possible to search for the transport route having the shortest distance and the minimum cost based on the information such as the distance and the cost of each transport route.
【００４５】又、本発明によれば、起点経路探索手段が
管理装置の管理領域に含まれる搬送経路の起点に対する
出口を探索するので、起点が搬送経路上にない場合で
も、任意の管理装置が、起点を含む管理領域の管理装置
に当該管理領域の起点に対する搬送経路を問い合わせて
起点を含む搬送経路を探索することが可能となり、搬送
システムでは、起点の位置に関係なく、任意の管理装置
により搬送経路を探索することができるという効果を奏
する。Further, according to the present invention, since the starting point route searching means searches for the exit for the starting point of the conveying route included in the management area of the managing device, even if the starting point is not on the conveying route, the arbitrary managing device can , It becomes possible to inquire the management device of the management area including the starting point about the transportation route for the starting point of the management area, and to search for the transportation route including the starting point. This has the effect of being able to search for a transport route.
【００４６】又、本発明によれば、終点経路探索手段が
管理装置の管理領域に含まれる搬送経路の終点に対する
入口を探索するので、終点が搬送経路上にない場合で
も、任意の管理装置が、終点を含む管理領域の管理装置
に当該管理領域の終点に対する搬送経路を問い合わせて
終点を含む搬送経路を探索することが可能となり、搬送
システムでは、終点の位置に関係なく、任意の管理装置
が搬送経路を探索することができるという効果を奏す
る。Further, according to the present invention, since the end point route searching means searches for the entrance to the end point of the transport route included in the management area of the management device, even if the end point is not on the transport route, any management device can , It becomes possible to inquire the management device of the management area including the end point about the transfer route for the end point of the management area and search for the transfer route including the end point. In the transfer system, an arbitrary management device can be used regardless of the position of the end point. This has the effect of being able to search for a transport route.
【００４７】又、本発明によれば、各管理装置が、他の
管理装置にアクセスして当該他の管理装置が管理する領
域の搬送経路の情報を取得し、他の管理装置取得した搬
送経路の情報を記憶する。そして、搬送経路の探索要求
を受信した場合に、各管理装置が、他の管理装置から取
得した搬送経路の情報又は自己管理領域の搬送経路の情
報の少なくとも一方に基づいて探索要求に対する搬送経
路を探索する。これにより、各管理装置は、自己管理領
域はもとより経路情報記憶手段により搬送経路全体の情
報を把握するので、搬送システムでは、任意の管理装置
が搬送経路を探索することができる。したがって、搬送
システムでは、ユーザに対して新たに経路探索用の管理
装置の購入や管理装置間の通信手段の変更にかかる費用
を強いることなく搬送経路を探索する環境を提供できる
という効果を奏する。Further, according to the present invention, each management apparatus accesses another management apparatus to acquire information on the transportation path of the area managed by the other management apparatus, and the other management apparatus acquires the transportation path. Memorize the information of. Then, in the case of receiving the transport route search request, each management device determines the transport route for the search request based on at least one of the transport route information acquired from the other management device and the transport route information of the self-management area. Explore. As a result, each management device grasps the information of the entire transport route by the route information storage means as well as the self-management area, so that in the transport system, any management device can search for the transport route. Therefore, in the transport system, it is possible to provide an environment in which the user can search for a transport route without incurring the expense of newly purchasing a management device for route search or changing communication means between the management devices.
【００４８】又、本発明によれば、管理装置がその管理
領域に含まれる起点に対する出口を探索するので、起点
が搬送経路上にない場合でも、任意の管理装置が、起点
を含む管理領域の管理装置に当該管理領域の起点に対す
る搬送経路を問い合わせて起点を含む搬送経路を探索す
ることが可能となり、搬送システムでは、起点の位置に
関係なく、任意の管理装置が搬送経路を探索することが
できるという効果を奏する。Further, according to the present invention, since the management device searches for the exit for the starting point included in the management area, even if the starting point is not on the conveyance route, any management apparatus can manage the management area including the starting point. It becomes possible to inquire of the management device about the transportation route for the starting point of the management area and search for the transportation route including the starting point. In the transportation system, an arbitrary management device can search the transportation route regardless of the position of the starting point. It has the effect of being able to.
【００４９】又、本発明によれば、管理装置がその管理
領域に含まれる終点に対する入口を探索するので、終点
が搬送経路上にない場合でも、任意の管理装置が、終点
を含む管理領域の管理装置に当該管理領域の終点に対す
る搬送経路を問い合わせて終点を含む搬送経路を探索す
ることが可能となり、搬送システムでは、終点の位置に
関係なく、任意の管理装置が搬送経路を探索することが
できるという効果を奏する。Further, according to the present invention, since the management device searches for the entrance for the end point included in the management area, even if the end point is not on the transport route, any management device can manage the management area including the end point. It becomes possible to inquire of the management device about the transport route for the end point of the management area and search for the transport route including the end point. In the transport system, any management device can search the transport route regardless of the position of the end point. It has the effect of being able to.
【図面の簡単な説明】[Brief description of drawings]
【図１】 本発明の一実施形態による搬送システムの構
成を示すブロック図である。FIG. 1 is a block diagram showing a configuration of a transfer system according to an embodiment of the present invention.
【図２】 本実施形態による管理装置の構成を示すブロ
ック図である。FIG. 2 is a block diagram showing a configuration of a management device according to the present embodiment.
【図３】 本実施形態による搬送経路の情報を説明する
図である。FIG. 3 is a diagram illustrating information on a transport route according to the present embodiment.
【図４】 本実施形態による搬送システムの動作フロー
を示す図である。FIG. 4 is a diagram showing an operation flow of the transport system according to the present embodiment.
【図５】 本実施形態による探索空間の模式図である。FIG. 5 is a schematic diagram of a search space according to the present embodiment.
【図６】 探索木を用いた本実施形態による探索処理の
態様を示す図である。FIG. 6 is a diagram showing an aspect of search processing according to the present embodiment using a search tree.
【図７】 本実施形態による管理装置の探索処理を示す
図である。FIG. 7 is a diagram showing a search process of the management device according to the present embodiment.
１ 経路情報ＤＢ（経路情報記憶手段）
２ 制御部（経路情報取得手段、経路探索手段、起点経
路探索手段、終点経路探索手段）
Ｌ 搬送経路
Ｔｎ（ｎは自然数） 管理装置
Ａｎ（ｎは自然数） 領域1 route information DB (route information storage means) 2 control unit (route information acquisition means, route search means, starting route search means, end route search means) L transport route Tn (n is a natural number) management device An (n is a natural number) region
Claims (10)
に分割して管理する搬送システムにおいて、 各管理装置が、 他の管理装置にアクセスして当該他の管理装置が管理す
る領域の搬送経路の情報を取得する経路情報取得手段
と、 前記経路情報取得手段により取得した搬送経路の情報を
記憶する経路情報記憶手段と、 搬送経路の探索要求を受信した場合に、前記経路情報記
憶手段の搬送経路の情報又は自己管理領域の搬送経路の
情報の少なくとも一方に基づいて当該探索要求に対する
搬送経路を探索する経路探索手段とを備えることを特徴
とする搬送システム。1. A transport system in which a plurality of management devices divides a transport path into a plurality of regions for management, and each management device accesses another management device to transport a region managed by the other management device. A route information acquisition unit that acquires route information, a route information storage unit that stores the information of the transport route acquired by the route information acquisition unit, and a route information storage unit that stores a route route storage request when a transport route search request is received. A transport system, comprising: route search means for searching a transport route for the search request based on at least one of the transport route information and the transport route information of the self-managed area.
の出入口と接続する他の領域の情報を含むことを特徴と
する請求項１に記載の搬送システム。2. The transport system according to claim 1, wherein the information on each of the transport routes includes information on another area connected to an entrance / exit of the transport route.
の利用価値を示す情報を含むことを特徴とする請求項１
又は請求項２に記載の搬送システム。3. The information on each of the transportation routes includes information indicating the utility value of the transportation route.
Alternatively, the transport system according to claim 2.
に含まれる搬送経路の起点に対する出口を探索する起点
経路探索手段を備えることを特徴とする請求項２又は請
求項３に記載の搬送システム。4. The transport according to claim 2, wherein the management device includes a starting point route searching unit that searches an exit for a starting point of a transport route included in a management area of the management device. system.
に含まれる搬送経路の終点に対する入口を探索する終点
経路探索手段を備えることを特徴とする請求項２乃至請
求項４の何れかに記載の搬送システム。5. The management device according to claim 2, further comprising an end point route search means for searching for an entrance to an end point of a transportation route included in a management area of the management device. The transport system described.
に分割して管理する搬送システムに用いる搬送経路探索
方法であって、 各管理装置が、 他の管理装置にアクセスして当該他の管理装置が管理す
る領域の搬送経路の情報を取得する処理と、 取得した搬送経路の情報を記憶する処理と、 搬送経路の探索要求を受信した場合に、前記他の管理装
置から取得した搬送経路の情報又は自己管理領域の搬送
経路の情報の少なくとも一方に基づいて当該探索要求に
対する搬送経路を探索する処理とを有することを特徴と
する搬送経路探索方法。6. A transport route search method used in a transport system in which a plurality of management devices divides and manages a transport route into a plurality of areas, wherein each management device accesses another management device and the other A process of acquiring information on the transport route of the area managed by the management device, a process of storing the information of the acquired transport route, and a transport route acquired from the other management device when a search request for the transport route is received. And a process of searching for a transport route for the search request based on at least one of the information of (1) and the information of the transport route of the self-managed area.
の出入口と接続する他の領域の情報を含むことを特徴と
する請求項６に記載の搬送経路探索方法。7. The transport route search method according to claim 6, wherein the information on each transport route includes information on another area connected to the entrance of the transport route.
の利用価値を示す情報を含むことを特徴とする請求項６
又は請求項７に記載の搬送経路探索方法。8. The information on each of the transportation routes includes information indicating the utility value of the transportation route.
Alternatively, the transportation route search method according to claim 7.
に含まれる搬送経路の起点に対する出口を探索する処理
を有することを特徴とする請求項７又は請求項８に記載
の搬送経路探索方法。9. The transport route searching method according to claim 7, wherein the management device has a process of searching for an exit for a starting point of a transport route included in a management area of the management device. .
域に含まれる搬送経路の終点に対する入口を探索する処
理を有することを特徴とする請求項７乃至請求項９の何
れかに記載の搬送経路探索方法。10. The transport according to claim 7, wherein the management device has a process of searching for an entrance to an end point of a transport route included in a management area of the management device. Route search method.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001396083A JP3861685B2 (en) | 2001-12-27 | 2001-12-27 | Transport system and transport route search method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001396083A JP3861685B2 (en) | 2001-12-27 | 2001-12-27 | Transport system and transport route search method |
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| Publication Number | Publication Date |
|---|---|
| JP2003196780A true JP2003196780A (en) | 2003-07-11 |
| JP3861685B2 JP3861685B2 (en) | 2006-12-20 |
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| JP6067159B1 (en) * | 2016-02-24 | 2017-01-25 | 株式会社シンテックホズミ | Transport vehicle system |
| JP2018041343A (en) * | 2016-09-08 | 2018-03-15 | 株式会社東芝 | Control system for automatic traveling vehicle |
| KR20220053489A (en) | 2020-10-22 | 2022-04-29 | 가부시키가이샤 다이후쿠 | Transport system |
| WO2023228669A1 (en) * | 2022-05-25 | 2023-11-30 | 株式会社日立製作所 | Agent management system and method |
-
2001
- 2001-12-27 JP JP2001396083A patent/JP3861685B2/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105005300A (en) * | 2014-04-24 | 2015-10-28 | 瑟塞尔公司 | Method for managing a master vessel change in a multi-vessel seismic system |
| CN105005300B (en) * | 2014-04-24 | 2019-07-12 | 瑟塞尔公司 | Method for managing the variation of the main ship in more ship seismic systems |
| JP6067159B1 (en) * | 2016-02-24 | 2017-01-25 | 株式会社シンテックホズミ | Transport vehicle system |
| JP2018041343A (en) * | 2016-09-08 | 2018-03-15 | 株式会社東芝 | Control system for automatic traveling vehicle |
| KR20220053489A (en) | 2020-10-22 | 2022-04-29 | 가부시키가이샤 다이후쿠 | Transport system |
| WO2023228669A1 (en) * | 2022-05-25 | 2023-11-30 | 株式会社日立製作所 | Agent management system and method |
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| JP3861685B2 (en) | 2006-12-20 |
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