TW202337804A - Control device, system, and method - Google Patents

Control device, system, and method Download PDF

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TW202337804A
TW202337804A TW111111745A TW111111745A TW202337804A TW 202337804 A TW202337804 A TW 202337804A TW 111111745 A TW111111745 A TW 111111745A TW 111111745 A TW111111745 A TW 111111745A TW 202337804 A TW202337804 A TW 202337804A
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aforementioned
mobile machine
control device
preparation
information
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TWI841943B (en
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田爪敏明
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日商樂天集團股份有限公司
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Abstract

The control device (100) according to the invention has an obtaining portion (110). When receiving orders, the obtaining portion (110) obtains: movable vehicle location information indicating a location of a movable vehicle capable of storing a target of the order, start location information indicating a start location in which transportation of the target is started, and preparation information indicating preparation time required for preparation of bringing a state of the target into a state where transportation can be started or preparation completion time in which preparations is completed. Moreover, the control device (100) has a generation portion (120). The generation portion (120) generates movement control information for enabling the movable vehicle to move from the location of the movable vehicle to the start location, based on an amount of energy that the movable vehicle is presumed to consume to move from the location indicated by the obtained movable vehicle location information to the start location indicated by the obtained start location information, and the preparation time or the preparation completion time indicated by the obtained preparation information.

Description

控制裝置、系統及方法Control devices, systems and methods

本發明係關於一種控制裝置、系統及方法。The present invention relates to a control device, system and method.

先前，業已知悉於受理訂購時，使包含配送機器人之移動機搬運設為訂購之對象之商品之系統(例如專利文獻1)。 [先前技術文獻] [專利文獻] Previously, a system has been known in which, when accepting an order, a mobile machine including a delivery robot transports the product targeted for the order (for example, Patent Document 1). [Prior technical literature] [Patent Document]

專利文獻1：日本特開2018-151923號公報Patent Document 1: Japanese Patent Application Publication No. 2018-151923

[發明所欲解決之問題][Problem to be solved by the invention]

然而，於專利文獻1之系統中，無關於訂購之商品之準備所需之準備時間、或該準備完成之準備完成時刻、及推定為移動機為了移動至開始該商品之搬運之位置而消耗之能量量，產生用於使移動機向搬運之開始位置移動之移動控制資訊。因此，即便直至準備時間為止、或直至準備完成時刻到來為止，無法開始搬運，但例如，使能量之消耗量增加，在較經過準備時間前面、或在較準備完成時刻到來前面，使移動機向搬運之開始位置移動。因此，於專利文獻1之系統中，有無法產生一面抑制搬運開始之延遲、一面抑制移動機為了移動至搬運之開始位置而消耗之能量量之增加之移動控制資訊的問題。However, in the system of Patent Document 1, there is no preparation time required for the preparation of the ordered product, or the preparation completion time of the preparation, and it is estimated that it is consumed by the moving machine in order to move to the position where the transportation of the product is started. The amount of energy generates movement control information used to move the moving machine to the starting position of transportation. Therefore, even if transportation cannot be started until the preparation time or until the preparation completion time arrives, for example, the energy consumption is increased and the moving machine is moved toward the preparation time before the preparation time elapses or before the preparation completion time arrives. The starting position of transportation is moved. Therefore, in the system of Patent Document 1, there is a problem that it is impossible to generate movement control information that suppresses a delay in the start of transportation while suppressing an increase in the amount of energy consumed by the moving machine to move to the start position of transportation.

本發明係鑒於如以上之點而完成者，其目的在於提供一種可產生一面抑制搬運開始之延遲、一面抑制移動機為了移動至搬運之開始位置而消耗之能量量之增加之控制裝置、系統及方法。 [解決問題之技術手段] The present invention was made in view of the above points, and an object thereof is to provide a control device and system that can suppress the delay in the start of transportation while suppressing an increase in the amount of energy consumed by a moving machine to move to the start position of transportation. method. [Technical means to solve problems]

為了達成上述目的，本發明之第1觀點之控制裝置具備： 取得部，其於受理訂購時，取得：表示可儲存前述訂購之對象之移動機之位置之移動機位置資訊、表示開始前述對象之搬運之開始位置之開始位置資訊、及表示用於將前述對象之狀態設為可開始搬運之狀態之準備所需之準備時間或前述準備完成之準備完成時刻之準備資訊；及 產生部，其基於推定為前述移動機為了從由取得之前述移動機位置資訊表示之前述位置移動至由前述開始位置資訊表示之前述開始位置而消耗之能量量、及由前述準備資訊表示之前述準備時間或前述準備完成時刻，產生用於使前述移動機自前述移動機之前述位置移動至前述開始位置之移動控制資訊。 [發明之效果] In order to achieve the above object, a control device according to a first aspect of the present invention includes: The acquisition unit, when accepting an order, obtains: mobile machine position information indicating the position of the mobile machine that can store the object of the aforementioned order, starting position information indicating the starting position to start transporting the aforementioned object, and indicating the use of the aforementioned object. The preparation time required to prepare the status to a state where transportation can be started or the preparation information of the preparation completion time when the aforementioned preparations are completed; and The generating unit is based on the estimation of the amount of energy consumed by the mobile machine in order to move from the aforementioned position represented by the acquisition of the aforementioned mobile machine position information to the aforementioned start position represented by the aforementioned starting position information, and the aforementioned amount represented by the aforementioned preparation information. The preparation time or the preparation completion time generates movement control information for moving the mobile machine from the previous position to the starting position. [Effects of the invention]

根據本發明之控制裝置、系統及方法，可產生一面抑制搬運開始之延遲、一面抑制移動機為了移動至搬運之開始位置而消耗之能量量之增加之移動控制資訊。According to the control device, system and method of the present invention, it is possible to generate movement control information that suppresses delays in the start of transportation while suppressing an increase in the amount of energy consumed by the moving machine in order to move to the starting position of transportation.

＜實施例1＞ 以下，針對本發明之實施例，一面參照附圖，一面進行說明。 <Example 1> Hereinafter, embodiments of the present invention will be described with reference to the drawings.

本發明之實施例1之搬運系統1具備控制設為訂購之對象之商品之搬運之如圖1所示之控制裝置100。又，搬運系統1具備：由進行商品之訂購之訂購者攜帶之終端裝置200、及設置於銷售商品之店鋪之終端裝置300。進而，搬運系統1為了將在店鋪銷售之商品搬運至由訂購者指定之搬運目的地，而具備儲存商品且依照控制裝置100之控制而移動之移動機800及900。The transportation system 1 of Embodiment 1 of this invention is equipped with the control device 100 shown in FIG. 1 which controls the transportation of the goods to be ordered. Moreover, the transportation system 1 is equipped with the terminal device 200 carried by the orderer who places an order for a product, and the terminal device 300 installed in the store which sells a product. Furthermore, the transportation system 1 is equipped with moving machines 800 and 900 that store the goods and move them according to the control of the control device 100 in order to transport the goods sold in the store to the transportation destination designated by the orderer.

控制裝置100為伺服機，例如設置於對商品之銷售進行仲介之中介商之辦公大樓。控制裝置100為硬體，具備如圖2所示之CPU(Central Processing Unit，中央處理單元)101、RAM(Random Access Memory，隨機存取記憶體)102、ROM(ReadOnly Memory，唯讀記憶體)103a、硬碟103b、資料通訊電路104、視訊卡105a、顯示裝置105b、及輸入裝置105c。控制裝置100可具備複數個CPU，亦可具備複數個RAM及快閃記憶體。The control device 100 is a servo machine, and is installed, for example, in the office building of an intermediary that mediates the sale of products. The control device 100 is hardware and has a CPU (Central Processing Unit, central processing unit) 101, a RAM (Random Access Memory, a random access memory) 102, and a ROM (ReadOnly Memory) as shown in Figure 2 103a, hard disk 103b, data communication circuit 104, video card 105a, display device 105b, and input device 105c. The control device 100 may be provided with a plurality of CPUs, and may also be provided with a plurality of RAMs and flash memories.

控制裝置100之CPU 101藉由執行保存於ROM 103a或硬碟103b之程式，而進行控制裝置100之整體控制。RAM 102於CPU 101對程式之執行時，暫時記憶設為處理對象之資料。ROM 103a及硬碟103b記憶各種程式、及程式之執行所使用之各種資料及保存有資料之表。The CPU 101 of the control device 100 performs overall control of the control device 100 by executing the program stored in the ROM 103a or the hard disk 103b. The RAM 102 temporarily stores the data set as the processing target when the CPU 101 executes the program. The ROM 103a and the hard disk 103b store various programs, various data used for execution of the programs, and tables storing the data.

控制裝置100之資料通訊電路104為NIC(Network Interface Card，網路介面卡)，例如依照LTE(Long Term Evolution，長期演進)及5G(5th Generation，第5代)等通訊規格，使用連接於網際網路IN之未圖示之基地台與電波進行資料通訊。藉此，控制裝置100之資料通訊電路104與連接於網際網路IN之終端裝置200及300、以及移動機800及900進行資料通訊。The data communication circuit 104 of the control device 100 is a NIC (Network Interface Card), which is connected to the Internet in accordance with communication standards such as LTE (Long Term Evolution) and 5G (5th Generation). The base station (not shown) of the network IN carries out data communication with the radio waves. Thereby, the data communication circuit 104 of the control device 100 performs data communication with the terminal devices 200 and 300 connected to the Internet IN, and the mobile machines 800 and 900.

控制裝置100之視訊卡105a基於自CPU 101輸出之數位信號繪製圖像，且輸出表示所繪製之圖像之圖像信號。顯示裝置105b為EL(Electro Luminescence，電致發光))顯示器、PDP(Plasma Display Panel，電漿顯示面板)、或LCD(Liquid Crystal Display，液晶顯示器)，依照自視訊卡105a輸出之圖像信號而顯示圖像。輸入裝置105c為鍵盤、滑鼠、觸控板、及按鈕之任一者以上，輸入與中介商之從業人員之操作相應之信號。The video card 105a of the control device 100 draws an image based on the digital signal output from the CPU 101, and outputs an image signal representing the drawn image. The display device 105b is an EL (Electro Luminescence, electroluminescence) display, a PDP (Plasma Display Panel, a plasma display panel), or an LCD (Liquid Crystal Display, a liquid crystal display), and is configured according to the image signal output from the video card 105a. Display image. The input device 105c is any one or more of a keyboard, a mouse, a touch pad, and buttons, and inputs a signal corresponding to the operation of the intermediary employee.

控制裝置100之資料通訊電路104於自訂購者之終端裝置200接收到請求受理商品之訂購之訂購請求時，執行進行使移動機800或900向開始該商品之搬運之開始位置移動之控制之如圖3所示之移動控制處理。When the data communication circuit 104 of the control device 100 receives an order request requesting acceptance of an order for a product from the orderer's terminal device 200, the data communication circuit 104 executes control to move the mobile machine 800 or 900 to a starting position for starting transportation of the product. Figure 3 shows the movement control process.

於本實施例中，商品為飲食品，搬運之開始位置為銷售所訂購之飲食品之店鋪之入口位置，但不限定於此。In this embodiment, the product is food and drink, and the starting position of the transportation is the entrance position of the store that sells the ordered food and drink, but it is not limited to this.

藉由執行移動控制處理，而控制裝置100之CPU 101作為如圖4所示之取得部110發揮功能，其於受理訂購時，取得：表示移動機800之位置之移動機位置資訊、及表示移動機900之位置之移動機位置資訊、表示搬運之開始位置之開始位置資訊、及表示用於將設為訂購之對象之商品之狀態設為可開始搬運之狀態之準備所需之準備時間之準備資訊。By executing the movement control process, the CPU 101 of the control device 100 functions as the acquisition unit 110 as shown in FIG. 4 , and when accepting an order, acquires: mobile machine position information indicating the position of the mobile machine 800 and movement data indicating the position of the mobile machine 800 . The moving machine position information of the position of the machine 900, the start position information indicating the start position of transportation, and the preparation time required to prepare the state of the product targeted for ordering to a state in which transportation can be started information.

於本實施例中，可開始搬運之商品之狀態，於該商品在商品之配送開始前有被調理之必要性時，包含進行完調理之狀態。又，可開始搬運之商品之狀態，於該商品在該商品之配送開始前有被包裝之必要性時，包含經包裝之狀態。有無被調理之必要性、及有無被包裝之必要性於該商品之訂購之受理時在訂購者與店鋪之從業人員之間達成明示性或默示性約定、或在商業慣例上預設。又，可開始搬運之商品之狀態包含該商品位於搬運之開始位置之狀態。In this embodiment, the state of the product that can start to be transported includes the state that the conditioning is completed when the product needs to be conditioned before the delivery of the product starts. In addition, the state of goods that can be transported includes the packaged state when it is necessary for the goods to be packaged before the delivery of the goods begins. The necessity of conditioning and the necessity of packaging are expressly or implicitly agreed between the orderer and the store staff when accepting the order for the product, or are preset in business practices. In addition, the state of the product that can start transportation includes the state of the product at the starting position of transportation.

因此，如為無調理及包裝之必要性之商品，則用於將該商品之狀態設為可開始搬運之狀態之準備例如包含：自倉庫之擱架找出該商品、及將所找出之商品搬運至開始位置。因此，準備時間包含：找出該商品所需之找出時間、及所找出之商品向開始位置之搬運所需之開始位置搬運時間。Therefore, if it is a product that does not require conditioning and packaging, preparations for bringing the product into a state ready for transportation include, for example, finding the product from the shelf in the warehouse and moving the found product The goods are moved to the starting position. Therefore, the preparation time includes: the search time required to find the product, and the starting position transportation time required to move the found product to the starting position.

又，如為無調理之必要性、但有包裝之必要性之商品，則該商品之準備包含：找出該商品、包裝該商品、及搬運至開始位置。因此，該商品之準備時間包含：該商品之找出時間、所找出之商品之包裝所需之包裝時間、及經包裝之該商品之開始位置之搬運時間之合計。In addition, if it is a product that does not require conditioning but requires packaging, the preparation of the product includes: finding the product, packaging the product, and transporting it to the starting location. Therefore, the preparation time of the product includes: the total time of finding the product, the packaging time required for packaging the found product, and the transportation time to the starting position of the packaged product.

進而，如為有調理及包裝之必要性之商品，則該商品之準備包含：該商品之調理、經調理之商品之包裝、及經包裝之商品之開始位置之搬運。因此，該商品之準備時間包含該商品之調理所需之調理時間、經調理之商品之包裝時間、及經包裝之商品之開始位置搬運時間之合計。Furthermore, if it is a product that requires conditioning and packaging, the preparation of the product includes: the conditioning of the product, the packaging of the conditioned product, and the transportation of the packaged product to the starting position. Therefore, the preparation time of the product includes the total of the preparation time required for the preparation of the product, the packaging time of the prepared product, and the starting position transportation time of the packaged product.

控制裝置100之CPU 101進一步作為產生部120發揮功能，其基於受理訂購之商品之準備時間、及推定為移動機800為了自可儲存該商品之移動機800之位置移動至搬運之開始位置而消耗之能量量，產生移動機800之移動控制資訊。移動機800消耗之能量量係由產生部120推定。又，移動機800之移動控制資訊係用於使移動機800自移動機800之位置移動至搬運之開始位置之資訊。The CPU 101 of the control device 100 further functions as the generation unit 120, which is estimated based on the preparation time of the product to be ordered and the consumption of the mobile machine 800 in order to move from the position of the mobile machine 800 where the product can be stored to the starting position of transportation. The energy generates movement control information of the mobile machine 800. The amount of energy consumed by the mobile machine 800 is estimated by the generation unit 120 . In addition, the movement control information of the moving machine 800 is information used to move the moving machine 800 from the position of the moving machine 800 to the start position of transportation.

控制裝置100之產生部120同樣地推定移動機900為了自移動機900之位置移動至搬運之開始位置而消耗之能量量，基於推定出之能量量、及該商品之準備時間，產生移動機900之移動控制資訊。The generation unit 120 of the control device 100 similarly estimates the amount of energy consumed by the moving machine 900 in order to move from the position of the moving machine 900 to the starting position of transportation, and generates the moving machine 900 based on the estimated energy amount and the preparation time of the product. Mobile control information.

又，控制裝置100之CPU 101作為選擇部130發揮功能，其基於由產生部120產生之移動機800之移動控制資訊之評估值、及移動機900之移動控制資訊之評估值，自移動機800及900選擇搬運訂購之商品之移動機。In addition, the CPU 101 of the control device 100 functions as the selection unit 130, which selects the movement control information from the mobile machine 800 based on the evaluation value of the movement control information of the mobile machine 800 generated by the generation unit 120 and the evaluation value of the movement control information of the mobile machine 900. And 900 choose the moving machine to transport the ordered goods.

於本實施例中，由於移動機800之移動控制資訊之評估值係表示該移動控制資訊為何種程度適切之指標，故移動控制資訊越適切，則移動控制資訊之評估值決定為越高之值。又，於本實施例中，由於在移動機800基於移動控制資訊而移動之情形下推定為由移動機800消耗之能量量越少，該移動控制資訊越適切，故將該移動控制資訊之評估值決定為越高。移動機900之移動控制資訊之評估值亦同樣。In this embodiment, since the evaluation value of the movement control information of the mobile machine 800 is an indicator indicating how appropriate the movement control information is, the more appropriate the movement control information is, the higher the evaluation value of the movement control information is determined to be. . Furthermore, in this embodiment, since the smaller the amount of energy consumed by the mobile machine 800 is estimated to be when the mobile machine 800 moves based on the mobile control information, the mobile control information is more appropriate, so the evaluation of the mobile control information is The value is determined to be higher. The evaluation value of the movement control information of the mobile machine 900 is also the same.

進而，控制裝置100之CPU 101作為控制部140發揮功能，其基於移動控制資訊對移動機800或900進行自選擇之移動機800或900之位置移動至搬運之開始位置之控制。Furthermore, the CPU 101 of the control device 100 functions as the control unit 140 and controls the moving machine 800 or 900 to move from the selected position of the moving machine 800 or 900 to the start position of the transportation based on the movement control information.

進而，控制裝置100之硬碟103b作為記憶移動控制處理之執行所使用之資訊之資訊記憶部190發揮功能。資訊記憶部190預先記憶預先保存有關於商品之資訊之如圖5所示之商品表。Furthermore, the hard disk 103b of the control device 100 functions as an information storage unit 190 that stores information used for execution of the movement control process. The information storage unit 190 stores in advance a product list as shown in FIG. 5 in which information about products is stored in advance.

於商品表中預先保存有複數個記錄。於商品表之各記錄中，將識別商品之商品ID(Identifiation)、表示該商品之名稱之資訊、表示該商品之準備時間之準備資訊、表示作為自該商品之準備完成至開始該商品之搬運為止之時間所容許之最長之時間(以下稱為最長容許時間)之資訊、表示該商品之準備時間與最長容許時間之合計時間之合計資訊相互建立對應關係而預先保存。A plurality of records are stored in the product table in advance. In each record of the product table, the product ID (Identification) that identifies the product, information indicating the name of the product, preparation information indicating the preparation time of the product, and the time from completion of the preparation of the product to the start of transportation of the product are included. The information on the maximum time allowed until the end of time (hereinafter referred to as the maximum allowable time) and the total information indicating the total time of the product's preparation time and the maximum allowable time are correlated with each other and stored in advance.

於本實施例中，商品包含番茄、麵包、漢堡包、拉麵、及牛排。又，於本實施例中，用於將番茄及麵包之狀態設為可開始搬運之狀態之準備不包含調理，但漢堡包、拉麵、及牛排之準備包含調理。因此，番茄及麵包之準備時間預先設定為較漢堡包、拉麵、及牛排之準備時間為短。In this embodiment, the products include tomatoes, bread, hamburgers, ramen noodles, and steaks. Furthermore, in this embodiment, preparation for bringing tomatoes and bread into a state ready for transportation does not include cooking, but preparation for hamburgers, ramen noodles, and steaks includes cooking. Therefore, the preparation time of tomatoes and bread is preset to be shorter than the preparation time of hamburger, ramen, and steak.

又，於本實施例中，最長容許時間相應於搬運之商品之特性而預設，商品之特性包含商品之狀態伴隨著時間之經過發生變化之性質。例如，拉麵之特性包含麵條伴隨著時間之經過而伸長之性質。麵條伸長，意指麵條之狀態自含有較每單位長度預設之水分量為少之量之水分之狀態變化為含有預設之水分量以上之量之水分之狀態。因此，拉麵之最長容許時間例如預先設定為番茄、麵包、漢堡包、及牛排等不具有麵條伸長之性質之商品之搬運之最長容許時間以下。In addition, in this embodiment, the maximum allowable time is preset according to the characteristics of the goods to be transported, and the characteristics of the goods include the property that the state of the goods changes with the passage of time. For example, the characteristics of ramen noodles include the property that the noodles elongate with the passage of time. Noodle elongation means that the state of the noodles changes from a state containing an amount of moisture that is less than the predetermined amount of moisture per unit length to a state that contains an amount of moisture that is greater than the preset amount of moisture per unit length. Therefore, the maximum allowable time for ramen noodles is, for example, preset to be equal to or less than the maximum allowable time for transporting products such as tomatoes, bread, hamburgers, and steaks that do not have the property of extending noodles.

又，例如，漢堡包、拉麵、及牛排之特性包含：將商品之溫度設為較預設之溫度為高之溫度之調理之必要性(以下為加熱調理之必要性)、及藉由調理而高於該預設之溫度之商品之溫度伴隨著時間之經過而成為該預設之溫度以下之溫度之性質(以下為冷卻性質)。因此，漢堡包、拉麵、及牛排之最長容許時間例如預先設定為番茄及麵包等不具有加熱調理之必要性及冷卻性質之商品之搬運之最長容許時間以下。For example, the characteristics of hamburgers, ramen, and steaks include the necessity of conditioning the product to a temperature higher than the preset temperature (hereinafter referred to as the necessity of heating conditioning), and the necessity of conditioning to a higher temperature. The temperature of the product at the preset temperature becomes a property of a temperature below the preset temperature as time passes (hereinafter referred to as cooling properties). Therefore, the maximum allowable time for hamburgers, ramen, and steak, for example, is preset to be less than the maximum allowable time for transportation of commodities that do not require heating and conditioning, such as tomatoes and bread, or have cooling properties.

商品及商品之性質不限定於其等。商品可為冷湯或冰淇淋，商品之性質可包含：將商品之溫度設為較預設之溫度為低之溫度之調理或存放之必要性(以下為冷卻調理或存放之必要性)、及低於該預設之溫度之商品之溫度伴隨著時間之經過而成為該預設之溫度以上之溫度之性質(以下為加熱性質)。The goods and the nature of the goods are not limited thereto. The product can be cold soup or ice cream, and the nature of the product can include: the necessity of cooking or storing the product at a temperature lower than the preset temperature (the following is the necessity of cooling, conditioning or storage), and low temperature The temperature of the product at the preset temperature becomes a property of a temperature above the preset temperature as time passes (hereinafter referred to as heating properties).

於開始執行圖3之移動控制處理時，控制裝置100之取得部110自資料通訊電路104取得自訂購者之終端裝置200接收到之訂購請求，將店鋪之終端裝置300作為發送對象，向資料通訊電路104輸出取得之訂購請求。藉此，訂購請求向店鋪傳送(步驟S01)。When starting to execute the movement control process of FIG. 3 , the acquisition unit 110 of the control device 100 acquires the order request received from the orderer's terminal device 200 from the data communication circuit 104 , and sends the terminal device 300 of the store to the data communication circuit. Circuit 104 outputs the obtained order request. Thereby, the order request is sent to the store (step S01).

若自傳送訂購請求至經過預設之時間為止，控制裝置100之資料通訊電路104未自該店鋪之終端裝置300接收使知悉訂購已由店鋪受理之受理通知，則取得部110判別為未受理訂購(步驟S02；否)。之後，取得部110於將訂購者之終端裝置200作為發送對象，向資料通訊電路104輸出使知悉未受理訂購之非受理通知之後，結束移動控制處理之執行。If the data communication circuit 104 of the control device 100 does not receive an acceptance notification from the terminal device 300 of the store until the preset time has elapsed since the order request was sent, indicating that the order has been accepted by the store, the acquisition unit 110 determines that the order has not been accepted. (Step S02; No). Thereafter, the acquisition unit 110 targets the orderer's terminal device 200 and outputs a non-acceptance notification to the data communication circuit 104 to inform that the order has not been accepted, and then ends the execution of the movement control process.

針對於此，若於較自訂購請求之傳送起經過預設之時間前面，接收到受理通知，則控制裝置100之取得部110判別為已受理訂購(步驟S02；是)。其次，取得部110執行取得關於訂購之商品之資訊之如圖6所示之資訊取得處理(步驟S03)。In this regard, if the acceptance notification is received before the preset time has elapsed since the order request was transmitted, the acquisition unit 110 of the control device 100 determines that the order has been accepted (step S02; Yes). Next, the acquisition unit 110 executes the information acquisition process shown in FIG. 6 for acquiring information on the ordered product (step S03).

於開始執行資訊取得處理時，控制裝置100之取得部110根據於圖3之步驟S01中取得之訂購請求，取得訂購之商品之商品ID、及以住址表示該商品之搬運目的地之資訊(步驟S21)。其次，取得部110藉由取得資訊記憶部190與表示搬運目的地之住址之資訊預先建立對應關係而記憶之表示經度、緯度、及高度之資訊，而取得以經度、緯度、及高度表示搬運目的地之位置之搬運目的地資訊。When the information acquisition process is started, the acquisition unit 110 of the control device 100 acquires the product ID of the ordered product and information indicating the transportation destination of the product in terms of address based on the order request obtained in step S01 of FIG. 3 (step S01 of FIG. 3 ). S21). Next, the acquisition unit 110 obtains the information indicating the longitude, latitude, and altitude that is stored in correspondence with the information indicating the address of the transportation destination in advance by the information storage unit 190, and obtains the transportation purpose expressed in longitude, latitude, and altitude. Transportation destination information of location.

之後，於本實施例中，控制裝置100之取得部110於圖5之商品表中取得與取得之商品ID建立對應關係之準備資訊及合計資訊(步驟S22)，但不限定於此。取得部110可取得與商品ID建立對應關係之準備資訊及表示最長容許時間之資訊，藉由將由取得之資訊表示之最長容許時間、與由準備資訊表示之準備時間合計，而取得表示合計時間之合計資訊。Thereafter, in this embodiment, the acquisition unit 110 of the control device 100 acquires preparation information and total information corresponding to the acquired product ID from the product table in FIG. 5 (step S22), but is not limited to this. The acquisition unit 110 can acquire the preparation information associated with the product ID and the information indicating the maximum allowable time, and obtain the total time indicating the maximum allowable time by adding the maximum allowable time indicated by the acquired information and the preparation time indicated by the preparation information. Total information.

之後，控制裝置100之取得部110取得資訊記憶部190預先記憶之資訊、且為以經度、緯度、及高度表示搬運之開始位置之開始位置資訊(步驟S23)。After that, the acquisition unit 110 of the control device 100 acquires the information stored in advance by the information storage unit 190 and is the start position information indicating the start position of transportation in terms of longitude, latitude, and altitude (step S23).

其次，控制裝置100之取得部110將移動機800作為發送對象，向資料通訊電路104輸出請求發送以經度、緯度、及高度表示移動機800之位置之移動機位置資訊之發送請求。若控制裝置100之資料通訊電路104於向移動機800發送發送請求之後接收到移動機位置資訊，則取得部110自資料通訊電路104取得移動機800之移動機位置資訊。同樣，取得部110取得移動機900之移動機位置資訊(步驟S24)。Next, the acquisition unit 110 of the control device 100 takes the mobile device 800 as the transmission target and outputs a transmission request to the data communication circuit 104 to transmit the mobile device position information indicating the position of the mobile device 800 in terms of longitude, latitude, and altitude. If the data communication circuit 104 of the control device 100 receives the mobile machine location information after sending the transmission request to the mobile machine 800, the acquisition unit 110 obtains the mobile machine position information of the mobile machine 800 from the data communication circuit 104. Similarly, the acquisition unit 110 acquires the mobile device location information of the mobile device 900 (step S24).

之後，控制裝置100之取得部110於取得資訊記憶部190預先記憶之模式資訊後(步驟S25)，結束資訊取得處理之執行。After that, the acquisition unit 110 of the control device 100 ends the execution of the information acquisition process after acquiring the mode information stored in advance by the information storage unit 190 (step S25).

於本實施例中，模式資訊係表示自移動機800或900之位置至搬運之開始位置，移動機800或900儲存商品並移動時之行為之動作模式之資訊。於本實施例中，資訊記憶部190預先記憶之模式資訊表示將預設之基準之速度作為移動時之移動機800或900之移動速度而對移動機800或900設定之基準模式。於本實施例中，設定之移動機800或900之移動速度為移動機800或900之平均速度，但不限定於此，可為移動機800或900之最高速度或限制速度。In this embodiment, the mode information is information indicating the action mode of the behavior of the moving machine 800 or 900 when the product is stored and moved from the position of the moving machine 800 or 900 to the starting position of transportation. In this embodiment, the mode information stored in advance by the information storage unit 190 represents the base mode set for the mobile machine 800 or 900 using the preset base speed as the moving speed of the mobile machine 800 or 900 when moving. In this embodiment, the set moving speed of the mobile machine 800 or 900 is the average speed of the mobile machine 800 or 900, but it is not limited thereto and may be the maximum speed or the limited speed of the mobile machine 800 or 900.

於在圖3之步驟S03中執行完資訊取得處理之後，控制裝置100之產生部120以識別移動機800之編號「1」將識別移動機800或900之變量m初始化(步驟S04)。其次，產生部120判別為變量m之值「1」為搬運系統1具備之移動機之數量「2」以下(步驟S05；是)。After executing the information acquisition process in step S03 of FIG. 3 , the generation unit 120 of the control device 100 initializes the variable m identifying the mobile machine 800 or 900 with the number "1" that identifies the mobile machine 800 (step S04 ). Next, the generation unit 120 determines that the value "1" of the variable m is "2" or less the number of moving machines included in the transportation system 1 (step S05; Yes).

之後，控制裝置100之產生部120探索複數個自以變量m識別之移動機800之位置到達搬運之開始位置之路徑，且自探索到之複數個路徑選擇N個(其中，N為自然數)在移動機800以基準之速度移動時需要準備時間以上、且合計時間以下之移動時間之路徑，作為移動機800之移動路徑(步驟S06)。After that, the generation unit 120 of the control device 100 searches for a plurality of paths from the position of the mobile machine 800 identified by the variable m to the starting position of transportation, and selects N from the plurality of paths searched (where N is a natural number). When the mobile machine 800 moves at the standard speed, a path requiring a movement time of more than the preparation time and less than the total time is regarded as the movement path of the mobile machine 800 (step S06).

因此，控制裝置100之取得部110自資訊記憶部190預先記憶之部分路徑表讀出複數個記錄。於部分路徑表之複數個記錄中例如分別保存有與道路及人行道等可供移動機800及900移動之部分路徑相關之資訊。與部分路徑相關之資訊係將作為部分路徑之邊緣之起點節點之經度、緯度、及高度、與該邊緣之終點節點之經度、緯度、及高度、及表示該邊緣之距離之資訊建立對應關係之資訊。Therefore, the acquisition unit 110 of the control device 100 reads a plurality of records from the partial path table stored in advance by the information storage unit 190 . A plurality of records in the partial route table, for example, respectively store information related to partial routes such as roads and sidewalks that the mobile machines 800 and 900 can move. The information related to the partial path establishes a corresponding relationship between the longitude, latitude, and altitude of the starting node as the edge of the partial path, the longitude, latitude, and altitude of the end node of the edge, and information indicating the distance of the edge. information.

其次，控制裝置100之產生部120使用保存於讀出之部分路徑表之各記錄之邊緣之距離、該邊緣之起點節點及終點節點之經度、緯度、及高度、表示移動機800之位置之經度、緯度、及高度、及表示搬運之開始位置之經度、緯度、及高度，例如進行包含戴克斯特拉法之周知之路徑探索演算法。藉此，產生部120藉由將部分路徑組合，而探索複數個自移動機800之位置到達開始位置之整體路徑。Next, the generation unit 120 of the control device 100 uses the distance of the edge of each record stored in the read partial route table, the longitude, latitude, and altitude of the start node and end node of the edge, and the longitude indicating the position of the mobile machine 800 , latitude, and altitude, and the longitude, latitude, and altitude indicating the starting position of the transfer, for example, a well-known path search algorithm including the Dijkstra method is performed. Thereby, the generating unit 120 explores a plurality of overall paths from the position of the mobile machine 800 to the starting position by combining partial paths.

其次，控制裝置100之產生部120針對探索出之複數個整體路徑算出總距離，基於算出之距離與基準之速度，算出移動機800以基準模式移動所需之移動時間。Next, the generation unit 120 of the control device 100 calculates the total distance for the plurality of discovered entire paths, and based on the calculated distance and the reference speed, calculates the movement time required for the mobile machine 800 to move in the reference mode.

其次，控制裝置100之產生部120於探索出之複數個整體路徑之內選擇N個算出之移動時間為準備時間以上、且為合計時間以下之整體路徑，作為移動路徑。於本實施例中，產生部120按照移動時間由短至長之順序選擇N個整體路徑，但不限定於此。產生部120例如可基於移動時間由短至長之順序以外之預設之規則，或基於軟體隨機數，選擇N個整體路徑。Next, the generation unit 120 of the control device 100 selects N overall paths whose calculated movement time is greater than the preparation time and less than the total time among the plurality of searched overall paths as movement paths. In this embodiment, the generating unit 120 selects N overall paths in order of moving time from short to long, but is not limited to this. The generating unit 120 may, for example, select N overall paths based on a preset rule other than the order of moving time from shortest to longest, or based on software random numbers.

之後，控制裝置100之產生部120例如基於包含選擇之順序之預設之規則或軟體隨機數，對N個移動路徑賦予第1至第N個編號。其次，產生部120產生包含表示第1個移動路徑之資訊之移動機800之移動控制資訊之第1個候選。同樣，產生部120產生移動機800之移動控制資訊之第2個至第N個候選(步驟S07)。於本實施例中，表示移動路徑之資訊包含：以經度、緯度、及高度表示該移動路徑中所含之節點第位置之資訊、及表示該節點之到達順序之資訊。Afterwards, the generation unit 120 of the control device 100 assigns the 1st to Nth numbers to the N movement paths based on, for example, a preset rule or a software random number including the order of selection. Next, the generating unit 120 generates the first candidate of the movement control information of the mobile machine 800 including the information indicating the first movement path. Similarly, the generation unit 120 generates the 2nd to Nth candidates of the movement control information of the mobile device 800 (step S07). In this embodiment, the information representing the moving path includes: information representing the position of the nodes included in the moving path in terms of longitude, latitude, and altitude, and information representing the arrival order of the nodes.

控制裝置100之產生部120以識別第1個候選之編號「1」將識別移動控制資訊之候選之變量n初始化(步驟S08)。其次，產生部120判別為變量n之值「1」為候選之數量「N」以下時(步驟S09；是)，而執行如圖7所示之評估值算出處理，其算出表示以變量n識別之候選作為移動控制資訊為何種程度適切之評估值(步驟S10)。The generation unit 120 of the control device 100 initializes the variable n that identifies the candidate of the movement control information with the number "1" that identifies the first candidate (step S08). Next, when the generation unit 120 determines that the value "1" of the variable n is less than or equal to the number of candidates "N" (step S09; Yes), the evaluation value calculation process shown in FIG. 7 is executed, and the calculation indicates that the variable n is used to identify the value. The candidate is used as an evaluation value to determine how appropriate the movement control information is (step S10).

於開始執行圖7之評估值算出處理時，控制裝置100之取得部110取得資訊記憶部190預先記憶之換算係數αt、αl、及αh(步驟S31)。When the evaluation value calculation process of FIG. 7 is started, the acquisition unit 110 of the control device 100 acquires the conversion coefficients αt, αl, and αh stored in advance by the information storage unit 190 (step S31).

換算係數αt係用於將移動機800變更行進方向之次數換算為推定為在該次數內為了變更行進方向而移動機800消耗之能量量的係數。又，換算係數αl係用於將移動機800移動之距離換算為推定為移動機800為了移動該距離而消耗之能量量之係數。進而，換算係數αh係用於將移動機800之高度之變化量換算為推定為為了使移動機800之高度變化該量而由移動機800消耗之能量量之係數。The conversion coefficient αt is a coefficient for converting the number of times the mobile machine 800 changes the traveling direction into the energy amount estimated to be consumed by the mobile machine 800 in order to change the traveling direction within the number of times. In addition, the conversion coefficient α1 is a coefficient for converting the distance moved by the mobile machine 800 into the energy amount estimated to be consumed by the mobile machine 800 in order to move the distance. Furthermore, the conversion coefficient αh is a coefficient for converting the amount of change in the height of the mobile machine 800 into the amount of energy estimated to be consumed by the mobile machine 800 in order to change the height of the mobile machine 800 by the amount.

其次，控制裝置100之產生部120以值「0」將表示移動機800之推定消耗能量量之變量CE初始化(步驟S32)。由變量CE表示之移動機800之推定消耗能量量係推定為移動機800為了於以變量n識別之候選中所含之移動路徑移動而由移動機800消耗之能量量。Next, the generation unit 120 of the control device 100 initializes the variable CE indicating the estimated energy consumption of the mobile machine 800 to a value of "0" (step S32). The estimated energy consumption amount of the mobile machine 800 represented by the variable CE is estimated to be the energy amount consumed by the mobile machine 800 in order to move on the movement path included in the candidate identified by the variable n.

之後，控制裝置100之產生部120對移動路徑中所含之複數個節點按照通過循序由早至晚之順序賦予第1至第ND個編號(其中，ND為自然數)。之後，產生部120以識別第1個節點之編號「1」將識別節點之變量nd初始化(步驟S33)。After that, the generation unit 120 of the control device 100 assigns the 1st to ND-th numbers (where ND is a natural number) to the plurality of nodes included in the movement path in order from early to late in passing order. After that, the generation unit 120 initializes the variable nd that identifies the node with the number "1" that identifies the first node (step S33).

其次，控制裝置100之產生部120判別為變量nd之值「1」小於節點之數量「ND」(步驟S34；是)。之後，產生部120因變量nd之值為「1」(步驟S35；是)，而判別為以變量nd識別之節點為最初之節點。因此，產生部120判別為僅存在以該節點為起點之邊緣(以下稱為較該節點後面之邊緣)，不存在將該節點設為終點之邊緣(以下稱為較該節點前面之邊緣)。產生部120因不存在較該節點前面之邊緣，而判別為移動機800無須為了自較該節點前面之邊緣朝較該節點後面之邊緣移動，而於該節點處變更行進方向。Next, the generation unit 120 of the control device 100 determines that the value "1" of the variable nd is smaller than the number of nodes "ND" (step S34; Yes). After that, the generation unit 120 determines that the node identified by the variable nd is the first node because the value of the variable nd is "1" (step S35; Yes). Therefore, the generation unit 120 determines that there is only an edge starting from the node (hereinafter referred to as an edge behind the node) and there is no edge having the node as an end point (hereinafter referred to as an edge before the node). Since there is no edge in front of the node, the generation unit 120 determines that the mobile machine 800 does not need to change the traveling direction at the node in order to move from the edge in front of the node to the edge behind the node.

其次，控制裝置100之取得部110取得將該節點設為起點節點、將該節點之後一個節點設為終點節點之較該節點後面之邊緣之距離L(步驟S38)。因此，取得部110自未圖示之部分路徑表取得起點節點之經度、緯度、及高度、與終點節點之經度、緯度、及高度建立對應關係之距離L。於本實施例中，較以變量nd識別之節點後面1個之節點意指以變量nd+1識別之節點。Next, the acquisition unit 110 of the control device 100 acquires the distance L from the edge behind the node, where the node is the starting point node and the node after the node is the end node (step S38). Therefore, the obtaining unit 110 obtains the longitude, latitude, and altitude of the starting point node and the distance L that establishes the corresponding relationship with the longitude, latitude, and altitude of the ending node from the partial route table (not shown). In this embodiment, the node one behind the node identified by the variable nd means the node identified by the variable nd+1.

之後，控制裝置100之產生部120藉由將取得之邊緣之距離L乘以在步驟S31中讀出之換算係數αl，而推定為移動機800為了移動該距離L而由移動機800消耗之能量量為αl×L。其次，產生部120將推定出之能量量αl×L與表示移動機800之推定消耗能量量之變量CE相加(步驟S39)。Thereafter, the generation unit 120 of the control device 100 estimates the energy consumed by the mobile machine 800 in order to move the distance L by multiplying the obtained distance L of the edge by the conversion coefficient αl read in step S31 The quantity is αl×L. Next, the generation unit 120 adds the estimated energy amount α1×L to the variable CE indicating the estimated energy consumption of the mobile machine 800 (step S39).

其次，控制裝置100之產生部120基於起點節點之高度是否低於終點節點之高度，判別邊緣是否為上坡(步驟S40)。此時，產生部120於因起點節點之高度低於終點節點之高度，而判別為該邊緣為上坡時(步驟S40；是)，算出起點節點之高度與終點節點之高度之高度差H(步驟S41)。其次，產生部120藉由將算出之高度差H乘以在步驟S31中讀出之換算係數αh，而推定為為了使移動機800之高度變化該高度差H而由移動機800消耗之能量量為αh×H。其次，產生部120將推定出之能量量αh×H與變量CE相加(步驟S42)。Next, the generation unit 120 of the control device 100 determines whether the edge is uphill based on whether the height of the starting point node is lower than the height of the ending node (step S40). At this time, when the generating unit 120 determines that the edge is uphill because the height of the starting node is lower than the height of the ending node (step S40; Yes), the generating unit 120 calculates the height difference H ( Step S41). Next, the generation unit 120 multiplies the calculated height difference H by the conversion coefficient αh read in step S31 to estimate the amount of energy consumed by the mobile machine 800 in order to change the height of the mobile machine 800 by the height difference H. is αh×H. Next, the generation unit 120 adds the estimated energy amount αh×H to the variable CE (step S42).

於步驟S40中，控制裝置100之產生部120於因起點節點之高度為終點節點之高度以上，而判別為該邊緣非為上坡時(步驟S40；否)，或於執行完步驟S42之後，將變量nd之值增加值「1」而更新為值「2」(步驟S43)，而後再次執行步驟S34之處理。In step S40, the generation unit 120 of the control device 100 determines that the edge is not uphill because the height of the starting node is higher than the height of the end node (step S40; No), or after executing step S42, The value of the variable nd is incremented by "1" and updated to the value "2" (step S43), and then the process of step S34 is executed again.

此時控制裝置100之產生部120判別為變量nd之值「2」小於節點之數量「ND」(步驟S34；是)。其次，產生部120因變量nd之值為「2」而非「1」(步驟S35；否)，而判別為以變量nd識別之節點非為最初之節點。因此，產生部120判別為移動機800為了自較該節點前面之邊緣朝較該節點後面之邊緣移動，而必須於該節點處變更行進方向。At this time, the generation unit 120 of the control device 100 determines that the value "2" of the variable nd is smaller than the number of nodes "ND" (step S34; Yes). Next, the generation unit 120 determines that the node identified by the variable nd is not the first node because the value of the variable nd is "2" instead of "1" (step S35; No). Therefore, the generation unit 120 determines that the mobile machine 800 must change its traveling direction at the node in order to move from the edge in front of the node to the edge behind the node.

其次，控制裝置100之產生部120使用該等3個節點之經度、緯度、及高度，算出自該節點之前1個節點向以變量nd識別之節點之向量、及自以變量nd識別之節點向從該節點之後1個節點之向量。於本實施例中，較以變量nd識別之節點前面1個之節點意指以變量nd-1識別之節點。之後，產生部120基於算出之2個向量，算出為了自較以變量nd識別之節點前面之邊緣朝較該節點後面之邊緣移動而動機800使行進方向變更之角度。Next, the generation unit 120 of the control device 100 uses the longitude, latitude, and altitude of the three nodes to calculate the vector from the node before the node to the node identified by the variable nd, and the direction from the node identified by the variable nd. The vector of one node after this node. In this embodiment, the node one before the node identified by the variable nd means the node identified by the variable nd-1. Then, based on the calculated two vectors, the generation unit 120 calculates the angle at which the motor 800 changes the traveling direction in order to move from the edge in front of the node identified by the variable nd to the edge behind the node.

之後，控制裝置100之產生部120於算出之角度較由預先記憶於資訊記憶部190之變量表示之設定角度為小時，判別為不變更行進方向(步驟S36；否)。其次，產生部120於執行完步驟S38至S43之處理之後，自步驟S34起重複上述處理。After that, the generation unit 120 of the control device 100 determines that the traveling direction is not changed when the calculated angle is smaller than the set angle represented by the variable stored in the information storage unit 190 in advance (step S36; No). Next, after completing the processing of steps S38 to S43, the generation unit 120 repeats the above-mentioned processing from step S34.

針對於此，控制裝置100之產生部120於算出之角度為設定角度以上時，判別為變更行進方向(步驟S36；是)。其次，產生部120藉由將行進方向之變更次數「1」乘以在步驟S31中讀出之換算係數αt，而推定為移動機800為了將該行進方向變更「1」次而由移動機800消耗之能量量為αt。其次，產生部120於將推定出之能量量αt與變量CE相加之後(步驟S37)，執行步驟S38至S43之處理，而後自步驟S34起重複上述處理。In response to this, when the calculated angle is greater than or equal to the set angle, the generation unit 120 of the control device 100 determines that the traveling direction is changed (step S36; Yes). Next, the generation unit 120 multiplies the number of changes in the traveling direction "1" by the conversion coefficient αt read in step S31, and infers that the mobile machine 800 changed the traveling direction "1" times by the mobile machine 800. The amount of energy consumed is αt. Next, after adding the estimated energy amount αt to the variable CE (step S37), the generation unit 120 performs the processing of steps S38 to S43, and then repeats the above-mentioned processing from step S34.

於步驟S34中，控制裝置100之產生部120於判別為變量nd之值為節點之數量「ND」以上時(步驟S34；否)，基於表示移動機800之推定消耗能量量之變量CE之值，決定以變量n識別之候選之評估值(步驟S44)。於本實施例中，產生部120例如藉由將變量CE之倒數決定為評估值，而推定為由移動機800消耗之能量量越少，將評估值決定為越高之值，但評估值之決定方法不限定於此。之後，產生部120結束評估值算出處理之執行。In step S34, when the generation unit 120 of the control device 100 determines that the value of the variable nd is equal to or greater than the number of nodes "ND" (step S34; No), the generation unit 120 of the control device 100 generates the value of the variable CE based on the estimated energy consumption of the mobile device 800. , determine the evaluation value of the candidate identified by variable n (step S44). In this embodiment, the generation unit 120 determines the evaluation value by, for example, determining the reciprocal of the variable CE, and infers that the smaller the amount of energy consumed by the mobile machine 800, the higher the evaluation value. However, the evaluation value is The determination method is not limited to this. After that, the generation unit 120 ends execution of the evaluation value calculation process.

於在圖3之步驟S10中執行完評估值算出處理之後，控制裝置100之產生部120於將識別移動控制資訊之候選之變量n之值增加值「1」之後(步驟S11)，自步驟S09起重複上述處理。After executing the evaluation value calculation process in step S10 of FIG. 3 , the generation unit 120 of the control device 100 increases the value of the variable n that identifies the candidate of the movement control information by "1" (step S11 ), and then starts from step S09 Repeat the above process.

於步驟S09中，控制裝置100之產生部120於判別為變量n之值大於候選之數量「N」時(步驟S09；否)，基於在步驟S10中決定之評估值，自N個候選選擇1個候選(步驟S12)，藉此，產生移動機800之移動控制資訊。於本實施例中，產生部120選擇被決定最高之評估值之候選作為移動機800之移動控制資訊。之後，產生部120將產生之移動控制資訊之評估值決定為與移動控制資訊之產生所使用之評估值相同之值。移動控制資訊之產生所使用之評估值意指於步驟S12中選擇之候選之評估值。In step S09, when the generation unit 120 of the control device 100 determines that the value of the variable n is greater than the number of candidates "N" (step S09; No), based on the evaluation value determined in step S10, select 1 from the N candidates. candidates (step S12), thereby generating movement control information of the mobile machine 800. In this embodiment, the generation unit 120 selects the candidate with the highest evaluation value as the mobility control information of the mobile machine 800 . Afterwards, the generation unit 120 determines the evaluation value of the generated movement control information to be the same value as the evaluation value used for generation of the movement control information. The evaluation value used in generating the movement control information means the evaluation value of the candidate selected in step S12.

如此，控制裝置100之產生部120產生N個移動機800之候選，對於產生之N個候選各者決定評估值，且基於決定之評估值自N個候選選擇1個候選，藉此，產生移動機800之移動控制資訊。In this way, the generation unit 120 of the control device 100 generates N candidates for the mobile machine 800 , determines an evaluation value for each of the generated N candidates, and selects one candidate from the N candidates based on the determined evaluation value, thereby generating movement. Mobile control information of machine 800.

之後，控制裝置100之產生部120藉由將變量m之值增加值「1」，而更新為識別移動機900之值「2」(步驟S13)。其次，控制裝置100於執行步驟S05至S13之處理之後，再次執行步驟S05之處理。藉此，產生部120產生移動機900之移動控制資訊，決定產生之移動控制資訊之評估值。After that, the generation unit 120 of the control device 100 updates the value of the variable m to the value "2" for identifying the mobile machine 900 by incrementing the value "1" (step S13). Next, after executing the processes from steps S05 to S13, the control device 100 executes the process of step S05 again. Thereby, the generating unit 120 generates movement control information of the mobile machine 900 and determines the evaluation value of the generated movement control information.

之後，控制裝置100之選擇部130於在步驟S05中，判別為變量m之值大於移動機之數量「2」時(步驟S05；否)，基於移動機800之移動控制資訊之評估值、及移動機900之移動控制資訊之評估值，選擇移動機800或900之任一者作為搬運訂購之商品之移動機(步驟S14)。After that, when the selection unit 130 of the control device 100 determines in step S05 that the value of the variable m is greater than the number of mobile machines "2" (step S05; No), the evaluation value based on the movement control information of the mobile machine 800, and Based on the evaluation value of the movement control information of the mobile machine 900, either the mobile machine 800 or 900 is selected as the mobile machine to transport the ordered merchandise (step S14).

於本實施例中，於移動機800之移動控制資訊之評估值為移動機900之移動控制資訊之評估值以上時，控制裝置100之選擇部130選擇移動機800。針對於此，於移動機800之移動控制資訊之評估值低於移動機900之移動控制資訊之評估值時，選擇部130選擇移動機900。In this embodiment, when the evaluation value of the movement control information of the mobile machine 800 is greater than the evaluation value of the movement control information of the mobile machine 900 , the selection unit 130 of the control device 100 selects the mobile machine 800 . In response to this, when the evaluation value of the movement control information of the mobile machine 800 is lower than the evaluation value of the movement control information of the mobile machine 900 , the selection unit 130 selects the mobile machine 900 .

之後，控制裝置100之控制部140將選擇之移動機800或900作為發送對象，向資料通訊電路104輸出移動機800或900之移動控制資訊。藉此，控制部140基於移動機800或900之移動控制資訊，對移動機800或900進行自移動機800或900之位置移動至搬運之開始位置之控制(步驟S15)。之後，控制部140結束移動控制處理之執行。After that, the control unit 140 of the control device 100 takes the selected mobile machine 800 or 900 as the transmission target and outputs the movement control information of the mobile machine 800 or 900 to the data communication circuit 104. Thereby, the control unit 140 controls the moving machine 800 or 900 to move from the position of the moving machine 800 or 900 to the transportation start position based on the movement control information of the moving machine 800 or 900 (step S15). After that, the control unit 140 ends execution of the movement control process.

由商品之訂購者攜帶之終端裝置200、及進行商品之銷售之店鋪之終端裝置300例如為智慧型手機、或平板型或筆記型個人電腦。訂購者之終端裝置200依照訂購者之操作向控制裝置100發送訂購請求。店鋪之終端裝置300於接收到由控制裝置100傳送之訂購請求時，顯示接收到之訂購請求。店鋪之從業人員於視認到顯示之訂購請求時，對終端裝置300進行用於發送使知悉已受理訂購之受理通知之操作。之後，從業人員開始用於將訂購之商品之狀態設為可搬運之狀態之準備。The terminal device 200 carried by the orderer of the product and the terminal device 300 of the store selling the product are, for example, a smartphone, a tablet or a notebook personal computer. The orderer's terminal device 200 sends an order request to the control device 100 according to the orderer's operation. When receiving the order request sent by the control device 100, the terminal device 300 of the store displays the received order request. When the store employee recognizes the displayed order request, he or she performs an operation on the terminal device 300 for sending an acceptance notification notifying that the order has been accepted. After that, employees start preparations to make the ordered goods ready for transport.

移動機800為如圖8所示之無人地面車輛，於預設之停車場駐車或停車。移動機800具備：底盤810，其具備包含車輪801及802之複數個車輪；儲存庫820，其設置於底盤810之上表面；及控制裝置890，其內置於儲存庫820。The mobile machine 800 is an unmanned ground vehicle as shown in Figure 8, parking or parking in a preset parking lot. The mobile machine 800 is provided with: a chassis 810 equipped with a plurality of wheels including wheels 801 and 802; a storage 820 provided on the upper surface of the chassis 810; and a control device 890 built in the storage 820.

移動機800之儲存庫820具備可儲存商品之1個儲存箱821。儲存箱821具備箱體，該箱體具備未圖示之1個底板、頂板、及背板、以及2個側板，形成由該等板閉塞且前方經開放之空間。於箱體之開口部設置有承接門821a之門框821b。The storage 820 of the mobile machine 800 is provided with a storage box 821 in which merchandise can be stored. The storage box 821 has a box body including a bottom plate, a top plate, a back plate (not shown), and two side plates, forming a space closed by these plates and open in the front. A door frame 821b for receiving the door 821a is provided at the opening of the box.

移動機800進一步具備：設置於底盤810之正面之LiDAR(Light Detection and Ranging，光達)感測器831、及設置於底盤810之背面之未圖示之LiDAR感測器。The mobile machine 800 further includes: a LiDAR (Light Detection and Ranging, LiDAR) sensor 831 provided on the front of the chassis 810, and a LiDAR sensor (not shown) provided on the back of the chassis 810.

移動機800具備之正面之LiDAR感測器831於使用移動機800之前方向作為基準之方位之情形下，向與該基準之方位形成之方位角為-90度至+90度、且與移動機800之前方向形成之仰角為-90度至+90度之範圍內所含之複數個方向照射雷射光。正面之LiDAR感測器831接收照射之雷射光之反射光，基於自雷射光之照射至反射光之受光之時間，計測與將雷射光反射之複數個反射點相隔之距離。其次，正面之LiDAR感測器831基於雷射光之照射方向及計測到之距離，針對複數個反射點，算出使用移動機800之中心點作為原點之三維坐標系內之坐標值。之後，正面之LiDAR感測器831向移動機800之控制裝置890輸出算出之複數個反射點之坐標值。The front LiDAR sensor 831 of the mobile machine 800 uses the direction in front of the mobile machine 800 as the reference orientation. The elevation angle formed by the direction before 800 is -90 degrees to +90 degrees, and the laser light is irradiated in multiple directions. The front LiDAR sensor 831 receives the reflected light of the irradiated laser light, and measures the distance from a plurality of reflection points that reflect the laser light based on the time from the irradiation of the laser light to the reception of the reflected light. Next, the front LiDAR sensor 831 calculates coordinate values in a three-dimensional coordinate system using the center point of the mobile machine 800 as the origin for a plurality of reflection points based on the irradiation direction of the laser light and the measured distance. Afterwards, the front LiDAR sensor 831 outputs the calculated coordinate values of the plurality of reflection points to the control device 890 of the mobile machine 800 .

移動機800具備之背面之LiDAR感測器於使用移動機900之後方向作為基準之方位之情形下，向與該基準之方位形成之方位角為-90度至+90度、且與移動機900之後方向形成之仰角為-90度至+90度之範圍內所含之複數個方向照射紅外線之雷射光。又，背面之LiDAR感測器針對照射之雷射光之複數個反射點，算出移動機800之三維坐標系內之坐標值，並向移動機800之控制裝置890輸出算出之複數個反射點之坐標值。When the LiDAR sensor on the back of the mobile machine 800 uses the direction behind the mobile machine 900 as the reference orientation, the azimuth angle formed with the reference orientation is -90 degrees to +90 degrees, and is with the mobile machine 900 The elevation angle formed by the subsequent directions is within the range of -90 degrees to +90 degrees, and the infrared laser light is irradiated in multiple directions. In addition, the LiDAR sensor on the back calculates the coordinate values in the three-dimensional coordinate system of the mobile machine 800 based on the plurality of reflection points of the irradiated laser light, and outputs the calculated coordinates of the plurality of reflection points to the control device 890 of the mobile machine 800 value.

移動機800具備之正面之LiDAR感測器831及背面之LiDAR感測器向控制裝置890輸出複數個反射點之坐標值，乃因例如為了避開障礙物等物體而行駛，而移動機800之控制裝置890特定位於使用移動機800作為基準之所有方向之物體之三維空間中之坐標值及尺寸等。The LiDAR sensor 831 on the front and the LiDAR sensor on the back of the mobile machine 800 output the coordinate values of a plurality of reflection points to the control device 890 because, for example, the mobile machine 800 is traveling to avoid obstacles and other objects. The control device 890 specifies the coordinate values and dimensions of objects located in the three-dimensional space in all directions using the mobile machine 800 as a reference.

移動機800之控制裝置890為如圖9所示之硬體，具備：CPU 891、RAM 892、ROM 893a、快閃記憶體893b、資料通訊電路894、視訊卡895a、顯示裝置895b、輸入裝置895c、位置計測電路896、方位角感測器897、輸入輸出埠898、及驅動電路899。移動機800可具備複數個CPU，亦可具備複數個RAM及快閃記憶體。The control device 890 of the mobile machine 800 is the hardware shown in Figure 9 and includes: CPU 891, RAM 892, ROM 893a, flash memory 893b, data communication circuit 894, video card 895a, display device 895b, input device 895c , position measurement circuit 896, azimuth angle sensor 897, input and output port 898, and drive circuit 899. The mobile phone 800 may be equipped with a plurality of CPUs, and may also be equipped with a plurality of RAMs and flash memories.

移動機800之CPU 891、RAM 892、ROM 893a、資料通訊電路894、視訊卡895a、顯示裝置895b、及輸入裝置895c之構成及功能與控制裝置100之CPU 101、RAM 102、ROM 103a、資料通訊電路104、視訊卡105a、顯示裝置105b、及輸入裝置105c之構成及功能同樣。The composition and function of the CPU 891, RAM 892, ROM 893a, data communication circuit 894, video card 895a, display device 895b, and input device 895c of the mobile machine 800 and the CPU 101, RAM 102, ROM 103a, and data communication of the control device 100 The circuit 104, the video card 105a, the display device 105b, and the input device 105c have the same structure and function.

移動機800之快閃記憶體893b記憶各種程式、程式之執行所使用之各種資料及保存有資料之表。移動機800可具備硬碟，取代快閃記憶體893b。The flash memory 893b of the mobile machine 800 stores various programs, various data used in the execution of the programs, and tables storing the data. The mobile machine 800 may be equipped with a hard disk instead of the flash memory 893b.

移動機800之位置計測電路896為QZSS(Quasi-Zenith Satellite System，準天頂衛星系統)電路。位置計測電路896接收自準天頂衛星發出之信號，基於接收到之信號，計測表示移動機800之位置之經度、緯度、及高度，並輸出表示計測到之經度、緯度、及高度之信號。位置計測電路896可為接收自GPS(Global Positioning System，全球定位系統)衛星而非QZSS電路發出之GPS信號，基於接收到之GPS信號，計測表示終端裝置300之位置之經度、緯度、及高度的GPS電路。The position measurement circuit 896 of the mobile device 800 is a QZSS (Quasi-Zenith Satellite System) circuit. The position measurement circuit 896 receives the signal from the quasi-zenith satellite, measures the longitude, latitude, and altitude indicating the position of the mobile machine 800 based on the received signal, and outputs a signal indicating the measured longitude, latitude, and altitude. The position measurement circuit 896 may be a GPS signal received from a GPS (Global Positioning System, Global Positioning System) satellite instead of a QZSS circuit, and based on the received GPS signal, measures the longitude, latitude, and altitude indicating the position of the terminal device 300 GPS circuit.

移動機800之方位角感測器897例如為磁性感測器，自基準之方位起逆時針或順時針地計測移動機800之前方向即行進方向、與例如北即基準之方位形成之方位角θ，並輸出表示計測到之方位角θ之方位信號。The azimuth angle sensor 897 of the mobile machine 800 is, for example, a magnetic sensor, and measures the azimuth angle θ formed by the forward direction of the mobile machine 800, that is, the traveling direction, and the direction such as north, that is, the reference position, counterclockwise or clockwise from the reference position. , and output an azimuth signal representing the measured azimuth angle θ.

移動機800之輸入輸出埠898連接於與正面之LiDAR感測器831及背面之LiDAR感測器分別連接之未圖示之纜線。輸入輸出埠898向CPU 891輸入表示正面之LiDAR感測器831及背面之LiDAR感測器分別輸出之坐標值之信號。The input and output port 898 of the mobile machine 800 is connected to cables (not shown) that are respectively connected to the LiDAR sensor 831 on the front and the LiDAR sensor on the back. The input/output port 898 inputs to the CPU 891 signals representing the coordinate values respectively output by the LiDAR sensor 831 on the front and the LiDAR sensor on the back.

移動機800之驅動電路899連接於分別連接於使複數個車輪旋轉之未圖示之馬達之未圖示之纜線。驅動電路899藉由依照CPU 891輸出之控制信號使該馬達驅動，而使複數個車輪旋轉。使複數個車輪旋轉之未圖示之馬達消耗自移動機800具備之例如為鋰離子電池之未圖示之電池供給之電能而驅動。The drive circuit 899 of the mobile machine 800 is connected to cables (not shown) respectively connected to motors (not shown) that rotate a plurality of wheels. The drive circuit 899 drives the motor in accordance with the control signal output from the CPU 891 to rotate the plurality of wheels. A motor (not shown) that rotates a plurality of wheels is driven by consuming electric energy supplied from a battery (not shown) provided in the mobile machine 800, such as a lithium ion battery.

移動機800之資料通訊電路894於自控制裝置100接收到於圖6之步驟S24中輸出之發送請求時，移動機800之CPU 891基於自位置計測電路896輸出之信號，特定移動機800之經度、緯度、及高度。其次，CPU 891產生以經度、緯度、及高度表示移動機800之位置之移動機位置資訊，將控制裝置100作為發送對象，向資料通訊電路894輸出產生之移動機位置資訊。之後，移動機800之資料通訊電路894向控制裝置100發送移動機800之移動機位置資訊。When the data communication circuit 894 of the mobile machine 800 receives the transmission request output in step S24 of FIG. 6 from the control device 100, the CPU 891 of the mobile machine 800 specifies the longitude of the mobile machine 800 based on the signal output from the position measurement circuit 896. , latitude, and altitude. Next, the CPU 891 generates mobile machine position information representing the position of the mobile machine 800 in terms of longitude, latitude, and altitude, takes the control device 100 as the sending object, and outputs the generated mobile machine position information to the data communication circuit 894. Afterwards, the data communication circuit 894 of the mobile machine 800 sends the mobile machine location information of the mobile machine 800 to the control device 100 .

之後，由於在移動機800之資料通訊電路894接收到於圖3之步驟S15中輸出之移動控制資訊時，移動機800之CPU 891依照該移動控制資訊而移動，故執行如圖10所示之移動處理。After that, when the data communication circuit 894 of the mobile machine 800 receives the movement control information output in step S15 of FIG. 3, the CPU 891 of the mobile machine 800 moves according to the movement control information, so the process shown in FIG. 10 is executed. Mobile processing.

於開始執行移動處理時，移動機800之CPU 891自資料通訊電路894取得移動控制資訊，自取得之移動控制資訊取得表示移動路徑之資訊(步驟S51)。When starting to execute the movement process, the CPU 891 of the mobile machine 800 obtains movement control information from the data communication circuit 894, and obtains information indicating the movement path from the obtained movement control information (step S51).

其次，移動機800之CPU 891基於自位置計測電路896輸出之信號，特定移動機800之經度、緯度、及高度。其次，CPU 891基於特定出之經度、緯度、及高度、及於移動路徑中所含之複數個未到達之節點內到達順序最早之節點之經度、緯度、及高度，算出自移動機800之位置向到達順序最早之未到達之節點之方向、與基準之方位形成之方位角ϕ。Secondly, the CPU 891 of the mobile machine 800 specifies the longitude, latitude, and altitude of the mobile machine 800 based on the signal output from the position measurement circuit 896 . Secondly, the CPU 891 calculates the position of the mobile machine 800 based on the specified longitude, latitude, and altitude, and the longitude, latitude, and altitude of the earliest arriving node among the plurality of unreached nodes included in the movement path. The azimuth angle ϕ formed by the direction of the unreached node with the earliest arrival sequence and the direction of the datum.

之後，移動機800之CPU 891產生用於使由自方位角感測器897輸出之信號表示之方位角θ、與算出之方位角ϕ一致之控制信號。之後，CPU 891向驅動電路899輸出產生之控制信號(步驟S52)，驅動電路899依照控制信號使複數個車輪旋轉。藉此，移動機800將移動機800之行進方向變更為自移動機800之位置向到達順序最早之未到達之節點之方向。Afterwards, the CPU 891 of the mobile machine 800 generates a control signal for making the azimuth angle θ represented by the signal output from the azimuth angle sensor 897 consistent with the calculated azimuth angle ϕ. After that, the CPU 891 outputs the generated control signal to the drive circuit 899 (step S52), and the drive circuit 899 rotates the plurality of wheels according to the control signal. Thereby, the mobile machine 800 changes the traveling direction of the mobile machine 800 to the direction from the position of the mobile machine 800 to the unreached node with the earliest arrival order.

其次，移動機800之CPU 891產生用於以基準之速度移動之控制信號，以縮小移動機800之經度、緯度、及高度、與到達順序最早之未到達之節點之經度、緯度、及高度之不同，並向驅動電路899輸出產生之控制信號(步驟S53)。藉此，移動機800以基準之速度向到達順序最早之未到達之節點移動。Secondly, the CPU 891 of the mobile machine 800 generates a control signal for moving at a reference speed to reduce the longitude, latitude, and altitude of the mobile machine 800 and the longitude, latitude, and altitude of the unreached node with the earliest arrival sequence. is different, and outputs the generated control signal to the driving circuit 899 (step S53). Thereby, the mobile machine 800 moves to the unreached node with the earliest arrival order at the reference speed.

之後，移動機800之CPU 891基於是否已到達移動路徑中所含之複數個節點之所有節點，判別是否已到達移動路徑之終點即搬運之開始位置(步驟S54)。此時，於因並非已到達複數個節點之所有節點，而判別為未到達搬運之開始位置時(步驟S54；否)，自步驟S52起重複上述處理。針對於此，CPU 891於因已到達複數個節點之所有節點，而判別為已到達搬運之開始位置時(步驟S54；是)，向驅動電路899輸出用於在搬運之開始位置處駐車或停車之控制信號。之後，CPU 891於將控制裝置100作為發送對象，向資料通訊電路894輸出告知移動機800已到達搬運之開始位置之到達報告後(步驟S55)，結束移動處理之執行。Thereafter, the CPU 891 of the mobile machine 800 determines whether the end point of the movement path, that is, the start position of the transportation has been reached based on whether all nodes included in the movement path have been reached (step S54). At this time, if it is determined that the transfer start position has not been reached because all nodes of the plurality of nodes have not been reached (step S54; No), the above-described process is repeated from step S52. In response to this, when the CPU 891 determines that the transfer start position has been reached because all nodes of the plurality of nodes have been reached (step S54; YES), the CPU 891 outputs to the drive circuit 899 a signal for parking or parking at the transfer start position. the control signal. After that, the CPU 891 sets the control device 100 as the transmission target and outputs an arrival report to the data communication circuit 894 notifying that the mobile machine 800 has arrived at the transportation start position (step S55), and then ends the execution of the movement process.

移動機900之構成及功能與移動機800之構成及功能同樣。The structure and function of the mobile machine 900 are the same as those of the mobile machine 800 .

於控制裝置100之資料通訊電路104接收到達報告時，控制裝置100之CPU 101自資料通訊電路104取得到達報告，將店鋪之終端裝置300作為發送對象，向資料通訊電路104輸出取得之到達報告。終端裝置300於接收到由控制裝置100傳送之到達報告時，顯示接收到之到達報告。When the data communication circuit 104 of the control device 100 receives the arrival report, the CPU 101 of the control device 100 obtains the arrival report from the data communication circuit 104, sets the terminal device 300 of the store as the transmission target, and outputs the obtained arrival report to the data communication circuit 104. When receiving the arrival report sent by the control device 100, the terminal device 300 displays the received arrival report.

店鋪之從業人員於視認到顯示之到達報告時，使準備完成後之商品儲存於已到達搬運之開始位置之移動機800之儲存箱821或移動機900之未圖示之儲存箱。之後，若從業人員對終端裝置300進行發送使知悉商品之儲存已完成之儲存完成通知之操作，則終端裝置300相應於該操作向控制裝置100發送儲存完成通知。When the shop staff recognizes the displayed arrival report, the prepared products are stored in the storage box 821 of the moving machine 800 or the storage box (not shown) of the moving machine 900 that has arrived at the starting position of transportation. After that, if the operator performs an operation on the terminal device 300 to send a storage completion notification to notify that the storage of the product has been completed, the terminal device 300 sends a storage completion notification to the control device 100 in response to the operation.

於控制裝置100之資料通訊電路104接收到儲存完成通知時，控制裝置100之產生部120基於在圖6之步驟S21中取得之搬運目的地資訊、及在步驟S23中取得之開始位置資訊，執行與圖3之步驟S06同樣之處理。藉此，產生部120產生自訂購之商品之搬運之開始位置到達該商品之搬運目的地之最短搬運路徑。其次，產生部120產生搬運控制資訊，該搬運控制資訊包含表示產生之搬運路徑之資訊，且用於使儲存有商品之移動機800或900自搬運之開始位置移動至搬運目的地。When the data communication circuit 104 of the control device 100 receives the storage completion notification, the generation unit 120 of the control device 100 executes based on the transfer destination information obtained in step S21 of FIG. 6 and the start position information obtained in step S23. The same process as step S06 in Figure 3 . Thereby, the generation unit 120 generates the shortest transportation path from the transportation start position of the ordered product to the transportation destination of the product. Next, the generating unit 120 generates transportation control information that includes information indicating the generated transportation route and is used to move the moving machine 800 or 900 storing the merchandise from the transportation start position to the transportation destination.

之後，控制裝置100之控制部140將移動機800或900作為發送對象，向資料通訊電路104輸出產生之搬運控制資訊。藉此，控制部140對移動機800或900進行使商品自搬運之開始位置搬運至搬運目的地之控制。After that, the control unit 140 of the control device 100 takes the mobile machine 800 or 900 as the transmission target and outputs the generated transportation control information to the data communication circuit 104. Thereby, the control unit 140 controls the moving machine 800 or 900 so that the product is transported from the transportation start position to the transportation destination.

於移動機800之資料通訊電路894自控制裝置100接收到搬運控制資訊時，移動機800之CPU 891基於搬運控制資訊，執行與圖10所示之移動處理同樣之處理。藉此，移動機800依照搬運控制資訊，將商品自搬運之開始位置搬運至搬運目的地。When the data communication circuit 894 of the mobile machine 800 receives the transport control information from the control device 100, the CPU 891 of the mobile machine 800 executes the same process as the transport process shown in FIG. 10 based on the transport control information. Thereby, the moving machine 800 transports the product from the transport start position to the transport destination according to the transport control information.

於本實施例中，商品之搬運目的地係由訂購者指定之接收者、或取代接收者而接收商品之代理人居住之公寓之入口。因此，於移動機800到達搬運目的地時，接收者或代理人自移動機800之儲存箱821接收商品。之後，接收者或代理人對移動機800之輸入裝置895c進行輸出使知悉商品之接收已完成之信號之操作。於輸入裝置895c輸出該信號時，移動機800之CPU 891於返回預設之停車場後，直至接收新的移動控制資訊為止於停車場持續停車或駐車。In this embodiment, the transportation destination of the goods is the entrance to the apartment where the recipient designated by the orderer or the agent who receives the goods on behalf of the recipient lives. Therefore, when the mobile machine 800 arrives at the transportation destination, the recipient or agent receives the merchandise from the storage box 821 of the mobile machine 800 . Thereafter, the recipient or the agent operates the input device 895c of the mobile machine 800 to output a signal to notify that the reception of the commodity has been completed. When the input device 895c outputs the signal, the CPU 891 of the mobile machine 800 continues to park or park in the parking lot after returning to the default parking lot until new movement control information is received.

根據該等構成，控制裝置100具備取得部110，該取得部110於已受理訂購時，取得：表示可儲存設為訂購之對象之商品之移動機800或900之位置之移動機位置資訊、表示開始該商品之搬運之開始位置之開始位置資訊、及表示用於將商品之狀態設為可開始搬運之狀態之準備所需之準備時間之準備資訊。又，控制裝置100具備產生部120，該產生部120基於推定為移動機800或900為了從由取得之移動機位置資訊表示之位置移動至由開始位置資訊表示之搬運之開始位置而消耗之能量量、及由準備資訊表示之準備時間，產生用於使移動機800或900自移動機800或900之位置移動至開始位置之移動控制資訊。因此，控制裝置100可產生一面抑制搬運開始之延遲、一面抑制移動機800或900為了移動至搬運之開始位置而消耗之能量量之增加之移動控制資訊。According to these configurations, the control device 100 is provided with an acquisition unit 110 that, when an order is accepted, acquires: mobile machine position information indicating the position of the mobile machine 800 or 900 that can store the product targeted for the order, and indicating that the The start position information of the starting position to start transportation of the product, and the preparation information indicating the preparation time required to prepare the product to a state where transportation can be started. Furthermore, the control device 100 includes a generating unit 120 based on the energy estimated to be consumed by the mobile machine 800 or 900 in order to move from the position indicated by the acquired mobile machine position information to the transportation start position indicated by the start position information. The amount, and the preparation time represented by the preparation information, generate movement control information for moving the mobile machine 800 or 900 from the position of the mobile machine 800 or 900 to the starting position. Therefore, the control device 100 can generate movement control information that suppresses a delay in the start of transportation while suppressing an increase in the amount of energy consumed by the moving machine 800 or 900 in order to move to the start position of transportation.

又，根據該等構成，控制裝置100之產生部120產生包含自移動機800或900之位置到達搬運之開始位置之移動路徑之移動控制資訊之N個候選。又，產生部120對於產生之N個候選各者，決定基於在移動機800或900於移動路徑中移動之情形下推定為移動時移動機800或900消耗之能量量的評估值。進而，產生部120藉由基於決定之評估值，自N個候選選擇1個候選，而產生移動控制資訊。因此，控制裝置100可產生包含確實地抑制移動機800或900為了移動至搬運之開始位置而消耗之能量量之增加之移動路徑的移動控制資訊。Furthermore, according to these configurations, the generation unit 120 of the control device 100 generates N candidates of movement control information including movement paths from the position of the moving machine 800 or 900 to the start position of transportation. In addition, the generation unit 120 determines an evaluation value based on the energy amount estimated to be consumed by the mobile machine 800 or 900 when the mobile machine 800 or 900 moves on the movement path for each of the generated N candidates. Furthermore, the generation unit 120 generates movement control information by selecting one candidate from the N candidates based on the determined evaluation value. Therefore, the control device 100 can generate movement control information including a movement path that reliably suppresses an increase in the amount of energy consumed by the moving machine 800 or 900 in order to move to the start position of transportation.

進而，根據該等構成，控制裝置100之產生部120基於移動路徑之距離，推定移動機800或900消耗之能量量。又，產生部120基於在移動機800或900於移動路徑中移動之期間產生之移動機800或900之高度之變化，推定移動機800或900消耗之能量量。因此，控制裝置100可正確地推定移動機800或900消耗之能量量。Furthermore, according to these configurations, the generation unit 120 of the control device 100 estimates the amount of energy consumed by the mobile machine 800 or 900 based on the distance of the movement path. In addition, the generation unit 120 estimates the amount of energy consumed by the mobile machine 800 or 900 based on the change in the height of the mobile machine 800 or 900 that occurs while the mobile machine 800 or 900 moves along the movement path. Therefore, the control device 100 can accurately estimate the amount of energy consumed by the mobile machine 800 or 900.

又，根據該等構成，控制裝置100之產生部120針對移動機800及900各者，產生移動控制資訊。又，控制裝置100具備選擇部130，該選擇部130基於移動控制資訊之產生所使用之評估值，自移動機800及900選擇搬運設為訂購之對象之商品之移動機800或900。因此，控制裝置100可於移動機800及900內，選擇可確實地抑制為了移動至搬運之開始位置而消耗之能量量之增加之移動機800或900作為搬運商品之移動機。Furthermore, according to these configurations, the generation unit 120 of the control device 100 generates movement control information for each of the mobile machines 800 and 900 . Furthermore, the control device 100 includes a selection unit 130 that selects the moving machine 800 or 900 that transports the product targeted for the order from the moving machines 800 and 900 based on the evaluation value used to generate the movement control information. Therefore, the control device 100 can select, among the moving machines 800 and 900, the moving machine 800 or 900 that can reliably suppress an increase in the amount of energy consumed for moving to the starting position of transportation as the moving machine for transporting the product.

進而，根據該等構成，控制裝置100進一步具備控制部140，該控制部140基於移動控制資訊對選擇之移動機800或900進行自選擇之移動機800或900之位置移動至搬運之開始位置之控制。因此，控制裝置100可一面抑制搬運開始之延遲，一面抑制搬運商品之移動機800或900為了移動至搬運之開始位置而消耗之能量量之增加。Furthermore, according to these configurations, the control device 100 further includes a control unit 140 that moves the selected moving machine 800 or 900 from the position of the selected moving machine 800 or 900 to the start position of the transportation based on the movement control information. control. Therefore, the control device 100 can suppress the delay in the start of transportation while suppressing an increase in the amount of energy consumed by the moving machine 800 or 900 that transports the product to move to the start position of transportation.

＜實施例1之變化例1＞ 於實施例1中，說明了控制裝置100之取得部110取得表示用於將訂購之商品之狀態設為可開始搬運之狀態之準備所需之準備時間之準備資訊，產生部120基於由準備資訊表示之準備時間，產生移動控制資訊。 <Modification 1 of Embodiment 1> In Embodiment 1, it was explained that the acquisition unit 110 of the control device 100 acquires the preparation information indicating the preparation time required to prepare the ordered product to a state in which transportation can be started, and the generation unit 120 is based on the preparation information. Indicates the preparation time to generate movement control information.

然而，不限定於此，於本變化例中，控制裝置100之取得部110取得表示用於將商品之狀態設為可開始搬運之狀態之準備完成之準備完成時刻之準備資訊，產生部120基於由準備資訊表示之準備完成時刻，產生移動控制資訊。However, it is not limited to this. In this variation, the acquisition unit 110 of the control device 100 acquires preparation information indicating the preparation completion time of preparation for setting the state of the product to a state in which transportation can be started, and the generation unit 120 is based on The preparation completion time represented by the preparation information generates movement control information.

因此，控制裝置100之取得部110於執行完圖6之步驟S21之後，例如，自OS(Operating System，作業系統)取得系統時刻作為受理訂購之時刻(以下稱為訂購受理時刻)。其次，取得部110藉由執行步驟S22，而自資訊記憶部190取得訂購之商品之準備時間、及準備時間與最長容許時間之合計時間。之後，取得部110藉由將準備時間與訂購受理時刻相加而取得表示準備完成時刻之準備資訊，藉由將準備時間與最長容許時間之合計時間與訂購受理時刻相加，而取得表示搬運之開始期限之開始資訊。Therefore, after executing step S21 in FIG. 6 , the acquisition unit 110 of the control device 100 acquires the system time from the OS (Operating System), for example, as the time when the order is accepted (hereinafter referred to as the order acceptance time). Next, the acquisition unit 110 obtains the preparation time of the ordered product and the total time of the preparation time and the maximum allowable time from the information storage unit 190 by executing step S22. Thereafter, the acquisition unit 110 obtains preparation information indicating the preparation completion time by adding the preparation time and the order acceptance time, and obtains preparation information indicating the transportation by adding the total time of the preparation time and the maximum allowable time to the order acceptance time. Start information for the start period.

又，控制裝置100之產生部120於圖3之步驟S06中，探索複數個自移動機800或900之位置到達搬運之開始位置之整體路徑。又，產生部120於移動機800或900以基準之速度移動時，自探索出之複數個整體路徑選擇N個移動機800或900到達搬運之開始位置之時刻為準備完成時刻以後、且為開始期限以前之整體路徑作為移動路徑。Furthermore, in step S06 of FIG. 3 , the generation unit 120 of the control device 100 searches for a plurality of overall paths from the position of the moving machine 800 or 900 to the starting position of transportation. In addition, when the mobile machine 800 or 900 moves at the reference speed, the generation unit 120 selects N mobile machines 800 or 900 from the plurality of discovered overall paths. The time when the mobile machine 800 or 900 reaches the start position of the transportation is after the preparation completion time and is the start. The entire path before the deadline is used as the moving path.

因此，控制裝置100之產生部120與實施例1同樣地，探索複數個自移動機800或900之位置到達開始位置之整體路徑，並針對探索出之複數個整體路徑，算出移動時間。其次，產生部120藉由將複數個整體路徑之移動時間各者對於訂購受理時刻相加，而算出複數個整體路徑各者之到達時刻。之後，產生部120於探索出之複數個整體路徑內，例如基於包含到達時刻由早至晚之順序之預設之規則、或基於軟體隨機數，選擇N個算出之到達時刻為準備完成時刻以後、且為搬運之開始期限以前之整體路徑作為移動路徑。Therefore, the generation unit 120 of the control device 100 searches for a plurality of overall paths from the position of the moving machine 800 or 900 to the starting position, and calculates the movement time for the plurality of searched overall paths. Next, the generating unit 120 calculates the arrival time of each of the plurality of entire routes by adding the travel times of each of the plurality of entire routes to the order acceptance time. After that, the generation unit 120 selects N calculated arrival times as after the preparation completion time within the plurality of explored overall paths, for example based on a preset rule including the order of arrival times from early to late, or based on software random numbers. , and the entire path before the start date of transportation is used as the moving path.

＜實施例1之變化例2＞ 於實施例1中，說明了控制裝置100之產生部120於圖7之步驟S44中，基於在移動機800或900於移動控制資訊之第n個候選中所含之移動路徑中移動之情形下推定為由移動機800或900消耗之能量量，決定該候選之評估值，但不限定於此。 <Modification 2 of Example 1> In Embodiment 1, it is explained that the generation unit 120 of the control device 100 in step S44 of FIG. 7 is based on the situation that the mobile machine 800 or 900 moves in the movement path included in the nth candidate of the movement control information. The energy amount estimated to be consumed by the mobile machine 800 or 900 determines the evaluation value of the candidate, but is not limited to this.

本變化例之控制裝置100之產生部120基於推定為由移動機800或900消耗之能量量、及自訂購之商品之準備完成至藉由移動機800或900開始該商品之搬運為止之開始等待時間，決定評估值。The generation unit 120 of the control device 100 of this modification is based on the amount of energy estimated to be consumed by the moving machine 800 or 900 and the start wait from the completion of preparation of the ordered product to the start of transportation of the product by the moving machine 800 or 900 Time determines the evaluation value.

因此，控制裝置100之產生部120於步驟S44中，針對移動控制資訊之第n個候選，基於推定為由移動機800或900消耗之能量量，決定評估值。之後，產生部120藉由自第n個候選中所含之移動路徑之移動時間減去訂購之商品之準備時間，而算出自商品之準備完成至移動機800或900到達搬運之開始位置為止之到達等待時間。產生部120可藉由自移動機800或900到達搬運之開始位置之時刻減去準備完成時刻，而算出到達等待時間。Therefore, in step S44, the generation unit 120 of the control device 100 determines an evaluation value based on the energy amount estimated to be consumed by the mobile machine 800 or 900 for the n-th candidate of the movement control information. Thereafter, the generation unit 120 calculates the time from the completion of preparation of the product to the arrival of the moving machine 800 or 900 at the start position of the transportation by subtracting the preparation time of the ordered product from the moving time of the movement path included in the n-th candidate. Arrival waiting time. The generation unit 120 can calculate the arrival waiting time by subtracting the preparation completion time from the time when the moving machine 800 or 900 arrives at the start position of transportation.

其次，控制裝置100之取得部110自資訊記憶部190取得表示銷售訂購之商品之店鋪之從業人員為了將準備之商品向移動機800或900儲存所需之儲存時間之資訊。又，取得部110自資訊記憶部190取得表示從業人員為了對終端裝置300進行發送儲存完成通知之操作所需之操作時間之資訊。進而，取得部110取得表示自控制裝置100接收到儲存完成通知起、直至藉由對移動機800或900發送搬運控制資訊而使移動機800或900開始搬運為止所需之搬運控制開始時間的資訊。Next, the acquisition unit 110 of the control device 100 acquires, from the information storage unit 190, information indicating the storage time required by an employee of a store selling the ordered product to store the prepared product in the mobile machine 800 or 900. Furthermore, the acquisition unit 110 acquires information indicating the operation time required by the operator to transmit the storage completion notification to the terminal device 300 from the information storage unit 190 . Furthermore, the acquisition unit 110 acquires information indicating the transportation control start time required from when the control device 100 receives the storage completion notification until the transportation control information is transmitted to the mobile machine 800 or 900 and the mobile machine 800 or 900 starts transportation. .

於本變化例中，表示儲存時間之資訊、表示操作時間之資訊、及表示搬運控制開始時間之資訊分別由資訊記憶部190預先記憶。又，儲存時間、操作時間、及搬運控制開始時間之較佳之值可由熟悉此項技術者藉由實驗而決定。進而，儲存時間、操作時間、及搬運控制開始時間之1個以上可為「0」分鐘。In this variation, the information indicating the storage time, the information indicating the operation time, and the information indicating the transfer control start time are respectively stored in advance by the information storage unit 190 . In addition, the better values of storage time, operation time, and transfer control start time can be determined by experiments by those familiar with this technology. Furthermore, one or more of the storage time, operation time, and transfer control start time may be "0" minutes.

之後，控制裝置100之產生部120藉由將由取得之資訊表示之儲存時間、操作時間、及搬運控制開始時間與算出之到達等待時間相加，而算出自準備之完成至開始該商品之搬運為止之開始等待時間。Thereafter, the generation unit 120 of the control device 100 calculates the time from the completion of preparation to the start of transportation of the product by adding the storage time, operation time, and transportation control start time represented by the acquired information to the calculated arrival waiting time. Start waiting time.

其次，控制裝置100之產生部120基於算出之開始等待時間，算出第n個候選之評估值之修正值。於本變化例中算出之修正值被用於藉由評估值之減算而進行之修正。因此，產生部120例如藉由將預設之常數與開始等待時間相加，而開始等待時間越長，將修正值算出為越高之值，但修正值之算出方法不限定於此。Next, the generation unit 120 of the control device 100 calculates the correction value of the evaluation value of the n-th candidate based on the calculated start waiting time. The correction value calculated in this variation is used for correction by subtracting the estimated value. Therefore, for example, the generation unit 120 adds a preset constant to the start waiting time, and calculates the correction value to be a higher value as the start waiting time is longer, but the method of calculating the correction value is not limited to this.

其次，控制裝置100之取得部110取得資訊記憶部190預先記憶之修正值之正的加權係數。之後，產生部120藉由利用取得之加權係數將算出之修正值進行加權，並自在步驟S44中決定之評估值減去經加權之修正值，而決定修正後之評估值。之後，產生部120結束評估值算出處理之執行。Next, the acquisition unit 110 of the control device 100 acquires the positive weighting coefficient of the correction value stored in advance by the information storage unit 190 . Thereafter, the generation unit 120 weights the calculated correction value using the obtained weighting coefficient and subtracts the weighted correction value from the evaluation value determined in step S44 to determine the corrected evaluation value. After that, the generation unit 120 ends execution of the evaluation value calculation process.

於本變化例中，由於自商品之準備完成至開始該商品之搬運為止之開始等待時間越長，將修正值算出為越高之值，故開始等待時間越長，將修正後之評估值決定為越較修正前為低之值。如上述般修正評估值乃因越是延長開始等待時間之移動控制資訊，越延遲搬運之開始，故越不適切。In this variation, the longer the waiting time from the completion of the preparation of the product to the start of the transportation of the product, the higher the correction value is calculated. Therefore, the longer the starting waiting time, the more corrected the evaluation value is determined. The value is lower than before correction. Correcting the evaluation value as described above is more inappropriate because the longer the movement control information of the start waiting time is extended, the longer the start of transportation is delayed.

根據該等構成，控制裝置100之取得部110對於N個候選各者，決定進一步基於自訂購之商品之準備完成至開始該商品之搬運為止之開始等待時間的評估值。因此，控制裝置100可產生確實地抑制商品之搬運開始之延遲之移動控制資訊。According to these configurations, the acquisition unit 110 of the control device 100 determines an evaluation value further based on the start waiting time from the completion of preparation of the ordered product to the start of transportation of the product for each of the N candidates. Therefore, the control device 100 can generate movement control information that reliably suppresses delays in the start of transportation of goods.

又，於訂購之商品具有商品之狀態伴隨著時間之經過發生變化之性質之情形下，控制裝置100可抑制於搬運之開始前商品之狀態變化為與準備完成時之狀態不同之狀態。亦即，例如，控制裝置100可抑制具有麵條伴隨著時間之經過而伸長等性質之商品於搬運之開始前麵條自不伸長之狀態變化為麵條伸長之狀態。又，例如，控制裝置100可抑制具有加熱調理之必要性、及伴隨著時間之經過而冷卻性質之商品之溫度於搬運之開始前自較預設之溫度為高之溫度變化為該預設之溫度以下之溫度。Furthermore, when the ordered product has a property in which the state of the product changes with the passage of time, the control device 100 can suppress the change of the state of the product before the start of transportation to a state different from the state when preparation is completed. That is, for example, the control device 100 can suppress a product having a property such as noodles elongating with the passage of time, from a non-elongated state to a state in which the noodles are elongated before the start of transportation. For example, the control device 100 can suppress the temperature of a commodity that requires heating and conditioning and has a cooling property as time passes from a temperature higher than a preset temperature to the preset temperature before the start of transportation. temperature below the temperature.

進而，控制裝置100由於抑制商品之搬運開始之延遲，故可提高移動機800或900對商品之搬運效率。於本變化例中，移動機800或900之搬運效率係由每單位時間內移動機800或900搬運之商品之個數表示，但不限定於此。Furthermore, since the control device 100 suppresses a delay in the start of transportation of goods, it is possible to improve the efficiency of transportation of goods by the moving machine 800 or 900. In this variation, the transportation efficiency of the moving machine 800 or 900 is represented by the number of commodities transported by the moving machine 800 or 900 per unit time, but it is not limited to this.

於本變化例中，說明了開始等待時間越長，控制裝置100之產生部120將修正值算出為越高之值，但不限定於此。控制裝置100之產生部120例如可藉由將開始等待時間之倒數設為修正值，而開始等待時間越長，將修正值算出為越低之值。又，產生部120可於利用正的加權係數將算出之修正值進行加權後，將經加權之修正值與在步驟S44中決定之評估值相加。In this variation example, it is explained that the longer the start waiting time is, the higher the correction value is calculated by the generation unit 120 of the control device 100, but it is not limited to this. The generation unit 120 of the control device 100 may, for example, set the reciprocal of the start waiting time as the correction value, and calculate the correction value as a lower value as the start waiting time is longer. In addition, the generation unit 120 may add the weighted correction value to the evaluation value determined in step S44 after weighting the calculated correction value with a positive weighting coefficient.

＜實施例1之變化例3＞ 於實施例1中，說明了控制裝置100之產生部120於圖7之步驟S44中，基於推定為由移動機800或900消耗之能量量，決定評估值，但不限定於此。 <Modification 3 of Embodiment 1> In Embodiment 1, it was described that the generation unit 120 of the control device 100 determines the evaluation value based on the amount of energy estimated to be consumed by the mobile machine 800 or 900 in step S44 of FIG. 7 , but it is not limited to this.

本變化例之控制裝置100之產生部120基於推定為由移動機800或900消耗之能量量、及移動機800或900自到達搬運之開始位置至經過搬運之開始期限為止之猶豫時間，決定評估值。The generation unit 120 of the control device 100 of this modification determines the evaluation based on the amount of energy estimated to be consumed by the moving machine 800 or 900 and the hesitation time from when the moving machine 800 or 900 reaches the start position of the transportation until the start time limit of the transportation passes. value.

因此，控制裝置100之取得部110藉由執行與實施例1之變化例1同樣之處理，而取得表示搬運之開始期限之開始資訊。又，產生部120於圖3之步驟S06中，與實施例1之變化例1同樣地，針對移動機800或900之移動控制資訊之N個候選，算出移動機800或900到達搬運之開始位置之時刻。Therefore, the acquisition unit 110 of the control device 100 acquires the start information indicating the start time limit of the transfer by executing the same process as the first modification of the first embodiment. In addition, in step S06 of FIG. 3 , the generation unit 120 calculates the arrival of the mobile machine 800 or 900 at the start position of transportation based on the N candidates of the movement control information of the mobile machine 800 or 900 , similarly to the first variation of the first embodiment. moment.

之後，控制裝置100之產生部120於在圖7之步驟S44中，針對移動控制資訊之第n個候選，基於推定為由移動機800或900消耗之能量量，決定評估值之後，算出自針對該候選算出之到達時刻至由開始資訊表示之開始期限為止之猶豫時間。產生部120可藉由自準備時間與最長猶豫時間之合計時間減去移動時間，而算出猶豫時間。Thereafter, in step S44 of FIG. 7 , the generation unit 120 of the control device 100 determines the evaluation value based on the energy amount estimated to be consumed by the mobile machine 800 or 900 for the n-th candidate of the movement control information, and then calculates the target value. The hesitation time from the calculated arrival time of the candidate to the start period indicated by the start information. The generation unit 120 can calculate the hesitation time by subtracting the movement time from the total time of the preparation time and the maximum hesitation time.

其次，控制裝置100之產生部120基於算出之猶豫時間，算出第n個候選之評估值之修正值。於本變化例中算出之修正值被用於藉由評估值之加算而進行之修正。因此，產生部120例如藉由將預設之常數與猶豫時間相加，而猶豫時間越長，將修正值算出為越高之值，但修正值之算出方法不限定於此。Next, the generation unit 120 of the control device 100 calculates the correction value of the evaluation value of the n-th candidate based on the calculated hesitation time. The correction value calculated in this variation is used for correction by adding the evaluation values. Therefore, the generating unit 120 may, for example, add a preset constant to the hesitation time. The longer the hesitation time, the higher the correction value will be calculated. However, the method of calculating the correction value is not limited to this.

其次，控制裝置100之取得部110取得資訊記憶部190預先記憶之修正值之正的加權係數。之後，產生部120利用取得之加權係數將算出之修正值進行加權，並將經加權之修正值與在步驟S44中算出之評估值相加。於本變化例中，由於猶豫時間越長，將修正值算出為越高之值，故猶豫時間越長，將修正後之評估值決定為越較修正前為高之值。如上述般修正評估值乃因越是延長猶豫時間之移動控制資訊，越提前搬運之開始，故越適切。Next, the acquisition unit 110 of the control device 100 acquires the positive weighting coefficient of the correction value stored in advance by the information storage unit 190 . After that, the generation unit 120 weights the calculated correction value using the obtained weighting coefficient, and adds the weighted correction value to the evaluation value calculated in step S44. In this variation example, the longer the hesitation time is, the higher the correction value is calculated. Therefore, the longer the hesitation time is, the higher the value after correction is determined to be than before correction. Correcting the evaluation value as described above is more appropriate because the longer the movement control information of the hesitation time is extended, the earlier the start of transportation is.

根據該等構成，控制裝置100之取得部110進一步取得表示設為訂購之對象之商品之搬運之開始期限之開始資訊，產生部120對於移動控制資訊之N個候選各者決定進一步基於開始資訊之評估值。因此，控制裝置100可產生確實地抑制商品之搬運開始之延遲之移動控制資訊。According to these configurations, the acquisition unit 110 of the control device 100 further acquires start information indicating the start period of transportation of the goods targeted for ordering, and the generation unit 120 determines each of the N candidates of the movement control information further based on the start information. Evaluated value. Therefore, the control device 100 can generate movement control information that reliably suppresses delays in the start of transportation of goods.

於本變化例中，說明了猶豫時間越長，控制裝置100之產生部120將修正值算出為越高之值，但不限定於此。產生部120例如可藉由將令預設之正的常數與猶豫時間相加而得之值之倒數設為修正值，而猶豫時間越長，將修正值算出為越低之值。將正的常數與猶豫時間相加乃因即便猶豫時間為「0」分鐘，亦可算出修正值。又，產生部120可於利用正的加權係數將基於猶豫時間而算出之修正值進行加權後，自於步驟S44中算出之評估值減去經加權之修正值。In this variation example, it has been explained that the longer the hesitation time is, the higher the correction value is calculated by the generation unit 120 of the control device 100, but it is not limited to this. For example, the generation unit 120 may set the reciprocal of the value obtained by adding a preset positive constant and the hesitation time as the correction value, and the longer the hesitation time, the lower the correction value will be calculated. Add the positive constant to the hesitation time because the correction value can be calculated even if the hesitation time is "0" minutes. In addition, the generation unit 120 may weight the correction value calculated based on the hesitation time with a positive weighting coefficient, and then subtract the weighted correction value from the evaluation value calculated in step S44.

＜實施例1之變化例4＞ 於實施例1之變化例2中，說明了控制裝置100之產生部120基於推定為由移動機800或900消耗之能量量與開始等待時間，決定評估值。又，於實施例1之變化例3中，說明了產生部120基於推定為消耗之能量量與直至開始期限為止之猶豫時間，決定評估值。 <Modification 4 of Example 1> In Modification 2 of Embodiment 1, it is explained that the generation unit 120 of the control device 100 determines the evaluation value based on the amount of energy estimated to be consumed by the mobile machine 800 or 900 and the start waiting time. Furthermore, in Modification 3 of Embodiment 1, it has been described that the generation unit 120 determines the evaluation value based on the amount of energy estimated to be consumed and the hesitation time until the start deadline.

然而，不限定於其等，本變化例之控制裝置100之產生部120基於推定為消耗之能量量、開始等待時間或猶豫時間、及搬運之商品之最長容許時間，決定評估值。However, without being limited thereto, the generation unit 120 of the control device 100 in this modification determines the evaluation value based on the energy amount estimated to be consumed, the start waiting time or hesitation time, and the maximum allowable time of the transported product.

因此，控制裝置100之取得部110於圖5之商品表中，取得表示與訂購之商品之商品ID建立對應關係之最長容許時間之資訊，產生部120基於由取得之資訊表示之最長容許時間，算出正的加權係數。Therefore, the acquisition unit 110 of the control device 100 acquires the information indicating the maximum allowable time associated with the item ID of the ordered item from the item table in FIG. 5 , and the generation unit 120 based on the maximum allowable time indicated by the acquired information, Calculate the positive weighting coefficient.

於本變化例中，控制裝置100之產生部120藉由將預設之正的常數乘以最長容許時間之倒數，而最長容許時間越短，將修正值之加權係數算出為越高之值，但加權係數之算出方法不限定於此。如上述般算出加權係數乃因商品之最長容許時間相應於該商品之特性而預設，且商品之特性包含商品之狀態隨著時間之經過發生變化之性質。亦即，此乃因作為自準備完成至開始搬運為止之時間所容許之最長之時間即最長容許時間越短之商品，具有商品之狀態因越短之時間之經過發生變化之性質。In this variation, the generation unit 120 of the control device 100 multiplies the preset positive constant by the reciprocal of the maximum allowable time. The shorter the maximum allowable time, the higher the weighting coefficient of the correction value is calculated. However, the method of calculating the weighting coefficient is not limited to this. The weighting coefficient calculated as above is preset because the maximum allowable time of the product corresponds to the characteristics of the product, and the characteristics of the product include the nature of the change of the state of the product with the passage of time. In other words, this is because products with a shorter maximum allowable time, which is the maximum time allowed from the completion of preparation to the start of transportation, have the property that the state of the product changes due to the passage of the shorter time.

之後，控制裝置100之產生部120利用算出之加權係數，將基於開始等待時間或猶豫時間而算出之修正值進行加權，並將經加權之修正值與在步驟S44中算出之評估值相加。於本變化例中，由於最長容許時間越短，將加權係數算出為越大之值，故基於推定為由移動機800或900消耗之能量量而決定之評估值之權重比較，基於開始等待時間或猶豫時間而算出之修正值之權重變得更重。因此，控制裝置100可一面抑制移動機800或900為了移動至搬運之開始位置而消耗之能量量之增加，一面確實地抑制直至移動機800或900到達搬運之開始位置為止產生之商品之狀態之變化。Thereafter, the generation unit 120 of the control device 100 uses the calculated weighting coefficient to weight the correction value calculated based on the start waiting time or the hesitation time, and adds the weighted correction value to the evaluation value calculated in step S44. In this variation, since the weighting coefficient is calculated to be a larger value as the maximum allowable time is shorter, a weight comparison based on the evaluation value estimated to be determined by the amount of energy consumed by the mobile machine 800 or 900 is based on the start waiting time. Or the weight of the correction value calculated after hesitating time becomes heavier. Therefore, the control device 100 can suppress an increase in the amount of energy consumed by the moving machine 800 or 900 in order to move to the start position of transportation, while reliably suppressing the change in the state of the product that occurs until the moving machine 800 or 900 reaches the start position of transportation. change.

＜實施例1之變化例5＞ 於實施例1中，說明了於圖3之步驟S06中，於為自移動機800或900之位置到達搬運之開始位置之路徑、且移動機800以基準之速度移動之情形下，選擇N個需要準備時間以上、且合計時間以下之移動時間之移動路徑。 <Variation 5 of Example 1> In Embodiment 1, it was explained that in step S06 of FIG. 3 , in the case where the path is the path from the position of the moving machine 800 or 900 to the starting position of transportation, and the moving machine 800 moves at the reference speed, N are selected. A moving path that requires a moving time of more than the preparation time and less than the total time.

然而，不限定於此。於本變化例中，產生自移動機800或900之位置到達搬運之開始位置之移動路徑、與為預設之限制速度以下之速度、且用於移動機800或900於該移動路徑中以準備時間以上且準備時間與最長容許時間之合計時間以下之移動時間移動之移動速度的N個組合。However, it is not limited to this. In this variation, the moving path generated from the position of the moving machine 800 or 900 to the starting position of transportation is a speed below the preset speed limit, and is used for the moving machine 800 or 900 to prepare in this moving path. N combinations of moving time and moving speed that are more than the time but less than the total time of the preparation time and the maximum allowable time.

因此，控制裝置100之產生部120於步驟S06中，探索複數個自移動機800或900之位置到達開始位置之整體路徑，並針對探索出之複數個整體路徑，算出總距離。之後，產生部120基於針對複數個整體路徑各者算出之總距離，算出移動時間為準備時間以上、且為合計時間以下之移動速度。藉此，產生部120產生整體路徑與移動速度之複數個組合。Therefore, in step S06, the generation unit 120 of the control device 100 explores a plurality of overall paths from the position of the mobile machine 800 or 900 to the starting position, and calculates the total distance for the plurality of explored overall paths. Thereafter, the generation unit 120 calculates a moving speed such that the moving time is equal to or greater than the preparation time and equal to or equal to the total time based on the total distance calculated for each of the plurality of entire routes. Thereby, the generating part 120 generates multiple combinations of the overall path and the moving speed.

於本變化例中，控制裝置100之產生部120於移動時間為準備時間以上、且合計時間以下之移動速度內，算出最慢之速度，但不限定於此。產生部120算出之速度只要為移動時間為準備時間以上、且合計時間以下之移動速度，則可為任何速度。例如，產生部120可於移動時間為準備時間以上、且合計時間以下之移動速度內，算出基於預設之規則或軟體隨機數之速度。In this variation, the generation unit 120 of the control device 100 calculates the slowest speed within the moving speed where the moving time is more than the preparation time and less than the total time, but it is not limited to this. The speed calculated by the generation unit 120 may be any speed as long as the movement time is equal to or greater than the preparation time and equal to or less than the total time. For example, the generating unit 120 may calculate the speed based on a preset rule or a software random number when the movement time is greater than the preparation time and less than the total time.

之後，控制裝置100之取得部110取得資訊記憶部190預先記憶之表示限制速度之資訊。其次，產生部120自產生之複數個組合排除包含較由取得之資訊表示之限制速度為大之移動速度之組合。其次，產生部120自排除後之組合選擇N個組合作為移動機800或900之移動路徑與移動速度之組合。於本變化例中，按照移動速度由慢至快之順序選擇N個組合，但不限定於此，例如，可自移動速度較預設之速度為慢之複數個組合基於預設之規則或基於軟體隨機數選擇N個組合。After that, the acquisition unit 110 of the control device 100 acquires the information indicating the speed limit stored in advance by the information storage unit 190 . Secondly, the generating unit 120 excludes, from the plurality of generated combinations, combinations that include a moving speed greater than the speed limit indicated by the acquired information. Next, the generating unit 120 selects N combinations from the eliminated combinations as combinations of the moving path and moving speed of the mobile machine 800 or 900 . In this variation, N combinations are selected in order from slow to fast moving speed, but are not limited to this. For example, multiple combinations whose moving speed is slower than the preset speed can be selected based on preset rules or based on The software selects N combinations with random numbers.

之後，控制裝置100之產生部120於步驟S07中，對N個組合賦予第1至第N個編號。其次，產生部120產生包含表示第1個組合中所含之移動路徑之資訊、及表示移動速度之資訊的移動機800或900之移動控制資訊之第1個候選。同樣，產生部120產生移動機800或900之移動控制資訊之第2個至第N個候選。After that, the generation unit 120 of the control device 100 assigns the 1st to Nth numbers to the N combinations in step S07. Next, the generation unit 120 generates the first candidate of the movement control information of the mobile machine 800 or 900 including information indicating the movement path included in the first combination and information indicating the movement speed. Similarly, the generating unit 120 generates the 2nd to Nth candidates of the movement control information of the mobile machine 800 or 900 .

之後，控制裝置100於藉由執行圖7之步驟S31，而取得用於將移動機800移動之距離換算為推定為移動機800或900為了移動該距離而消耗之能量量之換算係數αl之後，基於移動速度修正取得之換算係數αl。於本變化例中，控制裝置100之產生部120例如將修正前之換算係數αl乘以將移動速度除以基準之速度而得之值。藉此，移動速度越較基準之速度為快，產生部120將換算係數αl修正為越較修正前為大之值，且移動速度越較基準之速度為慢，將換算係數αl修正為越較修正前為小之值，但換算係數αl之修正方法不限定於此。After that, the control device 100 obtains the conversion coefficient α1 used to convert the distance moved by the mobile machine 800 into the energy amount estimated to be consumed by the mobile machine 800 or 900 in order to move the distance by executing step S31 of FIG. 7 , The conversion coefficient αl obtained based on the movement speed correction. In this variation, the generation unit 120 of the control device 100 multiplies the conversion coefficient α1 before correction by a value obtained by dividing the moving speed by the reference speed, for example. Accordingly, the faster the moving speed is than the reference speed, the generating unit 120 corrects the conversion coefficient αl to a larger value than before correction, and the slower the moving speed is than the reference speed, corrects the conversion coefficient αl to a larger value. It is a small value before correction, but the correction method of the conversion coefficient αl is not limited to this.

之後，控制裝置100之產生部120藉由執行步驟S32至S44之處理，而使用修正後之換算係數αl來決定第n個候選之評估值。其次，產生部120藉由在圖3之步驟S12中，基於使用修正後之換算係數αl來決定之評估值，選擇候選，而產生移動機800及900之移動控制資訊。又，選擇部130於步驟S14中，基於使用修正後之換算係數αl來決定之評估值，選擇搬運商品之移動機800或900。之後，控制部140於步驟S15中，將選擇之移動機800或900作為發送對象，向資料通訊電路104輸出包含表示移動路徑之資訊、及表示移動速度之資訊之移動控制資訊。藉此，控制部140對移動機800或900進行於該移動路徑中以該移動速度移動之控制。After that, the generation unit 120 of the control device 100 determines the evaluation value of the n-th candidate using the modified conversion coefficient α1 by executing the processing of steps S32 to S44. Next, the generation unit 120 generates movement control information for the mobile machines 800 and 900 by selecting candidates based on the evaluation value determined using the modified conversion coefficient α1 in step S12 of FIG. 3 . Furthermore, in step S14, the selection unit 130 selects the moving machine 800 or 900 for transporting the product based on the evaluation value determined using the corrected conversion coefficient α1. Thereafter, in step S15, the control unit 140 selects the selected mobile machine 800 or 900 as the transmission target, and outputs the movement control information including the information indicating the movement path and the information indicating the movement speed to the data communication circuit 104. Thereby, the control unit 140 controls the mobile machine 800 or 900 to move in the movement path at the movement speed.

移動機800之CPU 891於圖10之步驟S51中，從自控制裝置100接收到之移動控制資訊取得表示移動路徑之資訊、及表示移動速度之資訊。其次，CPU 891於步驟S53中，向連接於使複數個車輪旋轉之未圖示之馬達之驅動電路899輸出用於以由取得之資訊表示之移動速度於由取得之資訊表示之移動路徑中順行之控制信號。In step S51 of FIG. 10 , the CPU 891 of the mobile machine 800 acquires the information indicating the movement path and the information indicating the movement speed from the movement control information received from the control device 100 . Next, in step S53, the CPU 891 outputs the moving speed represented by the acquired information to the drive circuit 899 connected to a motor (not shown) that rotates the plurality of wheels to smoothly move along the moving path represented by the acquired information. Line control signal.

＜實施例1之變化例6＞ 於實施例1中，說明了移動機800及900以基準模式於移動路徑中移動，但不限定於此。於本變化例中，移動機800及900以低速模式、基準模式、及高速模式之任一模式於移動路徑中移動。 <Modification 6 of Example 1> In Embodiment 1, it has been described that the mobile machines 800 and 900 move in the movement path in the reference mode, but the invention is not limited to this. In this variation, the mobile machines 800 and 900 move on the movement path in any of the low-speed mode, the standard mode, and the high-speed mode.

低速模式係對移動機800或900設定較基準之速度為慢之預設之速度(以下稱為低速度)之動作模式，高速模式係對移動機800或900設定較基準之速度為快之預設之速度(以下稱為高速度)之動作模式。The low-speed mode is an action mode in which the mobile machine 800 or 900 is set to a preset speed that is slower than the base speed (hereinafter referred to as low speed). The high-speed mode is the preset speed in which the mobile machine 800 or 900 is set to be faster than the base speed. Set the speed (hereinafter referred to as high speed) action mode.

因此，本變化例之控制裝置100之產生部120於圖3之步驟S06中，探索N'個(其中，N'為自然數)自移動機800或900之位置到達搬運之開始位置之整體路徑，並針對探索出之N'個整體路徑，算出總距離。其次，控制裝置100之產生部120於針對探索出之N'個整體路徑各者，設定將移動時間設為準備時間以上、且合計時間以下之速度之動作模式內，特定設定最慢之速度之最慢模式。Therefore, in step S06 of FIG. 3 , the generation unit 120 of the control device 100 of this variation explores N′ (where N′ is a natural number) overall paths from the position of the moving machine 800 or 900 to the starting position of the transportation. , and calculate the total distance for the N' overall paths explored. Next, the generation unit 120 of the control device 100 specifically sets the slowest speed in the operation mode in which the movement time is set to be a speed equal to or greater than the preparation time and less than the total time for each of the N' total paths discovered. Slowest mode.

因此，控制裝置100之取得部110取得資訊記憶部190預先記憶之表示低速度之資訊、表示基準之速度之資訊、及表示高速度之資訊。其次，產生部120於對N'個整體路徑賦予第1至第N'個編號之後，以值「1」將識別整體路徑之編號之變量n'初始化。Therefore, the acquisition unit 110 of the control device 100 acquires the information indicating the low speed, the information indicating the reference speed, and the information indicating the high speed stored in advance by the information storage unit 190 . Next, after assigning the 1st to N'th numbers to the N' overall paths, the generation unit 120 initializes the variable n' identifying the number of the entire path with the value "1".

之後，控制裝置100之產生部120判別變量n'之值是否為整體路徑之數量N'以下。此時，產生部120於判別為變量n'之值為數N'以下時，基於以變量n'識別之編號之整體路徑之總距離、及以低速模式設定之低速度，判別於移動機800或900以低速度於該整體路徑中移動之情形下，移動時間是否為準備時間以上、且合計時間以下。After that, the generation unit 120 of the control device 100 determines whether the value of the variable n' is less than or equal to the number of total paths N'. At this time, when the generation unit 120 determines that the value of the variable n' is less than the number N', it determines whether the mobile machine 800 or When 900 moves on the entire path at a low speed, is the moving time more than the preparation time and less than the total time?

此時，控制裝置100之產生部120於判別為移動時間未達準備時間時，判別為不存在設定將移動時間設為準備時間以上、且合計時間以下之速度之動作模式。之後，產生部120於將變量n'之值增加值「1」之後，自判別變量n'之值是否為數N'以下之處理起重複上述處理。At this time, when the generation unit 120 of the control device 100 determines that the movement time has not reached the preparation time, it determines that there is no operation mode that sets the movement time to be a speed equal to or greater than the preparation time and less than the total time. Thereafter, the generation unit 120 increments the value of the variable n' by "1" and then repeats the above-mentioned process starting from the process of determining whether the value of the variable n' is equal to or less than the number N'.

針對於此，控制裝置100之產生部120於判別為移動時間為準備時間以上、且合計時間以下時，特定為最慢模式為低速模式。其次，產生部120選擇以變量n'之值識別之編號之整體路徑作為移動路徑，產生選擇之移動路徑與低速模式之組合。之後，於將變量n'之值增加值「1」之後，自判別變量n'之值是否為數N'以下之處理起重複上述處理。In response to this, when the generation unit 120 of the control device 100 determines that the movement time is greater than the preparation time and less than the total time, the slowest mode is specified as the low-speed mode. Next, the generating unit 120 selects the overall path numbered by the value of variable n′ as the moving path, and generates a combination of the selected moving path and the low-speed mode. Thereafter, after the value of variable n' is incremented by "1", the above-mentioned process is repeated starting from the process of determining whether the value of variable n' is equal to or less than the number N'.

又，針對於此，控制裝置100之產生部120於判別為移動時間較合計時間為長時，判別於移動機800或900於以變量n'識別之編號之整體路徑中以基準之速度移動之情形下，移動時間是否為準備時間以上、且合計時間以下。Furthermore, in response to this, when the generation unit 120 of the control device 100 determines that the movement time is longer than the total time, it determines that the mobile machine 800 or 900 moves at the reference speed in the entire path numbered by the variable n'. In this case, whether the movement time is more than the preparation time and less than the total time.

此時，控制裝置100之產生部120於判別為移動時間為準備時間以上、且合計時間以下時，特定為最慢模式為基準模式。其次，產生部120選擇該整體路徑作為移動路徑，產生選擇之移動路徑與基準模式之組合。之後，於將變量n'之值增加值「1」之後，自判別變量n'之值是否為數N'以下之處理起重複上述處理。At this time, when the generation unit 120 of the control device 100 determines that the movement time is more than the preparation time and less than the total time, it specifies the slowest mode as the reference mode. Next, the generating unit 120 selects the entire path as a moving path, and generates a combination of the selected moving path and the reference pattern. Thereafter, after the value of variable n' is incremented by "1", the above-mentioned process is repeated starting from the process of determining whether the value of variable n' is equal to or less than the number N'.

又，針對於此，控制裝置100之產生部120於判別為移動時間較合計時間為長時，判別於移動機800或900於該整體路徑中以高速度移動之情形下，移動時間是否為準備時間以上、且合計時間以下。Furthermore, in response to this, when the generation unit 120 of the control device 100 determines that the movement time is longer than the total time, it determines whether the movement time is preparation when the mobile machine 800 or 900 moves at a high speed in the entire path. more than the time and less than the total time.

此時，控制裝置100之產生部120於判別為移動時間為準備時間以上、且合計時間以下時，特定為最慢模式為高速模式。其次，產生部120選擇該整體路徑作為移動路徑，產生選擇之移動路徑與高速模式之組合。之後，於將變量n'之值增加值「1」之後，自判別變量n'之值是否為數N'以下之處理起重複上述處理。At this time, when the generation unit 120 of the control device 100 determines that the movement time is greater than the preparation time and less than the total time, it specifies the slowest mode as the high-speed mode. Next, the generating unit 120 selects the entire path as a moving path, and generates a combination of the selected moving path and the high-speed mode. Thereafter, after the value of variable n' is incremented by "1", the above-mentioned process is repeated starting from the process of determining whether the value of variable n' is equal to or less than the number N'.

針對於此，控制裝置100之產生部120於判別為移動時間較合計時間為長時，判別為不存在設定將移動時間設為準備時間以上、且合計時間以下之速度之動作模式。之後，產生部120於將變量n'之值增加值「1」之後，自判別變量n'之值是否為數N'以下之處理起重複上述處理。In response to this, when the generation unit 120 of the control device 100 determines that the movement time is longer than the total time, it determines that there is no operation mode that sets the movement time to a speed equal to or greater than the preparation time and less than the total time. Thereafter, the generation unit 120 increments the value of the variable n' by "1" and then repeats the above-mentioned process starting from the process of determining whether the value of the variable n' is equal to or less than the number N'.

控制裝置100之產生部120於判別為變量n'之值大於數N'時，計數產生之組合之數量N，對產生之N個組合賦予第1至第N個編號。其次，產生部120於步驟S07中，產生包含表示第1個組合中所含之移動路徑之資訊、及表示最慢模式之模式資訊的移動機800或900之移動控制資訊之第1個候選。同樣，產生部120產生移動機800或900之移動控制資訊之第2個至第N個候選。When the generation unit 120 of the control device 100 determines that the value of the variable n' is greater than the number N', it counts the number N of generated combinations and assigns the 1st to Nth numbers to the generated N combinations. Next, in step S07, the generation unit 120 generates the first candidate of the movement control information of the mobile machine 800 or 900 including the information indicating the movement path included in the first combination and the mode information indicating the slowest mode. Similarly, the generating unit 120 generates the 2nd to Nth candidates of the movement control information of the mobile machine 800 or 900 .

之後，控制裝置100之取得部110於圖7之步驟S31中，取得資訊記憶部190與第n個候選中所含之模式資訊建立對應關係而預先記憶之換算係數αl。於本變化例中，資訊記憶部190與表示高速模式之模式資訊建立對應關係而記憶之換算係數αl大於與表示基準模式之模式資訊建立對應關係而記憶之換算係數αl。資訊記憶部190記憶如此之換算係數αl，乃因於高速模式下設定之高速度較於基準模式下設定之基準之速度為快，故推定為於高速模式下移動機800或900為了移動單位距離而消耗之能量量多於推定為於基準模式下移動機800或900為了移動單位距離而消耗之能量量。Thereafter, in step S31 of FIG. 7 , the acquisition unit 110 of the control device 100 acquires the conversion coefficient αl stored in advance by the information storage unit 190 in correspondence with the pattern information included in the n-th candidate. In this variation, the information storage unit 190 establishes a correspondence relationship with the mode information indicating the high-speed mode and stores the conversion coefficient αl that is greater than the conversion coefficient α1 associated with the mode information indicating the standard mode. The information storage unit 190 stores such a conversion coefficient αl because the high speed set in the high-speed mode is faster than the standard speed set in the standard mode, so it is presumed that the moving machine 800 or 900 in the high-speed mode is to move the unit distance. The energy consumed is more than the energy consumed by the moving machine 800 or 900 in the standard mode to move the unit distance.

又，資訊記憶部190與表示低速模式之模式資訊建立對應關係而記憶之換算係數αl小於與表示基準模式之模式資訊建立對應關係而記憶之換算係數αl。資訊記憶部190記憶如此之換算係數αl，乃因推定為於低速模式下移動機800或900為了移動單位距離而消耗之能量量少於推定為於基準模式下移動機800或900為了移動單位距離而消耗之能量量。In addition, the conversion coefficient αl stored in the information storage unit 190 in association with the mode information indicating the low-speed mode is smaller than the conversion coefficient α1 stored in association with the mode information indicating the standard mode. The information storage unit 190 stores such a conversion coefficient αl because it is estimated that the amount of energy consumed by the mobile machine 800 or 900 in the low-speed mode to move the unit distance is less than the amount of energy consumed by the mobile machine 800 or 900 in the standard mode to move the unit distance. And the amount of energy consumed.

之後，控制裝置100藉由執行步驟S32至S44之處理，而使用與最慢模式相應之換算係數αl來決定第n個候選之評估值。其次，產生部120藉由在圖3之步驟S12中，基於使用與最慢模式相應之換算係數αl來決定之評估值，選擇候選，而產生移動機800及900之移動控制資訊。又，選擇部130於步驟S14中，基於使用與最慢模式相應之換算係數αl來決定之評估值，選擇搬運商品之移動機800或900。之後，控制部140於步驟S15中，將移動機800或900作為發送對象，向資料通訊電路104輸出包含表示移動路徑之資訊、及表示最慢模式之模式資訊之移動控制資訊。藉此，控制部140對選擇之移動機800或900進行於移動路徑中以最慢模式移動之控制。Thereafter, the control device 100 determines the evaluation value of the n-th candidate using the conversion coefficient α1 corresponding to the slowest mode by executing the processing of steps S32 to S44. Next, the generation unit 120 generates movement control information for the mobile machines 800 and 900 by selecting candidates based on the evaluation value determined using the conversion coefficient α1 corresponding to the slowest mode in step S12 of FIG. 3 . Furthermore, in step S14, the selection unit 130 selects the moving machine 800 or 900 for transporting the product based on the evaluation value determined using the conversion coefficient α1 corresponding to the slowest mode. After that, in step S15, the control unit 140 takes the mobile device 800 or 900 as the transmission target and outputs the movement control information including the information indicating the movement path and the mode information indicating the slowest mode to the data communication circuit 104. Thereby, the control unit 140 controls the selected mobile machine 800 or 900 to move in the slowest mode on the movement path.

本變化例之移動機800之CPU 891於圖10中步驟S51，從自控制裝置100接收到之移動控制資訊，取得表示移動路徑之資訊、及表示最慢模式之模式資訊。其次，CPU 891取得快閃記憶體893b與取得之模式資訊預先建立對應關係而記憶之資訊、且為表示於由該模式資訊表示之最慢模式下設定之速度之資訊。之後，CPU 891於步驟S53中，向驅動電路899輸出用於以由取得之資訊表示之速度於由取得之資訊表示之移動路徑中順行之控制信號。In step S51 of FIG. 10 , the CPU 891 of the mobile machine 800 in this variation obtains the information indicating the movement path and the mode information indicating the slowest mode from the movement control information received from the control device 100 . Next, the CPU 891 obtains the information stored in the flash memory 893b by establishing a correspondence relationship with the obtained mode information in advance, and the information represents the speed set in the slowest mode indicated by the mode information. Thereafter, in step S53, the CPU 891 outputs a control signal to the drive circuit 899 for traveling forward in the movement path represented by the obtained information at the speed represented by the obtained information.

根據該等構成，移動機800或900之移動控制資訊之N個候選各者進一步包含表示移動路徑之移動時之移動機800或900之動作模式之資訊。又，控制裝置100之產生部120對於N個候選各者，決定基於在移動機800或900於移動路徑中以該動作模式移動之情形下推定為由移動機800或900消耗之能量量的評估值。因此，控制裝置100可確實地抑制移動機800或900為了移動至搬運之開始位置而消耗之能量量之增加According to these configurations, each of the N candidates of the movement control information of the mobile machine 800 or 900 further includes information indicating the operation mode of the mobile machine 800 or 900 when moving along the movement path. In addition, the generation unit 120 of the control device 100 determines each of the N candidates based on an evaluation of the energy amount estimated to be consumed by the mobile machine 800 or 900 when the mobile machine 800 or 900 moves in the movement pattern in the movement path. value. Therefore, the control device 100 can reliably suppress an increase in the amount of energy consumed by the moving machine 800 or 900 in order to move to the starting position of transportation.

＜實施例1之變化例7＞ 於實施例1之變化例6中，說明了控制裝置100之產生部120於圖3之步驟S06中，於針對自移動機800或900之位置到達開始位置之N個移動路徑各者，設定將移動時間設為準備時間以上、且合計時間以下之速度之動作模式內，特定設定最慢之速度之最慢模式。 <Modification 7 of Example 1> In Modification 6 of Embodiment 1, it is explained that the generation unit 120 of the control device 100 sets, in step S06 of FIG. 3 , for each of the N moving paths from the position of the moving machine 800 or 900 to the starting position. In the action mode where the movement time is set to a speed above the preparation time and below the total time, the slowest mode is specifically set to the slowest speed.

然而，不限定於此，本變化例之控制裝置100之產生部120特定1個或複數個針對自移動機800或900之位置到達開始位置之N個移動路徑各者設定將移動時間設為準備時間以上、且合計時間以下之速度之動作模式。However, it is not limited to this. In this modification, the generation unit 120 of the control device 100 specifies one or a plurality of N movement paths from the position of the mobile machine 800 or 900 to the starting position, and sets the movement time to preparation. An action pattern with a speed above the time and below the total time.

因此，本變化例之控制裝置100之產生部120於步驟S06中，探索N'個(其中N'為自然數)整體路徑，以值「1」將變量n'初始化。其次，產生部120判別變量n'之值是否為整體路徑之數量N'以下。此時，產生部120於判別為變量n'之值為數N'以下時，判別是否存在設定將以變量n'之值識別之編號之整體路徑之移動時間設為準備時間以上、且合計時間以下之速度之動作模式(以下稱為候選模式)。Therefore, in step S06, the generation unit 120 of the control device 100 of this variation explores N' (where N' is a natural number) entire paths and initializes the variable n' with the value "1". Next, the generation unit 120 determines whether the value of the variable n' is equal to or less than the number of total paths N'. At this time, when the generation unit 120 determines that the value of the variable n' is equal to or less than the number N', it determines whether there is a setting to set the movement time of the entire route of the number identified by the value of the variable n' to be equal to or greater than the preparation time and equal to or less than the total time. speed action mode (hereinafter referred to as candidate mode).

此時，控制裝置100之產生部120於判別為不存在候選模式時，於將變量n'之值增加值「1」之後，自判別變量n'之值是否為數N'以下之處理起重複上述處理。At this time, when it is determined that there is no candidate pattern, the generation unit 120 of the control device 100 increments the value of the variable n' by "1", and then repeats the above process from the process of determining whether the value of the variable n' is equal to or less than the number N'. handle.

針對於此，控制裝置100之產生部120於判別為存在候選模式時，計數候選模式之數量l。其次，產生部120選擇以變量n'之值識別之編號之整體路徑作為移動路徑，產生選擇之移動路徑、與l個候選模式之l個組合。之後，產生部120於將變量n'之值增加值「1」之後，自判別變量n'之值是否為數N'以下之處理起重複上述處理。In response to this, when determining that there are candidate patterns, the generation unit 120 of the control device 100 counts the number l of candidate patterns. Next, the generation unit 120 selects the overall path numbered by the value of variable n′ as the movement path, and generates l combinations of the selected movement path and l candidate patterns. Thereafter, the generation unit 120 increments the value of the variable n' by "1" and then repeats the above-mentioned process starting from the process of determining whether the value of the variable n' is equal to or less than the number N'.

控制裝置100之產生部120於判別為變量n'之值大於數N'時，與實施例1之變化例6同樣地執行步驟S07至S15之處理。藉此，計數產生之組合之數量N，對產生之N個組合賦予第1至第N個編號。其次，產生部120產生包含表示第N個組合中所含之移動路徑之資訊、及表示動作模式之模式資訊的移動機800或900之移動控制資訊之第1個候選。同樣，產生部120產生移動機800或900之移動控制資訊之第2個至第N個候選。之後，控制裝置100基於N個候選，產生包含表示移動路徑之資訊、及表示動作模式之模式資訊之移動控制資訊，並向移動機800或900發送產生之移動控制資訊。When the generation unit 120 of the control device 100 determines that the value of the variable n' is greater than the number N', it executes the processing of steps S07 to S15 in the same manner as the variation 6 of the first embodiment. Thereby, the number N of generated combinations is counted, and the 1st to Nth numbers are assigned to the generated N combinations. Next, the generation unit 120 generates the first candidate of the movement control information of the mobile machine 800 or 900 including the information indicating the movement path included in the N-th combination and the mode information indicating the operation mode. Similarly, the generating unit 120 generates the 2nd to Nth candidates of the movement control information of the mobile machine 800 or 900 . Afterwards, the control device 100 generates movement control information including information indicating a movement path and mode information indicating an action mode based on the N candidates, and sends the generated movement control information to the mobile machine 800 or 900 .

本變化例之移動機800之CPU 891於接收到移動控制資訊時，與實施例1之變化例6同樣地，執行圖10所示之移動處理。藉此，移動機800自移動控制資訊取得表示動作模式之資訊、及表示移動路徑之資訊，以由取得之資訊表示之動作模式之設定速度於移動路徑中順行。When the CPU 891 of the mobile device 800 of this variation receives the movement control information, it executes the movement processing shown in FIG. 10 in the same manner as the sixth variation of Embodiment 1. Thereby, the mobile machine 800 obtains the information indicating the action mode and the information indicating the movement path from the movement control information, and proceeds along the movement path at the set speed of the action mode indicated by the obtained information.

＜實施例1之變化例8＞ 於實施例1中，說明了移動機800及900於將商品搬運至由訂購者指定之搬運目的地時，移動至預設之停車場，直至自控制裝置100接收到移動控制資訊為止，於停車場持續駐車或停車。 <Modification 8 of Embodiment 1> In Embodiment 1, it is explained that the mobile machines 800 and 900 move to the preset parking lot when transporting the goods to the transportation destination specified by the orderer, and continue in the parking lot until the movement control information is received from the control device 100. Park or park.

然而，不限定於此，移動機800或900若於在商品之搬運後至到達停車場前之移動中，自控制裝置100接收到移動控制資訊，則可依照接收到之移動控制資訊開始向搬運之開始位置移動。又，不限定於在商品之搬運後，移動機800及900向停車場移動，只要為移動機800可駐車或可停車之位置，則可於商品之搬運後向任何地點移動。However, it is not limited to this. If the mobile machine 800 or 900 receives the movement control information from the control device 100 during the movement after the goods are transported and before arriving at the parking lot, the mobile machine 800 or 900 can start moving to the place of transportation according to the received movement control information. Start position movement. In addition, the moving machines 800 and 900 are not limited to moving to the parking lot after the transportation of the goods. As long as the moving machine 800 can be parked or parked, the moving machines 800 and 900 can be moved to any place after the transportation of the goods.

進而，移動機800及900於將商品搬運至搬運目的地時，直至自控制裝置100接收新的移動控制資訊為止，可於搬運目的地之附近、或預設之地點之附近以預設之速度周繞或往復行駛。於本變化例中，搬運目的地之附近意指較與搬運目的地隔開預設之距離之邊界線更靠搬運目的地側之區域。又，預設之地點之附近意指較與該地點隔開預設之距離之邊界線更靠該地點側之區域。Furthermore, when the mobile machines 800 and 900 transport the goods to the transport destination, until new movement control information is received from the control device 100, the mobile machines 800 and 900 can move at a preset speed near the transport destination or near the preset location. Driving around or reciprocating. In this variation, the vicinity of the transportation destination means an area closer to the transportation destination than the boundary line separated by a preset distance from the transportation destination. In addition, the vicinity of a predetermined location means an area closer to the location than the boundary line that is separated from the location by a predetermined distance.

進而，移動機800及900可於在搬運目的地之附近、或預設之地點之附近暫時停車之後，於搬運目的地之附近、或預設之地點之附近周繞或往復行駛，亦可於周繞或往復行駛之後停車，還可重複停車與周繞或往復行駛。Furthermore, the mobile machines 800 and 900 can temporarily park near the transportation destination or near the preset location, and then circle or reciprocate near the transportation destination or the vicinity of the preset location, or they can also travel around Stop after driving around or reciprocating, and stop and drive around or reciprocate again.

＜實施例1之變化例9＞ 於實施例1中，說明了搬運系統1具備作為無人地面車輛之移動機800及900。然而，不限定於此，本變化例之搬運系統1具備如圖11所示之例如作為無人機等無人航空機之移動機700、及作為無人地面車輛之移動機900。 <Modification 9 of Example 1> In Embodiment 1, it has been described that the transportation system 1 includes the mobile machines 800 and 900 as unmanned ground vehicles. However, it is not limited to this. The transportation system 1 of this modification example includes a mobile machine 700 which is an unmanned aerial vehicle such as a drone, and a mobile machine 900 which is an unmanned ground vehicle as shown in FIG. 11 .

移動機700具備：控制裝置790，其控制移動機700之姿勢及飛行；及螺旋槳臂701及702、以及703及704，其等自控制裝置790之正面向右前方及左前方、以及自控制裝置790之背面向左後方及右後方分別突出。又，移動機700具備：螺旋槳711至714，其等分別設置於螺旋槳臂701至704之前端；及未圖示之馬達，其依照控制裝置790之控制，使螺旋槳711至714旋轉。使螺旋槳711至714旋轉之該馬達消耗蓄積於移動機700具備之未圖示之電池之電能而驅動。The mobile machine 700 is provided with: a control device 790 that controls the posture and flight of the mobile machine 700; and propeller arms 701 and 702, and 703 and 704, which face the front right and left front of the control device 790, and the self-control device The back of 790 protrudes toward the left rear and right rear respectively. In addition, the mobile machine 700 includes propellers 711 to 714, which are respectively provided at the front ends of the propeller arms 701 to 704; and a motor (not shown) that rotates the propellers 711 to 714 according to the control of the control device 790. The motors that rotate the propellers 711 to 714 are driven by consuming electric energy stored in a battery (not shown) provided in the mobile machine 700 .

進而，於移動機700之控制裝置790之下表面具備：圍持商品之第1圍持框721a、及第2圍持框721b。第1圍持框721a圍持捆包商品之長方體形狀之瓦楞紙板之側面內之1者具有之4邊，第2圍持框721b圍持與由第1圍持框721a圍持之面(以下稱為第1圍持面)對向之側面(以下稱為第2圍持面)具有之4邊。Furthermore, the lower surface of the control device 790 of the mobile machine 700 is provided with a first enclosure frame 721a and a second enclosure frame 721b for enclosure of the product. The first surrounding frame 721a surrounds the four sides of one of the side surfaces of the rectangular parallelepiped corrugated cardboard for packaging goods, and the second surrounding frame 721b surrounds the surface surrounded by the first surrounding frame 721a (hereinafter The opposite side surface (hereinafter referred to as the second enclosing surface) has four sides.

又，移動機700於控制裝置790之下表面具備導軌722a及722b，該等導軌722a及722b於商品之第1圍持面及第2圍持面之法線方向延伸設置，吊持第1圍持框721a與第2圍持框721b，且將第1圍持框721a與第2圍持框721b之移動方向設為延伸設置方向。In addition, the mobile machine 700 is provided with guide rails 722a and 722b on the lower surface of the control device 790. The guide rails 722a and 722b are extended in the normal direction of the first and second enclosure surfaces of the product to hoist the first enclosure. The holding frame 721a and the second holding frame 721b are provided, and the moving direction of the first holding frame 721a and the second holding frame 721b is set as the extending direction.

進而，移動機700具備未圖示之馬達，該馬達藉由依照控制裝置790之控制，使第1圍持框721a與第2圍持框721b向相互靠近之方向移動，而使第1圍持框721a與第2圍持框721b圍持商品。該未圖示之馬達藉由依照控制裝置790之控制，使第1圍持框721a與第2圍持框721b向相互遠離之方向移動，而使第1圍持框721a與第2圍持框721b釋放被圍持之商品。Furthermore, the moving machine 700 is provided with a motor (not shown), and the motor moves the first enclosure frame 721a and the second enclosure frame 721b in a direction approaching each other under the control of the control device 790, thereby causing the first enclosure frame 721a and the second enclosure frame 721b to move closer to each other. The frame 721a and the second surrounding frame 721b surround the product. The motor (not shown) moves the first enclosing frame 721a and the second enclosing frame 721b in directions away from each other under the control of the control device 790, so that the first enclosing frame 721a and the second enclosing frame 721a are moved away from each other. 721b releases the trapped product.

又，移動機700具備：設置於控制裝置790之正面之LiDAR感測器731、及設置於控制裝置790之背面之未圖示之LiDAR感測器。移動機700具備之正面之LiDAR感測器731與背面之LiDAR感測器之構成及功能分別與移動機800具備之正面之LiDAR感測器831與背面之LiDAR感測器之構成及功能同樣。Furthermore, the mobile machine 700 is provided with a LiDAR sensor 731 provided on the front of the control device 790 and a LiDAR sensor (not shown) provided on the back of the control device 790 . The structure and function of the front LiDAR sensor 731 and the rear LiDAR sensor of the mobile device 700 are the same as the structures and functions of the front LiDAR sensor 831 and the rear LiDAR sensor of the mobile device 800 respectively.

移動機700之控制裝置790具備硬體即未圖示之CPU、RAM、ROM、快閃記憶體、資料通訊電路、視訊卡、顯示裝置、輸入裝置、位置計測電路、方位角感測器、輸入輸出埠、及驅動電路。移動機700之控制裝置790具備之該等硬體之構成及功能與圖9所示之移動機800之控制裝置890具備之硬體之構成及功能同樣。The control device 790 of the mobile machine 700 is equipped with hardware, that is, a CPU, RAM, ROM, flash memory, a data communication circuit, a video card, a display device, an input device, a position measurement circuit, an azimuth angle sensor, and an input device (not shown). Output port, and driver circuit. The structure and functions of the hardware included in the control device 790 of the mobile machine 700 are the same as the structure and functions of the hardware included in the control device 890 of the mobile machine 800 shown in FIG. 9 .

移動機700之驅動電路連接於分別連接於使螺旋槳711至714旋轉之未圖示之馬達之未圖示之纜線。驅動電路依照CPU輸出之信號，驅動使螺旋槳711至714旋轉之未圖示之馬達。又，移動機700之驅動電路依照CPU輸出之信號，驅動使第1圍持框721a與第2圍持框721b移動之未圖示之馬達。The drive circuit of the mobile machine 700 is connected to cables (not shown) that are respectively connected to motors (not shown) that rotate the propellers 711 to 714. The drive circuit drives the motors (not shown) that rotate the propellers 711 to 714 in accordance with signals output from the CPU. In addition, the drive circuit of the mobile machine 700 drives a motor (not shown) that moves the first enclosure frame 721a and the second enclosure frame 721b according to the signal output from the CPU.

於移動機700具備之未圖示之資料通訊電路接收到移動控制資訊時，移動機700之CPU執行圖10所示之移動處理。藉此，移動機700於移動控制資訊中所含之移動路徑中以基準之速度飛行且向搬運之開始位置移動。When the data communication circuit (not shown) provided in the mobile machine 700 receives the movement control information, the CPU of the mobile machine 700 executes the movement processing shown in FIG. 10 . Thereby, the mobile machine 700 flies at the reference speed in the movement path included in the movement control information and moves to the start position of transportation.

本變化例之控制裝置100之產生部120於圖7之步驟S40中，基於起點節點之高度是否低於終點節點之高度，而判別以該邊緣表示之航線是否具有上升梯度(步驟S40)。此時，產生部120於因起點節點之高度低於終點節點之高度，而判別為該航線具有上升梯度時(步驟S40；是)，與實施例1同樣地，算出起點節點之高度與終點節點之高度之高度差H(步驟S41)。其次，產生部120藉由將換算係數αh乘以算出之高度差H，而推定為為了上升該高度差H而由移動機800消耗之能量量為αh×H。其次，產生部120將推定出之能量量αh×H與變量CE相加(步驟S42)。In step S40 of FIG. 7 , the generation unit 120 of the control device 100 of this variation determines whether the route represented by the edge has an ascending gradient based on whether the height of the starting point node is lower than the height of the ending node (step S40 ). At this time, when the generating unit 120 determines that the route has an ascending gradient because the height of the starting node is lower than the height of the ending node (step S40; Yes), the generating unit 120 calculates the height of the starting node and the ending node in the same manner as in Embodiment 1. The height difference H of the height (step S41). Next, the generation unit 120 multiplies the calculated height difference H by the conversion coefficient αh, and estimates that the amount of energy consumed by the mobile machine 800 in order to raise the height difference H is αh×H. Next, the generation unit 120 adds the estimated energy amount αh×H to the variable CE (step S42).

於本變化例中，說明了移動機700於控制裝置790之下表面具備：第1圍持框721a及第2圍持框721b，其等圍持商品；及導軌722a及722b，其等決定第1圍持框721a及第2圍持框721b之移動方向。然而，不限定於此，移動機700可於控制裝置790之下表面具備儲存商品之未圖示之儲存庫。移動機700具備之儲存庫之構成及功能與移動機800具備之儲存庫820之構成及功能同樣。In this variation, it is explained that the mobile machine 700 is provided with: a first enclosure frame 721a and a second enclosure frame 721b, which enclose the product; and guide rails 722a and 722b, which determine the first enclosure frame 721a and the second enclosure frame 721b. 1 The moving direction of the surrounding frame 721a and the second surrounding frame 721b. However, it is not limited to this, and the mobile machine 700 may have a storage (not shown) on the lower surface of the control device 790 for storing goods. The structure and function of the repository provided by the mobile machine 700 are the same as the structure and function of the repository 820 provided by the mobile machine 800 .

於本變化例中，說明了移動機900為地面行駛車輛，但不限定於此。移動機900可為具有與移動機700之構成及功能同樣之構成及功能之無人航空機。In this variation, it is explained that the mobile machine 900 is a ground traveling vehicle, but it is not limited to this. The mobile aircraft 900 may be an unmanned aerial vehicle having the same structure and functions as the mobile aircraft 700 .

又，於本變化例中，說明了移動機700為無人航空機，但不限定於此，可為無人飛翔體。進而，於本變化例中，說明了移動機700為利用螺旋槳711至714獲得升力及推力之無人機，但不限定於此。移動機700可具備葉片，利用葉片獲得升力，亦可具備由比重較空氣為小之氣體填滿之氣囊，利用氣囊獲得升力。又，移動機700可具備噴射引擎或火箭引擎，利用噴射引擎或火箭引擎獲得推力。Furthermore, in this variation, the mobile aircraft 700 is described as an unmanned aerial vehicle, but it is not limited to this and may be an unmanned aerial vehicle. Furthermore, in this variation, it has been described that the mobile machine 700 is a drone that uses propellers 711 to 714 to obtain lift and thrust, but it is not limited thereto. The mobile machine 700 may be equipped with blades and use the blades to obtain lift, or it may be equipped with an air bag filled with gas having a smaller specific gravity than air and use the air bag to obtain lift. In addition, the mobile machine 700 may be equipped with a jet engine or a rocket engine, and use the jet engine or the rocket engine to obtain thrust.

＜實施例1之變化例10＞ 於實施例1中，說明了移動機800及900具備之電池為鋰離子電池，但不限定於此。移動機800及900具備之電池可為任何蓄電池，例如可為鉛蓄電池或鎳氫電池電池。 <Modification 10 of Embodiment 1> In Embodiment 1, it is explained that the batteries provided in the mobile phones 800 and 900 are lithium-ion batteries, but the battery is not limited thereto. The batteries provided by the mobile phones 800 and 900 can be any storage battery, such as a lead-acid battery or a nickel-metal hydride battery.

＜實施例1之變化例11＞ 於實施例1中，說明了於基準模式下，對移動機700或900設定預設之基準之速度，但不限定於此。於基準模式下，可對移動機800或900進一步設定預設之基準之加速度。又，於基準模式下，可對移動機800或900進一步設定預設之基準之減速度。 <Modification 11 of Embodiment 1> In Embodiment 1, it is explained that in the reference mode, a preset reference speed is set for the mobile machine 700 or 900, but it is not limited thereto. In the base mode, a preset base acceleration can be further set for the mobile machine 800 or 900 . In addition, in the base mode, a preset base deceleration can be further set for the mobile machine 800 or 900.

又，不限定於此，於基準模式下，可對移動機800或900進一步設定預設之基準之角速度，作為方向轉換時之表示移動機800或900之行進方向之方位角之每單位時間之變化量。又，於基準模式下，可對移動機800或900進一步設定預設之基準之角加速度，亦可對移動機800或900進一步設定預設之基準之角減速度。Moreover, it is not limited to this. In the reference mode, a preset reference angular velocity can be further set for the mobile machine 800 or 900 as the azimuth angle per unit time indicating the traveling direction of the mobile machine 800 or 900 when the direction is changed. amount of change. Furthermore, in the base mode, a preset base angular acceleration can be further set for the mobile machine 800 or 900, and a preset base angular deceleration can be further set for the mobile machine 800 or 900.

於實施例1之變化例6中，說明可於高速模式下，對移動機800或900設定較基準之速度為快之速度即高速度，但不限定於此。於高速模式下，可對移動機800或900進一步設定較基準之加速度為大之加速度，亦可對移動機800或900進一步設定較基準之減速度為大之減速度。又，於高速模式下，可對移動機800或900進一步設定較基準之角速度為快之角速度，亦可對移動機800或900進一步設定較基準之角加速度及基準之角減速度分別為大之角加速度及角減速度。In Modification 6 of Embodiment 1, it is explained that in the high-speed mode, the mobile machine 800 or 900 can be set to a speed that is faster than the base speed, that is, a high speed, but it is not limited thereto. In the high-speed mode, the acceleration greater than the base acceleration can be further set for the mobile machine 800 or 900, and the deceleration greater than the base deceleration can be further set for the mobile machine 800 or 900. In addition, in the high-speed mode, the angular velocity of the moving machine 800 or 900 can be further set to be faster than the base angular velocity, and the angular acceleration and the base angular deceleration of the moving machine 800 or 900 can be further set to be larger than the base angular acceleration and the base angular deceleration respectively. Angular acceleration and angular deceleration.

於實施例1之變化例6中，說明了於低速模式下，對移動機800或900設定較基準之速度為慢之速度即低速度，但不限定於此。於低速模式下，可對移動機800或900進一步設定較基準之加速度為小之加速度及減速度。又，於低速模式下，可對移動機800或900進一步設定較基準之角速度為慢之角速度，亦可對移動機800或900進一步設定較基準之角加速度及基準之角減速度分別為小之角加速度及角減速度。In Modification 6 of Embodiment 1, it is explained that in the low speed mode, the mobile machine 800 or 900 is set to a speed that is slower than the reference speed, that is, a low speed, but the invention is not limited to this. In the low speed mode, the acceleration and deceleration of the mobile machine 800 or 900 can be further set to be smaller than the base acceleration. In addition, in the low-speed mode, the angular velocity of the moving machine 800 or 900 can be further set to be slower than the base angular velocity, and the angular acceleration and the base angular deceleration of the moving machine 800 or 900 can be further set to be smaller than the base angular velocity respectively. Angular acceleration and angular deceleration.

＜實施例1之變化例12＞ 於實施例1中，說明了移動控制資訊之候選越適切，將該候選之評估值決定為越高，但不限定於此。可行的是，移動控制資訊之候選越適切，將該候選之評估值決定為越低。 <Modification 12 of Embodiment 1> In Embodiment 1, it was explained that the more appropriate the candidate of the movement control information is, the higher the evaluation value of the candidate is determined, but it is not limited to this. It is feasible that the more appropriate the candidate for the movement control information is, the lower the evaluation value of the candidate is determined to be.

該情形下，可行的是，控制裝置100之產生部120於圖3之步驟S12中，若較決定更高之評估值之候選，優先選擇決定更低之評估值之候選，則可任意選擇候選。例如，產生部120只要選擇決定最低之評估值之候選作為移動機800或900之移動控制資訊即可。又，產生部120於步驟S14中，在移動機800之移動控制資訊之評估值為移動機900之移動控制資訊之評估值以下之情形下，只要選擇移動機800作為搬運訂購之商品之移動機即可。In this case, it is feasible that the generation unit 120 of the control device 100, in step S12 of FIG. 3 , can arbitrarily select a candidate if it preferentially selects a candidate with a lower evaluation value than a candidate with a higher evaluation value. . For example, the generation unit 120 only needs to select the candidate with the lowest evaluation value as the movement control information of the mobile machine 800 or 900 . Furthermore, in step S14, when the evaluation value of the movement control information of the mobile machine 800 is less than the evaluation value of the movement control information of the mobile machine 900, the generation unit 120 only selects the mobile machine 800 as the mobile machine to transport the ordered merchandise. That’s it.

＜實施例1之變化例13＞ 於實施例1中，說明了控制裝置100之產生部120選擇決定最高之評估值之候選作為移動機800或900之移動控制資訊，但不限定於此。產生部120若較決定更低之評估值之候選，優先選擇決定更高之評估值之候選，則可任意選擇候選。例如，產生部120可自決定較預設之評估值為高之評估值之1個或複數個候選，基於預設之規則或軟體隨機數選擇1個候選。 <Modification 13 of Embodiment 1> In Embodiment 1, it was explained that the generation unit 120 of the control device 100 selects the candidate with the highest evaluation value as the movement control information of the mobile machine 800 or 900, but it is not limited to this. The generation unit 120 can arbitrarily select a candidate if it preferentially selects a candidate with a higher evaluation value than a candidate with a lower evaluation value. For example, the generating unit 120 may self-determine one or more candidates with higher evaluation values than a preset evaluation value, and select one candidate based on preset rules or software random numbers.

＜實施例1之變化例14＞ 於實施例1中，說明了搬運之開始位置為設置有終端裝置300之店鋪之入口之位置，但不限定於此。本變化例之搬運之開始位置為由訂購者指定之店鋪之入口之位置。 <Modification 14 of Embodiment 1> In Embodiment 1, it was explained that the starting position of transportation is the position of the entrance of the store where the terminal device 300 is installed, but it is not limited to this. The starting position of the transportation in this variation is the entrance of the store designated by the orderer.

因此，本變化例之控制裝置100之取得部110於圖3之步驟S01中，取得訂購請求，該訂購請求包含：識別由訂購者指定之店鋪之店鋪ID、在該店鋪銷售之商品之商品ID、及表示該商品之搬運目的地之搬運目的地資訊。其次，取得部110藉由將設置於以店鋪ID識別之店鋪之終端裝置300或未圖示之終端裝置作為發送對象，向資料通訊電路104輸出訂購請求，而傳送訂購請求。Therefore, in step S01 of FIG. 3 , the acquisition unit 110 of the control device 100 of this variation acquires an order request, which includes a store ID identifying the store designated by the orderer and a product ID of the product sold in the store. , and transportation destination information indicating the transportation destination of the product. Next, the acquisition unit 110 transmits the order request by outputting the order request to the data communication circuit 104 by targeting the terminal device 300 installed in the store identified by the store ID or a terminal device not shown in the figure.

進而，控制裝置100之取得部110於圖6之步驟S22中，取得資訊記憶部190與自訂購請求取得之店鋪ID及商品ID預先建立對應關係而記憶之準備資訊及合計資訊。如此，取得表示於由訂購者指定之店鋪銷售之商品之準備時間之準備資訊、及表示準備時間與最大容許時間之合計時間之合計資訊。Furthermore, in step S22 of FIG. 6 , the acquisition unit 110 of the control device 100 acquires the preparation information and the total information that the information storage unit 190 has stored in correspondence with the store ID and product ID acquired from the order request. In this way, preparation information indicating the preparation time of the product sold at the store designated by the orderer, and total information indicating the total time of the preparation time and the maximum allowable time are obtained.

又，控制裝置100之取得部110於步驟S23中，取得資訊記憶部190與店鋪ID預先建立對應關係而記憶之開始位置資訊。如此，取得表示開始於由訂購者指定之店鋪銷售之商品之搬運之開始位置之開始位置資訊。Furthermore, in step S23, the acquisition unit 110 of the control device 100 acquires the start position information stored in the information storage unit 190 by establishing a correspondence relationship with the store ID in advance. In this way, the start position information indicating the start position of the transportation of the goods sold at the store designated by the orderer is obtained.

＜實施例1之變化例15＞ 於實施例1中，說明了訂購之對象為商品，但不限定於此。訂購之對象可為任何物體，例如可為不設為交易之對象之物體。又，訂購之對象可為生物，而非物體。 <Modification 15 of Embodiment 1> In Embodiment 1, it is explained that the object of ordering is a product, but it is not limited to this. The object of the order can be any object, for example, it can be an object that is not the object of the transaction. Also, the object of the order can be a living thing rather than an object.

於實施例1中，說明了商品為飲食品，但不限定於此，例如可為書籍或家電機器等與飲食品不同之物體。又，於實施例1中，說明了搬運之開始位置為銷售訂購之飲食品之店鋪之入口之位置，但不限定於此。搬運之開始位置只要為移動機800及900可停車或可駐車之位置、或移動機700可著陸之位置，而可為任何位置，例如可為存放訂購之商品之倉庫之搬出口之位置。In Embodiment 1, it has been described that the product is food and drink, but it is not limited thereto. For example, it may be an object different from food and drink, such as books or home appliances. Moreover, in Embodiment 1, it was demonstrated that the starting position of a conveyance is the position of the entrance of the store which sells the ordered food and drink, However, it is not limited to this. The starting position of transportation can be any position as long as it is a position where the mobile machines 800 and 900 can park or park, or a position where the mobile machine 700 can land. For example, it can be the position of the exit of a warehouse where ordered goods are stored.

又，於實施例1中，說明了搬運目的地為接收者或代理人居住之公寓之入口，但不限定於此。搬運目的地只要為移動機800及900可停車或可駐車之位置、或移動機700可著陸之位置，則可為任何位置。Moreover, in Embodiment 1, it was demonstrated that the transfer destination is the entrance of the apartment where the recipient or the agent lives, but it is not limited to this. The transfer destination can be any location as long as it is a location where the mobile machines 800 and 900 can be parked or parked, or a location where the mobile machine 700 can land.

移動機800及900可停車或駐車之位置可為例如集合住宅、辦公大樓、旅館、商業設施、或公共設施之入口、或單戶住宅之玄關處。又，移動機800及900可停車或駐車之位置可為集合住宅、辦公大樓、旅館、商業設施、或公共設施之大廳，亦可為單戶住宅、集合住宅、辦公大樓、旅館、商業設施、或公共設施之庭院、停車場、河灘、或公園。The location where the mobile machines 800 and 900 can be parked or parked may be, for example, an entrance to a residential complex, an office building, a hotel, a commercial facility, or a public facility, or an entrance to a single-family residence. In addition, the location where the mobile machines 800 and 900 can park or park can be a residential complex, an office building, a hotel, a commercial facility, or a lobby of a public facility, or it can be a single-family residence, a residential complex, an office building, a hotel, a commercial facility, Or courtyards, parking lots, river beaches, or parks of public facilities.

又，移動機700可著陸之位置除了移動機800及900能夠停車或駐車之位置以外，亦可為單戶住宅、集合住宅、辦公大樓、旅館、商業設施、或公共設施之陽台、或屋頂。In addition, in addition to the location where the mobile machines 800 and 900 can park or park, the location where the mobile machine 700 can land can also be a balcony or roof of a single-family house, a residential complex, an office building, a hotel, a commercial facility, or a public facility.

又，移動機800及900可於到達搬運之開始位置時，於開始位置之附近以預設之速度周繞或往復行駛，而非於該開始位置停車或駐車。搬運之開始位置之附近意指較與該開始位置隔開預設之距離D1之邊界線更靠該開始位置側之區域(其中，D1為正數)。又，移動機800及900可於在搬運之開始位置之附近暫時停車之後，於搬運之開始位置之附近周繞或往復行駛，亦可於周繞或往復行駛之後停車，還可重複停車與周繞或往復行駛。In addition, when the mobile machines 800 and 900 arrive at the starting position of transportation, they can circle or reciprocate at a preset speed near the starting position instead of stopping or parking at the starting position. The vicinity of the starting position of transportation means the area closer to the starting position than the boundary line separated from the starting position by a preset distance D1 (where D1 is a positive number). In addition, the moving machines 800 and 900 can temporarily stop near the starting position of transportation and then circle or reciprocate near the starting position of transportation. They can also stop after running around or reciprocating. They can also stop and circle repeatedly. Driving around or reciprocating.

進而，移動機700於到達搬運之開始位置或搬運目的地時，可於該開始位置之附近或搬運目的地之附近以預設之速度以下之速度周繞或往復飛行，或可於預設之範圍內之高度進行懸停飛行，而非著陸於該開始位置或搬運目的地。該開始位置之附近或搬運目的地之附近意指較與該開始位置或搬運目的地隔開預設之距離之邊界線更靠該開始位置或搬運目的地側之空域。Furthermore, when the mobile machine 700 reaches the starting position of the transportation or the transportation destination, it can circle or fly back and forth at a speed lower than the preset speed near the start position or the transportation destination, or it can fly at the preset speed. hover at an altitude within the range instead of landing at the starting location or transfer destination. The vicinity of the starting position or the transportation destination means the airspace closer to the starting position or the transportation destination than the boundary line that is a preset distance away from the start position or the transportation destination.

＜實施例1之變化例16＞ 於本實施例中，說明了移動機800及900為無人地面車輛。又，於實施例1之變化例9中，說明了移動機700為無人航空機。然而，移動機700、800、及900未必必須為無人，只要為除了由控制裝置100進行之控制以外，自律移動之物體，則人可搭乘。 <Modification 16 of Embodiment 1> In this embodiment, it is illustrated that the mobile machines 800 and 900 are unmanned ground vehicles. Furthermore, in Modification 9 of Embodiment 1, the mobile aircraft 700 is an unmanned aerial vehicle. However, the mobile machines 700, 800, and 900 do not necessarily need to be unmanned. As long as they are objects that move autonomously except for control by the control device 100, people can ride on them.

＜實施例1之變化例17＞ 於本實施例中，說明了控制裝置100具備資訊記憶部190，但不限定於此。本變化例之控制裝置100不具備資訊記憶部190。本變化例之控制裝置100例如為NAS(Network Attached Storage，網絡附加存儲)，且與具有與資訊記憶部190之功能同樣之功能之未圖示之資訊記憶裝置經由網際網路IN連接，使用資訊記憶裝置記憶之資訊，執行圖3所示之移動控制處理、圖6所示之資訊取得處理、及圖7所示之評估值算出處理。本變化例之搬運系統1可具備資訊記憶裝置，亦可不具備資訊記憶裝置。 <Modification 17 of Embodiment 1> In this embodiment, it has been described that the control device 100 includes the information storage unit 190, but it is not limited thereto. The control device 100 of this variation does not include the information storage unit 190 . The control device 100 of this variation is, for example, a NAS (Network Attached Storage), and is connected to an information storage device (not shown) that has the same function as the information storage unit 190 via the Internet IN, and uses the information. The information stored in the storage device executes the movement control process shown in FIG. 3 , the information acquisition process shown in FIG. 6 , and the evaluation value calculation process shown in FIG. 7 . The transportation system 1 of this variation may be equipped with an information storage device, or may not be equipped with an information storage device.

＜實施例1之變化例18＞ 於實施例中，說明了搬運系統1具備控制裝置100，但不限定於此，可不具備控制裝置100。該情形下，圖3所示之移動控制處理、圖6所示之資訊取得處理、及圖7所示之評估值算出處理可由移動機800具備之控制裝置890之CPU 891執行。因此，移動機800之CPU 891可作為相當於控制裝置100之取得部110、產生部120、選擇部130、及控制部140之未圖示之功能部發揮功能。又，移動機800之快閃記憶體893b可作為相當於控制裝置100之資訊記憶部190之未圖示之功能部發揮功能。 <Modification 18 of Embodiment 1> In the embodiment, it has been described that the transportation system 1 is provided with the control device 100, but it is not limited to this and does not need to be provided with the control device 100. In this case, the movement control process shown in FIG. 3 , the information acquisition process shown in FIG. 6 , and the evaluation value calculation process shown in FIG. 7 can be executed by the CPU 891 of the control device 890 provided in the mobile machine 800 . Therefore, the CPU 891 of the mobile device 800 can function as a functional unit (not shown) equivalent to the acquisition unit 110, the generation unit 120, the selection unit 130, and the control unit 140 of the control device 100. In addition, the flash memory 893b of the mobile device 800 can function as a functional unit (not shown) equivalent to the information storage unit 190 of the control device 100.

＜實施例2＞ 於實施例1中，說明了於圖3之步驟S06中，控制裝置100之產生部120從自移動機800或900之位置到達搬運之開始位置之複數個整體路徑，選擇N個於移動機800以基準之速度移動之情形下需要準備時間以上、且合計時間以下之移動時間之移動路徑，作為移動路徑。 <Example 2> In Embodiment 1, it is explained that in step S06 of FIG. 3 , the generation unit 120 of the control device 100 selects N of the plurality of overall paths from the position of the moving machine 800 or 900 to the starting position of the transportation for the moving machine 800 The movement path requires a movement time of more than the preparation time and less than the total time when moving at the standard speed.

然而，不限定於此，本實施例之控制裝置100之產生部120選擇合計N個於移動機800以基準之速度移動之情形下需要較準備時間為短之移動時間之整體路徑、及需要準備時間以上、且合計時間以下之移動時間之整體路徑，作為移動路徑。以下，針對與實施例1同樣之構成，使用與實施例1所使用之符號相同之符號進行說明，但主要針對本實施例與實施例1之不同進行說明。However, it is not limited to this. The generation unit 120 of the control device 100 of this embodiment selects a total of N total paths that require a shorter movement time than the preparation time when the mobile machine 800 moves at the reference speed, and requires preparation. The overall path of the movement time above the total time and below the total time is regarded as the movement path. Hereinafter, the same structures as those in Embodiment 1 will be described using the same symbols as those used in Embodiment 1, but the differences between this embodiment and Embodiment 1 will be mainly described.

因此，本實施例之控制裝置100之產生部120於步驟S06中，探索複數個自移動機800或900之位置到達開始位置之整體路徑，並針對探索出之複數個整體路徑，算出移動時間。其次，產生部120於探索出之複數個整體路徑內，選擇N個算出之移動時間為合計時間以下之整體路徑，作為移動路徑。之後，產生部120對N個移動路徑賦予第1至第N個編號。Therefore, in step S06, the generation unit 120 of the control device 100 of this embodiment explores a plurality of overall paths from the position of the mobile machine 800 or 900 to the starting position, and calculates the movement time for the plurality of explored overall paths. Next, the generation unit 120 selects N total paths whose calculated movement time is less than the total time among the plurality of searched overall paths as movement paths. Then, the generation unit 120 assigns the 1st to Nth numbers to the N movement paths.

之後，控制裝置100之產生部120於圖7之步驟S44中，針對移動控制資訊之第n個候選，基於推定為由移動機800或900消耗之能量量，決定評估值。其次，產生部120判別由在圖6之步驟S22中取得之準備資訊表示之準備時間是否為針對該候選算出之移動時間以下。Thereafter, in step S44 of FIG. 7 , the generation unit 120 of the control device 100 determines an evaluation value based on the energy amount estimated to be consumed by the mobile machine 800 or 900 for the n-th candidate of the movement control information. Next, the generation unit 120 determines whether the preparation time indicated by the preparation information acquired in step S22 of FIG. 6 is less than or equal to the movement time calculated for the candidate.

此時，產生部120於判別為準備時間為移動時間以下時，判別為於在該候選中所含之移動路徑中以基準之速度移動之情形下，於移動機800或900到達搬運之開始位置時，搬運之商品之準備完成。因此，產生部120判別為自移動機800或900到達搬運之開始位置至搬運之商品之準備完成為止之準備等待時間為「0」分鐘。針對於此，產生部120於判別為準備時間較移動時間為長時，藉由自移動時間減去準備資訊，而算出準備等待時間。產生部可藉由自準備完成時刻減去到達時刻，而算出準備等待時間。At this time, when the generation unit 120 determines that the preparation time is less than the movement time, it determines that the moving machine 800 or 900 reaches the transportation start position when the movement path included in the candidate is moved at the reference speed. At that time, the preparation of the goods to be transported is completed. Therefore, the generation unit 120 determines that the preparation waiting time from the time when the moving machine 800 or 900 reaches the start position of transportation until the preparation of the transported merchandise is completed is "0" minutes. In response to this, when it is determined that the preparation time is longer than the movement time, the generation unit 120 calculates the preparation waiting time by subtracting the preparation information from the movement time. The generation unit can calculate the preparation waiting time by subtracting the arrival time from the preparation completion time.

其次，控制裝置100之產生部120基於算出之準備等待時間，算出第n個候選之評估值之修正值。於本實施例中算出之修正值被用於藉由評估值之加算而進行之修正。因此，產生部120例如可藉由將令預設之正的常數與準備等待時間相加而得之值之倒數設為修正值，而準備等待時間越短，將修正值算出為越高之值。將正的常數與準備等待時間相加乃因即便準備等待時間為「0」分鐘，亦可算出修正值。於本實施例中，修正值作為將正的常數與準備等待時間相加而得之值之倒數而算出，但修正值之算出方法不限定於此。Next, the generation unit 120 of the control device 100 calculates the correction value of the evaluation value of the n-th candidate based on the calculated preparation waiting time. The correction value calculated in this embodiment is used for correction by addition of the evaluation values. Therefore, the generation unit 120 may, for example, set the reciprocal of the value obtained by adding a preset positive constant and the preparation waiting time as the correction value, and the shorter the preparation waiting time is, the higher the correction value is calculated. The positive constant is added to the preparation waiting time because the correction value can be calculated even if the preparation waiting time is "0" minutes. In this embodiment, the correction value is calculated as the reciprocal of the value obtained by adding a positive constant and the preparation waiting time, but the method of calculating the correction value is not limited to this.

其次，控制裝置100之取得部110取得資訊記憶部190預先記憶之修正值之正的加權係數。之後，產生部120利用取得之加權係數將算出之修正值進行加權，並將經加權之修正值與在步驟S44中算出之評估值相加。於本實施例中，由於準備等待時間越短，將修正值算出為越高之值，故準備等待時間越短，將修正後之評估值決定為越較修正前為高之值。Next, the acquisition unit 110 of the control device 100 acquires the positive weighting coefficient of the correction value stored in advance by the information storage unit 190 . After that, the generation unit 120 weights the calculated correction value using the obtained weighting coefficient, and adds the weighted correction value to the evaluation value calculated in step S44. In this embodiment, since the shorter the preparation waiting time is, the higher the correction value is calculated. Therefore, the shorter the preparation waiting time is, the higher the estimated value after correction is determined to be.

根據該等構成，控制裝置100之產生部120決定基於在移動機800或900於移動路徑中移動之情形下推定為由移動機800或900消耗之能量量、及自移動機800或900到達搬運之開始位置至設為訂購之對象之商品之準備完成為止之準備等待時間的評估值。因此，控制裝置100可產生一面抑制搬運開始之延遲、一面抑制移動機800或900為了移動至搬運之開始位置而消耗之能量量之增加之移動控制資訊According to these configurations, the generation unit 120 of the control device 100 determines based on the energy amount estimated to be consumed by the mobile machine 800 or 900 when the mobile machine 800 or 900 moves on the movement path, and the amount of energy arriving from the mobile machine 800 or 900. The estimated value of the preparation waiting time from the starting position to the completion of preparation of the product to be ordered. Therefore, the control device 100 can generate movement control information that suppresses a delay in the start of transportation while suppressing an increase in the amount of energy consumed by the moving machine 800 or 900 in order to move to the start position of transportation.

又，根據該等構成，自移動機800或900到達搬運之開始位置至訂購之商品之準備完成為止之準備等待時間越短，控制裝置100之產生部120將評估值決定為越高。因此，由於可抑制自移動機800或900到達搬運之開始位置至開始商品之搬運為止之時間增長，故可產生抑制搬運之開始位置之使用效率之降低之移動控制資訊。Furthermore, according to these configurations, the generation unit 120 of the control device 100 determines the evaluation value to be higher as the preparation waiting time from when the moving machine 800 or 900 arrives at the start position of the transportation until the preparation of the ordered product is completed is shorter. Therefore, it is possible to suppress the increase in time from when the moving machine 800 or 900 arrives at the start position of transportation until the transportation of the product is started. Therefore, it is possible to generate movement control information that suppresses a decrease in the use efficiency of the start position of transportation.

於本實施例中，搬運之開始位置之使用效率係藉由將對該開始位置之附近加以利用之人可使用之區域之面積除以該附近中所含之區域之面積而算出。又，開始位置之附近中所含之區域意指較與開始位置隔開預設之距離D2之邊界線更靠開始位置側之區域(其中，D2為正數)。於本實施例中，決定開始位置之附近之距離D2較決定開始位置之附近之距離D1為短，但不限定於此。距離D2可等於距離D1，亦可較距離D1為長。In this embodiment, the usage efficiency of the starting position of transportation is calculated by dividing the area of the area that can be used by people who use the vicinity of the starting position by the area of the area included in the vicinity. In addition, the area included in the vicinity of the starting position means an area closer to the starting position than the boundary line separated from the starting position by a predetermined distance D2 (where D2 is a positive number). In this embodiment, the distance D2 near the determined starting position is shorter than the distance D1 near the determined starting position, but it is not limited thereto. The distance D2 may be equal to the distance D1, or may be longer than the distance D1.

又，於本實施例中，由於搬運之開始位置為銷售訂購之商品之店鋪之入口之位置，故開始位置之附近中所含之區域包含店鋪之入口內之區域。進而，對該開始位置之附近加以利用之人可使用之區域之面積例如包含不置放包含移動機800及900之物體之區域之面積。因此，控制裝置100可抑制移動機800或900妨礙、或有可能妨礙包含顧客或從業人員之出入店鋪之人之通行之時間之增長。Furthermore, in this embodiment, since the starting position of the transportation is the entrance of the store where the ordered goods are sold, the area included in the vicinity of the starting position includes the area within the entrance of the store. Furthermore, the area of the area that can be used by people who use the vicinity of the starting position includes, for example, the area of the area where objects including the mobile machines 800 and 900 are not placed. Therefore, the control device 100 can suppress an increase in the time during which the mobile machine 800 or 900 obstructs or is likely to obstruct the passage of people entering and exiting the store, including customers and employees.

於本實施例中，說明了準備等待時間越短，控制裝置100之產生部120將修正值決定為越高之值，但不限定於此。產生部120例如可藉由將預設之常數與準備等待時間相加而得之值設為修正值，而準備等待時間越短，將修正值算出為越低之值。又，產生部120於利用正的加權係數將基於準備等待時間而算出之修正值進行加權後，自於步驟S44中決定之評估值減去經加權之修正值。In this embodiment, it is explained that the shorter the preparation waiting time is, the higher the correction value is determined by the generation unit 120 of the control device 100, but it is not limited to this. For example, the generating unit 120 may set the value obtained by adding a preset constant and the preparation waiting time as the correction value, and the shorter the preparation waiting time is, the lower the correction value is calculated. In addition, the generation unit 120 weights the correction value calculated based on the preparation waiting time with a positive weighting coefficient, and then subtracts the weighted correction value from the evaluation value determined in step S44.

＜實施例2之變化例1＞ 於實施例2中，說明了控制裝置100之產生部120於圖7之步驟S44中，基於推定為由移動機800或900消耗之能量量、及於搬運之開始位置處之準備等待時間，決定評估值，但不限定於此。 <Modification 1 of Example 2> In Embodiment 2, it was explained that the generation unit 120 of the control device 100 determines based on the energy amount estimated to be consumed by the moving machine 800 or 900 and the preparation waiting time at the starting position of the transportation in step S44 of FIG. 7 Evaluated value, but not limited to this.

本變化例之控制裝置100之產生部120基於推定為由移動機800或900消耗之能量量、於搬運之開始位置處之準備等待時間、及於搬運之開始位置之附近於位置是否有待機場所，決定評估值。於本變化例中，待機場所為容許移動機800及900停車或駐車之停車場，但不限定於此，只要為移動機800及900可停車或駐車之場所，則可為任何場所。The generation unit 120 of the control device 100 of this variation is based on the amount of energy estimated to be consumed by the mobile machine 800 or 900, the preparation waiting time at the starting position of transportation, and whether there is a waiting space near the starting position of transportation. , determine the evaluation value. In this variation, the waiting airport is a parking lot that allows the mobile machines 800 and 900 to park or park, but it is not limited to this. It can be any place as long as it is a place where the mobile machines 800 and 900 can park or park.

因此，控制裝置100之取得部110於圖6之步驟S23中，於取得表示搬運之開始位置之開始位置資訊之後，自資訊記憶部190取得表示於該開始位置之附近是否存在用於供移動機800及900待機之待機場所之待機場所旗標。又，取得部110自資訊記憶部190取得以經度、緯度、及高度表示待機場所之位置之資訊。於本變化例中表示待機場所旗標及待機場所之位置之資訊係由資訊記憶部190預先記憶。Therefore, in step S23 of FIG. 6 , the acquisition unit 110 of the control device 100 acquires from the information storage unit 190 , after acquiring the start position information indicating the start position of transportation, whether there is a moving machine near the start position. Waiting area flags for 800 and 900 waiting areas. In addition, the acquisition unit 110 acquires information indicating the position of the waiting area in terms of longitude, latitude, and altitude from the information storage unit 190 . In this variation example, the information indicating the flag of the waiting area and the location of the waiting area is stored in advance by the information memory unit 190 .

之後，控制裝置100之產生部120於圖7之步驟S44中，針對移動控制資訊之第n個候選，基於推定為由移動機800或900消耗之能量量，決定評估值。其次，產生部120於藉由取得之待機場所旗標顯示不存在待機場所之情形下，藉由執行實施例2所說明之處理，而算出準備等待時間，並基於算出之準備等待時間，算出修正值。在本變化例中算出之修正值由於被用於藉由評估值之加算而進行之修正，故準備等待時間越短，算出為越高之值。Thereafter, in step S44 of FIG. 7 , the generation unit 120 of the control device 100 determines an evaluation value based on the energy amount estimated to be consumed by the mobile machine 800 or 900 for the n-th candidate of the movement control information. Next, when the obtained waiting place flag shows that there is no waiting place, the generating unit 120 calculates the preparation waiting time by executing the process described in Embodiment 2, and calculates a correction based on the calculated preparation waiting time. value. Since the correction value calculated in this variation is used for correction by adding the evaluation values, the shorter the preparation waiting time is, the higher the value is calculated.

針對於此，控制裝置100之產生部120於藉由取得之待機場所旗標顯示存在待機場所之情形下，算出於準備等待時間為「0」分鐘時算出之最大之修正值。算出如此之修正值乃因若直至訂購之商品之準備完成為止，移動機800或900於待機場所待機，則不會降低搬運之開始位置之利用效率。In response to this, the generation unit 120 of the control device 100 calculates the maximum correction value calculated when the preparation waiting time is "0" minutes when the obtained waiting place flag indicates that the waiting place exists. Such a correction value is calculated because if the mobile machine 800 or 900 waits at the waiting area until the preparation of the ordered goods is completed, the utilization efficiency of the starting position of transportation will not be reduced.

之後，控制裝置100之產生部120與實施例2同樣地，藉由利用正的加權係數將算出之修正值進行加權，將經加權之修正值與評估值相加，而修正評估值。於本變化例中，於在搬運之開始位置存在待機場所之情形下，將經加權之最大之修正值與評估值相加。之後，產生部120結束評估值算出處理之執行。Thereafter, the generation unit 120 of the control device 100 weights the calculated correction value with a positive weighting coefficient, and adds the weighted correction value and the evaluation value, similarly to Embodiment 2, to correct the evaluation value. In this variation, when there is a waiting space at the starting position of transportation, the weighted maximum correction value is added to the evaluation value. After that, the generation unit 120 ends execution of the evaluation value calculation process.

之後，控制裝置100之產生部120於圖3之步驟S12中，基於經修正之評估值，產生移動機800及900之移動控制資訊。又，選擇部130於步驟S14中，基於經修正之評估值，選擇移動機800或900。其次，產生部120於步驟S15中，於選擇之移動機800或900之移動控制資訊中追加表示準備等待時間之資訊。Afterwards, the generation unit 120 of the control device 100 generates movement control information of the mobile machines 800 and 900 based on the modified evaluation value in step S12 of FIG. 3 . Furthermore, in step S14, the selection unit 130 selects the mobile machine 800 or 900 based on the modified evaluation value. Next, in step S15, the generation unit 120 adds information indicating the preparation waiting time to the movement control information of the selected mobile machine 800 or 900.

之後，控制裝置100之產生部120判別準備等待時間是否較較「0」分鐘為長。此時，產生部120於判別為準備等待時間較「0」分鐘為長時，基於待機場所旗標，判別於搬運之開始位置之附近之位置是否存在待機場所。產生部120於判別為存在待機場所時，藉由執行與圖3之步驟S06同樣之處理，而探索自搬運之開始位置到達待機場所之最短之整體路徑(以下稱為待機路徑)。其次，產生部120於移動機800或900之移動控制資訊中追加表示待機路徑之資訊。Afterwards, the generation unit 120 of the control device 100 determines whether the preparation waiting time is longer than "0" minutes. At this time, when the generation unit 120 determines that the preparation waiting time is longer than "0" minutes, based on the waiting place flag, it determines whether there is a waiting place near the transfer start position. When the generation unit 120 determines that there is a waiting place, it searches for the shortest overall path (hereinafter referred to as the waiting path) from the start position of the transfer to the waiting place by executing the same process as step S06 in FIG. 3 . Next, the generation unit 120 adds information indicating the standby path to the mobility control information of the mobile device 800 or 900 .

針對於此，於判別為準備等待時間為「0」分鐘時、於判別為不存在待機場所時、或於在移動控制資訊中追加表示待機路徑之資訊之後，控制裝置100之控制部140將移動機800或900作為發送對象，向資料通訊電路104輸出移動控制資訊。藉此，於判別為準備等待時間為「0」分鐘時，控制部140對移動機800或900進行向搬運之開始位置移動之控制。又，於準備等待時間較「0」分鐘為長，且於搬運之開始位置之附近之位置不存在待機場所時，控制部140對移動機800或900依序進行向搬運之開始位置移動之控制、及於開始位置處在準備等待時間內待機之控制。進而，於準備等待時間較「0」分鐘為長，且於搬運之開始位置之附近之位置存在待機場所時，控制部140對移動機800或900依序進行向搬運之開始位置移動之控制、自開始位置向待機場所移動之控制、於待機場所在準備等待時間內待機之控制、及自待機場所向開始位置移動之控制。In response to this, when it is determined that the preparation waiting time is "0" minutes, when it is determined that there is no waiting place, or after information indicating the waiting path is added to the movement control information, the control unit 140 of the control device 100 moves The machine 800 or 900 is used as the transmission target and outputs the movement control information to the data communication circuit 104. Thereby, when it is determined that the preparation waiting time is "0" minutes, the control unit 140 controls the moving machine 800 or 900 to move to the transportation start position. In addition, when the preparation waiting time is longer than "0" minutes and there is no waiting space near the transfer start position, the control unit 140 controls the moving machine 800 or 900 to sequentially move to the transfer start position. , and the control of waiting during the preparation and waiting time at the starting position. Furthermore, when the preparation waiting time is longer than "0" minutes and there is a waiting space near the transfer start position, the control unit 140 sequentially controls the moving machine 800 or 900 to move to the transfer start position. The control of moving from the starting position to the waiting airport, the control of waiting during the preparation and waiting time at the waiting airport, and the control of moving from the waiting airport to the starting position.

本變化例之移動機900之功能由於與移動機800之功能同樣，故以下，主要針對移動機800進行說明。移動機800之CPU 891於圖10之步驟S51中，取得自控制裝置100接收到之移動控制資訊，於自取得之移動控制資訊取得表示移動路徑之資訊、表示準備等待時間之資訊之後，試行表示待機路徑之資訊之取得。Since the function of the mobile machine 900 in this variation is the same as the function of the mobile machine 800, the following description will mainly focus on the mobile machine 800. In step S51 of FIG. 10 , the CPU 891 of the mobile machine 800 obtains the movement control information received from the control device 100 , and after obtaining the information indicating the movement path and the information indicating the preparation waiting time from the obtained movement control information, the trial display is performed. Acquisition of waiting path information.

此時，若取得表示待機路徑之資訊，則移動機800之CPU 891基於表示移動路徑之資訊，執行步驟S52至S54之處理。藉此，移動機800於移動路徑中向搬運之開始位置移動。於判別為已到達搬運之開始位置時(步驟S54；是)，移動機800之CPU 891基於表示待機路徑之資訊，執行與步驟S52至S54同樣之處理。藉此，移動機800於待機路徑中自搬運之開始位置向待機場所順行移動。At this time, if the information indicating the waiting path is obtained, the CPU 891 of the mobile device 800 executes the processing of steps S52 to S54 based on the information indicating the moving path. Thereby, the moving machine 800 moves to the transportation start position in the movement path. When it is determined that the transportation start position has been reached (step S54; YES), the CPU 891 of the mobile machine 800 executes the same processing as steps S52 to S54 based on the information indicating the waiting path. Thereby, the mobile machine 800 moves forward from the transportation start position to the waiting airport on the waiting path.

之後，移動機800之CPU 891於向驅動電路899輸出用於停車或駐車之控制信號之後，開始計時。其次，移動機800之CPU 891於判別為所計時之時間超過準備等待時間時，基於表示待機路徑之資訊，執行與步驟S52至S54同樣之處理。藉此，移動機800於待機路徑逆行而自待機場所向開始位置移動。之後，CPU 891於執行完步驟S55之處理之後，結束移動處理之執行。After that, the CPU 891 of the mobile machine 800 starts timing after outputting a control signal for parking or parking to the drive circuit 899. Next, when the CPU 891 of the mobile device 800 determines that the counted time exceeds the preparation waiting time, based on the information indicating the standby path, the CPU 891 executes the same processing as steps S52 to S54. Thereby, the mobile machine 800 moves backward on the waiting path and moves from the starting position toward the waiting airport. Afterwards, the CPU 891 ends the execution of the movement process after completing the process of step S55.

如此，移動機800於自移動控制資訊取得表示待機路徑之資訊之情形下，依照該移動控制資訊，於商品之準備完成之前到達搬運之開始位置，自開始位置向待機場所移動，直至商品之準備完成為止於待機場所待機，而後，自待機場所向開始位置移動。In this way, when the mobile machine 800 obtains the information indicating the waiting path from the movement control information, according to the movement control information, it reaches the start position of transportation before the preparation of the goods is completed, and moves from the start position to the waiting area until the goods are prepared. After completing the process, the vehicle waits at the waiting airport, and then moves from the waiting airport to the starting position.

針對於此，若未取得表示待機路徑之資訊，則移動機800藉由執行步驟S52至S54之處理，而於移動路徑中向搬運之開始位置移動。移動機800於判別為已到達搬運之開始位置時，於在搬運之開始位置處停車或駐車之後，開始計時。之後，移動機800之CPU 891於判別為所計時之時間超過準備等待時間時，在執行完步驟S55之處理之後，結束移動處理之執行。In this regard, if the information indicating the waiting path is not obtained, the mobile machine 800 moves to the start position of transportation in the movement path by executing the processing of steps S52 to S54. When the mobile machine 800 determines that it has arrived at the start position of transportation, it starts timing after parking or parking at the start position of transportation. Afterwards, when the CPU 891 of the mobile machine 800 determines that the counted time exceeds the preparation waiting time, the CPU 891 ends the execution of the movement process after completing the process of step S55.

如此，於未自移動控制資訊取得表示待機路徑之資訊，且準備等待時間較「0」分鐘為長之情形下，移動機800依照移動控制資訊，於商品之準備完成之前到達搬運之開始位置，直至商品之準備完成為止於開始位置處待機。針對於此，於未自移動控制資訊取得表示待機路徑之資訊，且準備等待時間為「0」分鐘之情形下，移動機800於商品之準備完成時、或於準備完成之後，到達搬運之開始位置。In this way, when the information indicating the waiting path is not obtained from the movement control information and the preparation waiting time is longer than "0" minutes, the mobile machine 800 arrives at the start position of transportation before the preparation of the product is completed according to the movement control information. Wait at the starting position until the product is ready. In this regard, when the information indicating the waiting path has not been obtained from the movement control information and the preparation waiting time is "0" minutes, the mobile machine 800 arrives at the start of transportation when or after the preparation of the product is completed. Location.

根據該等構成，控制裝置100之產生部120對於移動控制資訊之N個候選各者，決定基於在位於與搬運之開始位置相隔較預設之距離D1為短之距離之附近之位置是否存在用於供移動機800及900待機之待機場所的評估值。因此，控制裝置100可產生抑制搬運之開始位置之使用效率之降低之移動控制資訊。According to these configurations, the generation unit 120 of the control device 100 determines, for each of the N candidates of the movement control information, whether or not there is a user at a position near the start position of the transportation that is shorter than the preset distance D1. The estimated value of the standby space for mobile phones 800 and 900. Therefore, the control device 100 can generate movement control information that suppresses a decrease in the use efficiency of the starting position of transportation.

於本變化例中，說明了準備等待時間越短，控制裝置100之產生部120將修正值算出為越高之值。然而，不限定於此，可行的是，準備等待時間越短，產生部120將修正值算出為越低之值。又，產生部120於藉由待機場所旗標顯示存在待機場所之情形下，可算出最小之修正值。進而，產生部120可於利用正的加權係數將算出之修正值進行加權後，自評估值減去經加權之修正值。In this variation example, it is explained that the shorter the preparation waiting time is, the higher the correction value is calculated by the generation unit 120 of the control device 100 . However, it is not limited to this. It is possible that the generation unit 120 calculates the correction value to be a lower value as the preparation waiting time is shorter. In addition, the generation unit 120 can calculate the minimum correction value when the waiting place flag indicates that the waiting place exists. Furthermore, the generating unit 120 may, after weighting the calculated correction value with a positive weighting coefficient, subtract the weighted correction value from the evaluation value.

＜實施例2之變化例2＞ 搬運之開始位置為由訂購者指定之店鋪之入口之位置之實施例1之變化例14、與基於在搬運之開始位置之附近之位置是否有待機場所而決定移動控制資訊之候選之評估值之實施例2之變化例1可組合。 <Modification 2 of Embodiment 2> Modification 14 of Embodiment 1 in which the starting position of the transportation is the entrance of the store specified by the orderer, and an evaluation value that determines candidates for the movement control information based on whether there is a waiting place near the starting position of the transportation. Variation 1 of Embodiment 2 can be combined.

該情形下，控制裝置100之取得部110只要自訂購請求取得店鋪ID，並取得資訊記憶部190與取得之店鋪ID預先建立對應關係而記憶之待機場所旗標即可。於本變化例中，與店鋪ID建立對應關係之待機場所旗標係表示於以該店鋪ID識別之店鋪之附近之位置是否存在用於供移動機800及900待機之待機場所之旗標。In this case, the acquisition unit 110 of the control device 100 only needs to acquire the store ID from the order request, and acquire the waiting place flag stored in the information storage unit 190 by establishing a correspondence relationship with the acquired store ID in advance. In this variation, the waiting area flag corresponding to the store ID is a flag indicating whether there is a waiting area for the mobile machines 800 and 900 to wait near the store identified by the store ID.

又，該情形下，控制裝置100之取得部110只要取得表示資訊記憶部190與取得之店鋪I預先建立對應關係而記憶之待機場所之位置之資訊即可。於本變化例中，表示與店鋪ID建立對應關係之待機場所之位置之資訊係以經度、緯度、及高度表示位於以該店鋪ID識別之店鋪之附近之位置之待機場所之位置之資訊。In this case, the acquisition unit 110 of the control device 100 only needs to acquire the information indicating the location of the waiting area stored in the information storage unit 190 by establishing a correspondence relationship with the acquired store I in advance. In this variation, the information indicating the location of the waiting area associated with the store ID is information indicating the location of the waiting area located near the store identified by the store ID in terms of longitude, latitude, and altitude.

＜實施例2之變化例3＞ 於實施例2之變化例1中，說明了控制裝置100之產生部120基於在搬運之開始位置之附近之位置是否有待機場所，決定評估值，但不限定於此。 <Modification 3 of Embodiment 2> In Modification 1 of Embodiment 2, it has been described that the generation unit 120 of the control device 100 determines the evaluation value based on whether there is a waiting space near the transfer start position, but it is not limited to this.

控制裝置100之產生部120可基於搬運之開始位置是否為待機場所之位置，決定評估值。亦即，產生部120可基於在搬運之開始位置是否存在待機場所，決定評估值。又，產生部120可基於在搬運之開始位置或開始位置之附近之位置存在待機場所、或於搬運之開始位置及開始位置之附近之位置不存在待機場所，決定評估值。The generation unit 120 of the control device 100 may determine the evaluation value based on whether the starting position of the transportation is the position of the waiting place. That is, the generation unit 120 may determine the evaluation value based on whether there is a waiting space at the starting position of transportation. In addition, the generation unit 120 may determine the evaluation value based on the existence of a waiting place at or near the start position of the transportation, or the absence of a waiting place at the start position of the transportation or the vicinity of the start position.

＜實施例2之變化例4＞ 於實施例2之變化例1中，說明了由控制裝置100之產生部120算出之修正值由於被用於藉由評估值之加算而進行之修正，故於在搬運之開始位置之附近之位置存在待機場所之情形下，算出最大之修正值，但不限定於此。 <Modification 4 of Example 2> In Modification 1 of Embodiment 2, it is explained that the correction value calculated by the generation unit 120 of the control device 100 is used for correction by adding the evaluation values, so that the correction value is located at a position near the start position of the conveyance. When there is a waiting area, the maximum correction value is calculated, but it is not limited to this.

本變化例之修正值就被用於藉由評估值之加算而進行之修正之點，與實施例2之變化例1之修正值相同。然而，本變化例之修正值就於在搬運之開始位置之附近之位置存在待機場所之情形下，算出為較於在該附近之位置不存在待機場所之情形下算出之修正值為高之值之點，與實施例2之變化例1之修正值不同。The correction value in this variation is used for the correction point by adding the evaluation values, and is the same as the correction value in variation 1 of Embodiment 2. However, the correction value in this variation is calculated as a higher value when there is a waiting area near the start position of the transfer than when there is no waiting area nearby. This point is different from the correction value in Modification 1 of Embodiment 2.

因此，控制裝置100之產生部120於藉由待機場所旗標而顯示不存在待機場所之情形下，例如，將令預設之正的常數C1與準備等待時間相加而得之值之倒數設為修正值。將正的常數C1與準備等待時間相加乃因即便準備等待時間為「0」分鐘，亦可算出修正值。Therefore, when the waiting place flag indicates that there is no waiting place, the generation unit 120 of the control device 100 sets the reciprocal of the value obtained by adding the preset positive constant C1 to the preparation waiting time as Correction value. The positive constant C1 is added to the preparation waiting time because the correction value can be calculated even if the preparation waiting time is "0" minutes.

針對於此，控制裝置100之產生部120於藉由待機場所旗標而顯示存在待機場所之情形下，例如，藉由將較值「1」為小之預設之正的常數C2乘以準備等待時間，而將準備等待時間修正為較修正前為短之時間。之後，產生部120將令正的常數C1與經修正之準備等待時間相加而得之值之倒數設為修正值。如此，若準備等待時間之長度相同，則將於在搬運之開始位置之附近之位置存在待機場所之情形下算出之修正值算出為較於在該附近之位置不存在待機場所之情形下算出之修正值為高。In response to this, the generation unit 120 of the control device 100 prepares, for example, by multiplying the preset positive constant C2, which is smaller than the value “1”, when the waiting place flag indicates the existence of the waiting place. Waiting time, and correct the preparation waiting time to be shorter than before the correction. Thereafter, the generation unit 120 sets the reciprocal of the value obtained by adding the positive constant C1 and the corrected preparation waiting time as a correction value. In this way, if the length of the preparation waiting time is the same, the correction value calculated in the case where there is a waiting place in the vicinity of the starting position of the transfer is compared with the correction value calculated in the case where there is no waiting place in the vicinity. The correction value is high.

之後，控制裝置100之產生部120與實施例2之變化例1同樣地，藉由利用正的加權係數將算出之修正值進行加權，將經加權之修正值與評估值相加，而修正評估值。Thereafter, the generation unit 120 of the control device 100 weights the calculated correction value with a positive weighting coefficient and adds the weighted correction value to the evaluation value, similarly to the first modification of the second embodiment, thereby correcting the evaluation. value.

於本變化例中，說明了控制裝置100之產生部120於在搬運之開始位置之附近之位置存在待機場所之情形下，算出較於在該附近之位置不存在待機場所之情形下算出之修正值為高之修正值。然而，不限定於此，產生部120可於在該附近之位置存在待機場所之情形下，算出較於不存在待機場所之情形下算出之修正值為低之修正值。In this variation, the generation unit 120 of the control device 100 calculates a correction when there is a waiting place at a position near the start position of the transportation, compared with a correction calculated when there is no waiting place at the nearby position. The value is a high correction value. However, it is not limited to this, and the generation unit 120 may calculate a correction value that is lower than the correction value calculated when there is no waiting place at the nearby position.

因此，控制裝置100之產生部120於藉由待機場所旗標而顯示不存在待機場所之情形下，例如，將令預設之常數C3與準備等待時間相加而得之值設為修正值。針對於此，產生部120於藉由待機場所旗標而顯示存在待機場所之情形下，藉由將較值「1」為小之預設之正的常數C4乘以準備等待時間，而將準備等待時間修正為較修正前為短之時間。其次，產生部120將令常數C3與經修正之準備等待時間相加而得之值設為修正值。如此，若準備等待時間之長度相同，則將於在搬運之開始位置之附近之位置存在待機場所之情形下算出之修正值算出為較於在該附近之位置不存在待機場所之情形下算出之修正值為低。之後，產生部120藉由利用正的加權係數將算出之修正值進行加權，自評估值減去經加權之修正值，而修正評估值。Therefore, when the waiting place flag indicates that there is no waiting place, the generation unit 120 of the control device 100 sets the value obtained by adding the preset constant C3 and the preparation waiting time as the correction value. In response to this, when the waiting place flag indicates that the waiting place exists, the generating unit 120 multiplies the preset positive constant C4, which is smaller than the value “1”, by the preparation waiting time. The waiting time has been corrected to be shorter than before. Next, the generation unit 120 sets the value obtained by adding the constant C3 and the corrected preparation waiting time as a correction value. In this way, if the length of the preparation waiting time is the same, the correction value calculated in the case where there is a waiting place in the vicinity of the starting position of the transfer is compared with the correction value calculated in the case where there is no waiting place in the vicinity. The correction value is low. Thereafter, the generation unit 120 corrects the evaluation value by weighting the calculated correction value with a positive weighting coefficient and subtracting the weighted correction value from the evaluation value.

＜實施例2之變化例5＞ 於實施例2之變化例1中，說明了控制裝置100之控制部140對移動機800或900進行於開始位置、或於位於開始位置之附近之位置之待機場所在準備等待時間內待機之控制，但不限定於此。 <Variation 5 of Example 2> In Modification 1 of Embodiment 2, it is explained that the control unit 140 of the control device 100 controls the mobile machine 800 or 900 to wait at the starting position or at the waiting airport at a position near the starting position during the preparation waiting time. , but is not limited to this.

控制裝置100之控制部140對移動機800或900進行於由移動機位置資訊表示之位置(以下稱為移動之開始位置)、或位於移動之開始位置之附近之位置之待機場所在準備等待時間內待機之控制。該情形下，控制裝置100之產生部120可基於推定為由移動機800或900消耗之能量量、由移動機位置資訊表示之移動之開始位置、或於該移動之開始位置之附近之位置是否有待機場所、及於該待機場所處之準備等待時間，決定評估值。The control unit 140 of the control device 100 performs the airport location preparation waiting time for the mobile machine 800 or 900 at the position indicated by the mobile machine position information (hereinafter referred to as the starting position of the movement) or at a position near the starting position of the movement. Internal standby control. In this case, the generation unit 120 of the control device 100 may be based on the amount of energy estimated to be consumed by the mobile machine 800 or 900, the starting position of the movement represented by the mobile machine position information, or whether a position near the starting position of the movement is The estimated value is determined by the waiting airport location and the preparation and waiting time at the waiting airport location.

又，控制裝置100之控制部140可對移動機800或900進行於自移動機800或900之移動之開始位置至搬運之開始位置之移動路徑上之位置(以下稱為中途之位置)、或位於該中途之位置之附近之位置之待機場所在準備等待時間內待機之控制。In addition, the control unit 140 of the control device 100 can control the moving machine 800 or 900 to a position on the moving path from the starting position of the moving machine 800 or 900 to the starting position of transportation (hereinafter referred to as a position in the middle), or The control of the waiting time for waiting at the airport at a position near the intermediate position.

進而，控制裝置100之產生部120可自移動之開始位置及移動之開始位置之附近之位置、中途之位置及中途之位置之附近之位置、以及搬運之開始位置及開始位置之附近之位置之2處以上，基於待機場所旗標特定出1個或複數個存在待機場所之位置。該情形下，選擇部130可自分別位於特定出之1個或複數個位置之待機場所，基於預設之規則或軟體隨機數選擇使移動機800或900待機之場所。又，控制部140可對移動機800或900進行於選擇之場所在準備等待時間內待機之控制。Furthermore, the generating unit 120 of the control device 100 can be configured from a position near the start position of the movement and a position near the start position of the movement, a position in the middle and a position near the middle position, and a position near the start position and the start position of the transfer. 2 or more places, one or more locations where the standby place exists are specified based on the standby place flag. In this case, the selection unit 130 can select a place for the mobile machine 800 or 900 to stand by based on preset rules or software random numbers from the standby places located at one or more specific locations. In addition, the control unit 140 can control the mobile device 800 or 900 to wait at the selected place during the preparation waiting time.

本發明之實施例1、實施例1之變化例1至18、實施例2、及實施例2之變化例1至5可相互組合。亦即，控制裝置100之產生部120可基於推定消耗能量量、準備等待時間、開始等待時間、猶豫時間、最大容許時間、及於搬運之開始位置或其附近之位置是否存在待機場所之任一者以上，決定移動控制資訊之候選之評估值。Embodiment 1, Modifications 1 to 18 of Embodiment 1, Embodiment 2, and Modifications 1 to 5 of Embodiment 2 of the present invention can be combined with each other. That is, the generation unit 120 of the control device 100 can be based on any one of the estimated energy consumption, the preparation waiting time, the starting waiting time, the hesitation time, the maximum allowable time, and whether there is a waiting place at or near the starting position of the transfer. or above, determines the evaluation value of the mobile control information candidate.

當然可作為具備用於實現本發明之實施例1、實施例1之變化例1至17、實施例2、及實施例2至變化例1至5中任一者之功能之構成之控制裝置100、以及具備用於實現本實施例1之變化例18之功能之構成之控制裝置890而提供，亦可作為由複數個裝置構成之系統，且為以系統整體具備用於實現本發明之實施例1、實施例1之變化例1至18、實施例2、及實施例2之變化例1至5之任一者之功能之構成之系統而提供。It goes without saying that the control device 100 may be configured to realize the functions of any one of Embodiment 1, Modifications 1 to 17 of Embodiment 1, Embodiment 2, and Embodiment 2 to Modifications 1 to 5 of the present invention. , and a control device 890 having a structure for realizing the function of the eighteenth variation of the first embodiment. It can also be provided as a system composed of a plurality of devices, and the entire system is provided for realizing the embodiment of the present invention. 1. A system is provided that has the functions of any one of Modifications 1 to 18 of Embodiment 1, Embodiment 2, and Modifications 1 to 5 of Embodiment 2.

可作為預先具備用於實現本發明之實施例1、實施例1之變化例1至17、實施例2、及實施例2之變化例1至5中任一者之功能之構成之控制裝置100而提供。又，藉由應用程式，亦可使既有之控制裝置作為本發明之實施例1、實施例1之變化例1至17、實施例2、及實施例2之變化例1至5中任一者之控制裝置100發揮功能。亦即，藉由控制既有之控制裝置之電腦(CPU等)執行用於實現本發明之實施例1、實施例1之變化例1至17、實施例2、及實施例2之變化例1至5之任一者所例示之控制裝置100之各功能構成之程式，而可作為本發明之實施例1、實施例1之變化例1至17、實施例2、及實施例2之變化例1至5之任一者之控制裝置100發揮功能。The control device 100 may be configured in advance to realize the functions of any one of Embodiment 1, Modifications 1 to 17 of Embodiment 1, Embodiment 2, and Modifications 1 to 5 of Embodiment 2 of the present invention. And provide. In addition, through the application program, the existing control device can also be used as any one of Embodiment 1, Modifications 1 to 17 of Embodiment 1, Embodiment 2, and Modifications 1 to 5 of Embodiment 2 of the present invention. The control device 100 functions. That is, the computer (CPU, etc.) that controls the existing control device executes Embodiment 1, Modifications 1 to 17 of Embodiment 1, Embodiment 2, and Modification 1 of Embodiment 2 for realizing the present invention. Programs for each functional configuration of the control device 100 illustrated in any one of to 5 can be used as Embodiment 1, Modifications 1 to 17 of Embodiment 1, Embodiment 2, and Modifications of Embodiment 2 of the present invention. The control device 100 of any one of 1 to 5 functions.

可作為預先具備用於實現本發明之實施例1之變化例18之功能之構成之控制裝置890而提供。又，藉由應用程式，而亦可使既有之控制裝置作為實施例1之變化例18之控制裝置890發揮功能。亦即，藉由控制既有之控制裝置之電腦(CPU等)執行用於實現上述實施例1之變化例18所例示之控制裝置890之各功能構成之程式，而可作為實施例1之變化例18之控制裝置890發揮功能。The control device 890 may be provided as a control device 890 having a structure in advance for realizing the function of the eighteenth variation of the first embodiment of the present invention. Furthermore, an existing control device can be made to function as the control device 890 of the eighteenth variation of the first embodiment through the application program. That is, a modification of Embodiment 1 can be achieved by executing a program for realizing each functional configuration of control device 890 illustrated in Modification 18 of Embodiment 1 by a computer (CPU, etc.) that controls an existing control device. The control device 890 of Example 18 functions.

如此之程式之發佈方法為任意，例如，除了可收納於記憶卡、CD(Compact Disc，壓縮光碟)-ROM、或DVD(Digital Versatile Disc，數位多功能光碟)-ROM等記錄媒體來發佈以外，亦可經由網際網路等通訊媒體來發佈。Such a program can be distributed in any way. For example, it can be stored in a recording medium such as a memory card, CD (Compact Disc)-ROM, or DVD (Digital Versatile Disc)-ROM. It can also be released through communication media such as the Internet.

本發明之方法可使用本發明之實施例1、實施例1之變化例1至17、實施例2、及實施例2之變化例1至5之任一者之控制裝置100、以及本實施例1之變化例18之控制裝置890來實施。又，本發明之方法可使用本發明之實施例1、實施例1之變化例1至18、實施例2、及實施例2之變化例1至5之任一者之搬運系統1來實施。The method of the present invention can use the control device 100 of any one of Embodiment 1 of the present invention, Modifications 1 to 17 of Embodiment 1, Embodiment 2, and Modifications 1 to 5 of Embodiment 2, as well as this embodiment. This is implemented using the control device 890 of Modification 18. In addition, the method of the present invention can be implemented using the transportation system 1 of any one of Embodiment 1, Modifications 1 to 18 of Embodiment 1, Embodiment 2, and Modifications 1 to 5 of Embodiment 2 of the present invention.

又，本發明於不脫離本發明之廣義之精神與範圍內，可實現各種實施形態及變化。又，上述之實施形態係用於說明本發明者，並非係限定本發明之範圍者。即，本發明之範圍由申請專利範圍顯示，而非由實施形態顯示。而且，在申請專利範圍內及與其同等之發明之意義之範圍內實施之各種變化視為在本發明之範圍內。In addition, the present invention can implement various embodiments and changes without departing from the broad spirit and scope of the invention. In addition, the above-described embodiments are used to illustrate the present invention and are not intended to limit the scope of the present invention. That is, the scope of the present invention is shown by the patent application scope and not by the embodiments. Furthermore, various modifications made within the scope of the patent application and within the meaning of the invention equivalent thereto are deemed to be within the scope of the present invention.

(附記) (附記1) 一種控制裝置，其具備： 取得部，其於受理訂購時，取得：表示可儲存前述訂購之對象之移動機之位置之移動機位置資訊、表示開始前述對象之搬運之開始位置之開始位置資訊、及表示用於將前述對象之狀態設為可開始搬運之狀態之準備所需之準備時間或前述準備完成之準備完成時刻之準備資訊；及 產生部，其基於推定為前述移動機為了從由取得之前述移動機位置資訊表示之前述位置移動至由前述開始位置資訊表示之前述開始位置而消耗之能量量、及由前述準備資訊表示之前述準備時間或前述準備完成時刻，產生用於使前述移動機自前述移動機之前述位置移動至前述開始位置之移動控制資訊。 (P.S.) (Note 1) A control device having: The acquisition unit, when accepting an order, obtains: mobile machine position information indicating the position of the mobile machine that can store the object of the aforementioned order, starting position information indicating the starting position to start transporting the aforementioned object, and indicating the use of the aforementioned object. The preparation time required to prepare the status to a state where transportation can be started or the preparation information of the preparation completion time when the aforementioned preparations are completed; and The generating unit is based on the estimation of the amount of energy consumed by the mobile machine in order to move from the aforementioned position represented by the acquisition of the aforementioned mobile machine position information to the aforementioned start position represented by the aforementioned starting position information, and the aforementioned amount represented by the aforementioned preparation information. The preparation time or the preparation completion time generates movement control information for moving the mobile machine from the previous position to the starting position.

(附記2) 如附記1之控制裝置，其中前述產生部 產生包含自前述移動機之前述位置到達前述開始位置之移動路徑之前述移動控制資訊之複數個候選； 對於產生之前述複數個候選各者，決定基於在前述移動機於前述移動路徑中移動之情形下推定為前述移動機消耗之前述能量量的評估值； 藉由基於決定之前述評估值，自前述複數個候選選擇1個候選，而產生前述移動控制資訊。 (Note 2) The control device of appendix 1, wherein the aforementioned generating part Generate a plurality of candidates including the aforementioned movement control information on the movement path from the aforementioned position of the aforementioned mobile machine to the aforementioned starting position; For each of the plurality of candidates generated, the decision is based on an evaluation value of the energy amount estimated to be consumed by the mobile machine when the mobile machine moves in the movement path; The aforementioned movement control information is generated by selecting one candidate from the aforementioned plurality of candidates based on the aforementioned determined evaluation value.

(附記3) 如附記2之控制裝置，其中前述產生部決定進一步基於在前述移動機於前述移動路徑中移動之情形下自前述移動機到達前述開始位置至前述準備完成為止之準備等待時間的前述評估值。 (Note 3) The control device of appendix 2, wherein the generating unit determines the evaluation value further based on the preparation waiting time from the arrival of the mobile machine at the starting position to the completion of the preparation when the mobile machine moves in the movement path.

(附記4) 如附記2或3之控制裝置，其中前述複數個候選各者進一步包含前述移動路徑之移動時之前述移動機之動作模式；且 前述產生部對於前述複數個候選各者，決定基於在前述移動機於前述移動路徑中以前述動作模式移動之情形下推定為由前述移動機消耗之前述能量量的前述評估值。 (Note 4) A control device as in appendix 2 or 3, wherein each of the plurality of candidates further includes an action mode of the moving machine when moving along the moving path; and The generating unit determines, for each of the plurality of candidates, the evaluation value based on the energy amount estimated to be consumed by the mobile machine when the mobile machine moves in the movement path in the operation mode.

(附記5) 如附記2中4中任一項之控制裝置，其中前述產生部對於前述複數個候選各者，決定進一步基於在前述開始位置、或位於與前述開始位置相隔較預設之距離為短之距離之附近之位置是否存在用於供前述移動機待機之待機場所的前述評估值。 (Note 5) A control device as in any one of Supplementary Note 2 and 4, wherein the generating unit determines each of the plurality of candidates further based on being at the starting position, or at a distance shorter than a preset distance from the starting position. Whether there is the aforementioned evaluation value of a standby place for the aforementioned mobile device in a nearby location.

(附記6) 如附記2至5中任一項之控制裝置，其中前述產生部對於前述複數個候選各者，決定進一步基於自前述準備完成至開始前述搬運為止之開始等待時間的前述評估值。 (Note 6) The control device according to any one of appendices 2 to 5, wherein the generating unit determines, for each of the plurality of candidates, the evaluation value further based on a start waiting time from the completion of the preparation to the start of the transportation.

(附記7) 如附記2至6中任一項之控制裝置，其中前述取得部進一步取得表示前述對象之搬運之開始期限之開始資訊；且 前述產生部對於前述複數個候選各者，決定進一步基於前述開始資訊之前述評估值。 (Note 7) Such as the control device in any one of appendices 2 to 6, wherein the aforementioned acquisition unit further obtains start information indicating the start period of the transportation of the aforementioned object; and The generating unit determines the evaluation value based on the start information for each of the plurality of candidates.

(附記8) 如附記2至7中任一項之控制裝置，其中前述產生部基於前述移動路徑之距離，推定前述移動機消耗之前述能量量。 (Note 8) The control device according to any one of appendices 2 to 7, wherein the generating unit estimates the amount of energy consumed by the moving machine based on the distance of the moving path.

(附記9) 如附記2至8中任一項之控制裝置，其中前述產生部基於在前述移動機於前述移動路徑中移動之期間產生之前述移動機之高度之變化，推定前述移動機消耗之前述能量量。 (Note 9) The control device according to any one of appendices 2 to 8, wherein the generating unit estimates that the moving machine consumes the energy amount based on the change in the height of the moving machine that occurs while the moving machine moves in the moving path.

(附記10) 如附記2至9中任一項之控制裝置，其中前述產生部針對複數個移動機各者產生前述移動控制資訊；且 進一步具備選擇部，該選擇部基於前述移動控制資訊之產生所使用之前述評估值，自前述複數個移動機選擇搬運前述對象之移動機。 (Note 10) The control device of any one of appendices 2 to 9, wherein the aforementioned generating unit generates the aforementioned movement control information for each of a plurality of mobile machines; and It further includes a selecting unit that selects a moving machine that carries the object from the plurality of moving machines based on the evaluation value used to generate the movement control information.

(附記11) 如附記10之控制裝置，其進一步具備控制部，該控制部基於前述移動控制資訊，對選擇之前述移動機進行自選擇之前述移動機之位置移動至前述開始位置之控制。 (Note 11) The control device of appendix 10 further includes a control unit that controls the movement of the previously selected mobile machine from the position of the previously selected mobile machine to the aforementioned starting position based on the aforementioned movement control information.

(附記12) 如附記1之控制裝置，其中前述產生部產生前述移動控制資訊之複數個候選，對於產生之前述複數個候選各者決定評估值，且基於決定之前述評估值，自前述複數個候選選擇1個候選，藉此，產生前述移動控制資訊；且 前述複數個候選分別包含自前述移動機之前述位置到達前述開始位置之路徑、且為前述移動機之移動時間為前述準備時間以上、或前述移動機到達前述開始位置之時刻為前述準備完成時刻以後之移動路徑； 前述產生部基於在前述移動機於前述移動路徑中移動之情形下推定為前述移動機消耗之前述能量量，決定前述評估值。 (Note 12) The control device of appendix 1, wherein the generating unit generates a plurality of candidates for the movement control information, determines an evaluation value for each of the plurality of candidates generated, and selects one from the plurality of candidates based on the determination of the evaluation value. candidate, thereby generating the aforementioned mobility control information; and The plurality of candidates respectively include paths from the aforementioned position of the aforementioned mobile machine to the aforementioned starting position, and the moving time of the aforementioned mobile machine is more than the aforementioned preparation time, or the time when the aforementioned mobile machine reaches the aforementioned starting position is after the aforementioned preparation completion time. the moving path; The generating unit determines the evaluation value based on the amount of energy estimated to be consumed by the mobile machine when the mobile machine moves on the movement path.

(附記13) 如附記1之控制裝置，其中前述產生部產生前述移動控制資訊之複數個候選，對於產生之前述複數個候選各者決定評估值，且基於決定之前述評估值，自前述複數個候選選擇1個候選，藉此，產生前述移動控制資訊；且 前述複數個候選分別包含自前述移動機之前述位置到達前述開始位置之移動路徑； 前述產生部基於在前述移動機於前述移動路徑中移動之情形下推定為前述移動機消耗之前述能量量、及自前述移動機到達前述開始位置至前述準備完成為止之準備等待時間，決定前述評估值。 (Note 13) The control device of appendix 1, wherein the generating unit generates a plurality of candidates for the movement control information, determines an evaluation value for each of the plurality of candidates generated, and selects one from the plurality of candidates based on the determination of the evaluation value. candidate, thereby generating the aforementioned mobility control information; and The plurality of candidates respectively include movement paths from the aforementioned position of the aforementioned mobile machine to the aforementioned starting position; The generating unit determines the evaluation based on the amount of energy estimated to be consumed by the mobile machine when the mobile machine moves on the movement path and the preparation waiting time from the arrival of the mobile machine at the starting position to the completion of the preparation. value.

(附記14) 一種系統，其具備： 可儲存訂購之對象之移動機； 取得部，其於受理前述訂購時，取得：表示前述移動機之位置之移動機位置資訊、表示開始前述對象之搬運之開始位置之開始位置資訊、及表示用於將前述對象之狀態設為可開始搬運之狀態之準備所需之準備時間或前述準備完成之準備完成時刻之準備資訊；及 產生部，其基於推定為前述移動機為了從由取得之前述移動機位置資訊表示之前述位置移動至由前述開始位置資訊表示之前述開始位置而消耗之能量量、及由前述準備資訊表示之前述準備時間或前述準備完成時刻，產生用於使前述移動機自前述移動機之前述位置移動至前述開始位置之移動控制資訊。 (Note 14) A system that has: A mobile device that can store ordered objects; The acquisition unit, when accepting the aforementioned order, obtains: the moving machine position information indicating the position of the aforementioned moving machine, the start position information indicating the starting position for starting the transportation of the aforementioned object, and the information indicating the state for setting the aforementioned object to be enabled. The preparation time required to prepare for the start of transportation or the preparation information on the completion time of the aforementioned preparations; and The generating unit is based on the estimation of the amount of energy consumed by the mobile machine in order to move from the aforementioned position represented by the acquisition of the aforementioned mobile machine position information to the aforementioned start position represented by the aforementioned starting position information, and the aforementioned amount represented by the aforementioned preparation information. The preparation time or the preparation completion time generates movement control information for moving the mobile machine from the previous position to the starting position.

(附記15) 一種方法，其係由控制裝置或系統執行者，且包含下述步驟： 於受理訂購時，取得：表示可儲存前述訂購之對象之移動機之位置之移動機位置資訊、表示開始前述對象之搬運之開始位置之開始位置資訊、及表示用於將前述對象之狀態設為可開始搬運之狀態之準備所需之準備時間或前述準備完成之準備完成時刻之準備資訊；及 基於推定為前述移動機為了從由取得之前述移動機位置資訊表示之前述位置移動至由前述開始位置資訊表示之前述開始位置而消耗之能量量、及由前述準備資訊表示之前述準備時間或前述準備完成時刻，產生用於使前述移動機自前述移動機之前述位置移動至前述開始位置之移動控制資訊。 (Note 15) A method performed by a control device or system and comprising the following steps: When accepting the order, obtain: mobile machine position information indicating the position of the mobile machine that can store the object of the aforementioned order, starting position information indicating the starting position for starting the transportation of the aforementioned object, and indicating the status of the aforementioned object. The preparation time required to prepare for the start of transportation or the preparation time when the aforementioned preparations are completed; and It is estimated that the amount of energy consumed by the mobile machine in order to move from the aforementioned position represented by obtaining the aforementioned mobile machine position information to the aforementioned starting position represented by the aforementioned starting position information, and the aforementioned preparation time represented by the aforementioned preparation information or the aforementioned When the preparation is completed, movement control information for moving the mobile machine from the aforementioned position to the aforementioned starting position is generated.

1:搬運系統 100, 790, 890:控制裝置 101, 891:CPU 102, 892:RAM 103a, 893a:ROM 103b:硬碟 104, 894:資料通訊電路 105a, 895a:視訊卡 105b, 895b:顯示裝置 105c, 895c:輸入裝置 110:取得部 120:產生部 130:選擇部 140:控制部 190:資訊記憶部 200, 300:終端裝置 700, 800, 900:移動機 701~704:螺旋槳臂 711~714:螺旋槳 721a:第1圍持框 721b:第2圍持框 722a, 722b:導軌 731, 831:LiDAR感測器 801, 802:車輪 810:底盤 820:儲存庫 821:儲存箱 821a:門 821b:門框 893b:快閃記憶體 896:位置計測電路 897:方位角感測器 898:輸入輸出埠 899:驅動電路 CE, H, m, n, nd:變量 IN:網際網路 L:距離 N:候選之數量 ND:節點之數量 αh, αl, αt:換算係數 1:Handling system 100, 790, 890: Control device 101, 891:CPU 102, 892: RAM 103a, 893a:ROM 103b:hard disk 104, 894: Data communication circuit 105a, 895a: Video card 105b, 895b: Display device 105c, 895c: Input device 110: Acquisition Department 120:Production department 130:Selection Department 140:Control Department 190:Information Memory Department 200, 300: terminal device 700, 800, 900:Mobile machine 701~704: Propeller arm 711~714:Propeller 721a: 1st containment frame 721b: 2nd containment frame 722a, 722b: guide rail 731, 831:LiDAR sensor 801, 802: Wheel 810:Chassis 820:Repository 821:Storage box 821a:door 821b:Door frame 893b: Flash memory 896: Position measurement circuit 897: Azimuth sensor 898: Input and output port 899:Drive circuit CE, H, m, n, nd: variables IN:Internet L: distance N: number of candidates ND: number of nodes αh, αl, αt: conversion coefficient

圖1係顯示本發明之搬運系統之一構成例之系統構成圖。 圖2係顯示控制裝置之一構成例之硬體構成圖。 圖3係顯示控制裝置執行之移動控制處理之一例之流程圖。 圖4係顯示控制裝置具有之功能之一例之功能方塊圖。 圖5係顯示控制裝置記憶之商品表之一例之圖。 圖6係顯示控制裝置執行之資訊取得處理之一例之流程圖。 圖7係顯示控制裝置執行之評估值算出處理之一例之流程圖。 圖8係顯示實施例1之移動機之一外觀例之外觀構成圖。 圖9係顯示移動機具備之控制裝置之一構成例之硬體構成圖。 圖10係顯示移動機執行之移動處理之一例之流程圖。 圖11係顯示實施例1之變化例9之移動機之一外觀例之外觀構成圖。 FIG. 1 is a system configuration diagram showing an example of the configuration of the transportation system of the present invention. FIG. 2 is a hardware configuration diagram showing an example of the configuration of the control device. FIG. 3 is a flowchart showing an example of movement control processing executed by the control device. FIG. 4 is a functional block diagram showing an example of the functions of the control device. FIG. 5 is a diagram showing an example of a product list stored in the control device. FIG. 6 is a flowchart showing an example of information acquisition processing executed by the control device. FIG. 7 is a flowchart showing an example of evaluation value calculation processing executed by the control device. FIG. 8 is an appearance diagram showing an appearance example of the mobile machine according to Embodiment 1. FIG. 9 is a hardware configuration diagram showing an example of the configuration of a control device provided in a mobile machine. FIG. 10 is a flowchart showing an example of movement processing performed by the mobile machine. FIG. 11 is an appearance diagram showing an appearance example of a mobile machine according to Modification 9 of Embodiment 1.

100:控制裝置 100:Control device

110:取得部 110: Acquisition Department

120:產生部 120:Production Department

130:選擇部 130:Selection Department

140:控制部 140:Control Department

190:資訊記憶部 190:Information Memory Department

Claims (15)

一種控制裝置，其具備： 取得部，其於受理訂購時，取得：表示可儲存前述訂購之對象之移動機之位置之移動機位置資訊、表示開始前述對象之搬運之開始位置之開始位置資訊、及表示用於將前述對象之狀態設為可開始搬運之狀態之準備所需之準備時間或前述準備完成之準備完成時刻之準備資訊；及 產生部，其基於推定為前述移動機為了從由取得之前述移動機位置資訊表示之前述位置移動至由前述開始位置資訊表示之前述開始位置而消耗之能量量、及由前述準備資訊表示之前述準備時間或前述準備完成時刻，產生用於使前述移動機自前述移動機之前述位置移動至前述開始位置之移動控制資訊。 A control device having: The acquisition unit, when accepting an order, obtains: mobile machine position information indicating the position of the mobile machine that can store the object of the aforementioned order, starting position information indicating the starting position to start transporting the aforementioned object, and indicating the use of the aforementioned object. The preparation time required to prepare the status to a state where transportation can be started or the preparation information of the preparation completion time when the aforementioned preparations are completed; and The generating unit is based on the estimation of the amount of energy consumed by the mobile machine in order to move from the aforementioned position represented by the acquisition of the aforementioned mobile machine position information to the aforementioned start position represented by the aforementioned starting position information, and the aforementioned amount represented by the aforementioned preparation information. The preparation time or the preparation completion time generates movement control information for moving the mobile machine from the previous position to the starting position. 如請求項1之控制裝置，其中前述產生部 產生包含自前述移動機之前述位置到達前述開始位置之移動路徑之前述移動控制資訊之複數個候選； 對於產生之前述複數個候選各者，決定基於在前述移動機於前述移動路徑中移動之情形下推定為前述移動機消耗之前述能量量的評估值； 藉由基於決定之前述評估值，自前述複數個候選選擇1個候選，而產生前述移動控制資訊。 The control device of claim 1, wherein the aforementioned generating unit Generate a plurality of candidates including the aforementioned movement control information on the movement path from the aforementioned position of the aforementioned mobile machine to the aforementioned starting position; For each of the plurality of candidates generated, the decision is based on an evaluation value of the energy amount estimated to be consumed by the mobile machine when the mobile machine moves in the movement path; The aforementioned movement control information is generated by selecting one candidate from the aforementioned plurality of candidates based on the aforementioned determined evaluation value. 如請求項2之控制裝置，其中前述產生部決定進一步基於在前述移動機於前述移動路徑中移動之情形下自前述移動機到達前述開始位置至前述準備完成為止之準備等待時間的前述評估值。The control device of claim 2, wherein the determination of the generating unit is further based on the evaluation value of the preparation waiting time from the arrival of the mobile machine at the starting position to the completion of the preparation when the mobile machine moves in the movement path. 如請求項2或3之控制裝置，其中前述複數個候選各者進一步包含前述移動路徑之移動時之前述移動機之動作模式；且 前述產生部對於前述複數個候選各者，決定基於在前述移動機於前述移動路徑中以前述動作模式移動之情形下推定為由前述移動機消耗之前述能量量的前述評估值。 The control device of claim 2 or 3, wherein each of the plurality of candidates further includes the action mode of the mobile machine when moving along the movement path; and The generating unit determines, for each of the plurality of candidates, the evaluation value based on the energy amount estimated to be consumed by the mobile machine when the mobile machine moves in the movement path in the operation mode. 如請求項2至4中任一項之控制裝置，其中前述產生部對於前述複數個候選各者，決定進一步基於在前述開始位置、或位於與前述開始位置相隔較預設之距離為短之距離之附近之位置是否存在用於供前述移動機待機之待機場所的前述評估值。The control device of any one of claims 2 to 4, wherein the generating unit determines each of the plurality of candidates based on being at the starting position, or at a distance shorter than a preset distance from the starting position. Whether there is the aforementioned evaluation value of a waiting place for the aforementioned mobile device to stand by at a nearby location. 如請求項2至5中任一項之控制裝置，其中前述產生部對於前述複數個候選各者，決定進一步基於自前述準備完成至開始前述搬運為止之開始等待時間的前述評估值。The control device according to any one of claims 2 to 5, wherein the generating unit determines, for each of the plurality of candidates, the evaluation value further based on the start waiting time from the completion of the preparation to the start of the transportation. 如請求項2至6中任一項之控制裝置，其中前述取得部進一步取得表示前述對象之搬運之開始期限之開始資訊；且 前述產生部對於前述複數個候選各者，決定進一步基於前述開始資訊之前述評估值。 As claimed in any one of items 2 to 6, the control device, wherein the aforementioned obtaining unit further obtains start information indicating the start period of the transportation of the aforementioned object; and The generating unit determines the evaluation value based on the start information for each of the plurality of candidates. 如請求項2至7中任一項之控制裝置，其中前述產生部基於前述移動路徑之距離，推定前述移動機消耗之前述能量量。The control device according to any one of claims 2 to 7, wherein the generating unit estimates that the moving machine consumes the energy amount based on the distance of the moving path. 如請求項2至8中任一項之控制裝置，其中前述產生部基於在前述移動機於前述移動路徑中移動之期間產生之前述移動機之高度之變化，推定前述移動機消耗之前述能量量。The control device according to any one of claims 2 to 8, wherein the generating unit estimates that the moving machine consumes the energy amount based on the change in the height of the moving machine that occurs while the moving machine moves in the moving path. . 如請求項2至9中任一項之控制裝置，其中前述產生部針對複數個移動機各者產生前述移動控制資訊；且 進一步具備選擇部，該選擇部基於前述移動控制資訊之產生所使用之前述評估值，自前述複數個移動機選擇搬運前述對象之移動機。 The control device of any one of claims 2 to 9, wherein the aforementioned generating unit generates the aforementioned movement control information for each of a plurality of mobile machines; and It further includes a selecting unit that selects a moving machine that carries the object from the plurality of moving machines based on the evaluation value used to generate the movement control information. 如請求項10之控制裝置，其進一步具備控制部，該控制部基於前述移動控制資訊，對選擇之前述移動機進行自選擇之前述移動機之位置移動至前述開始位置之控制。The control device of claim 10 further includes a control unit that controls the movement of the previously selected mobile machine from the position of the previously selected mobile machine to the aforementioned starting position based on the aforementioned movement control information. 如請求項1之控制裝置，其中前述產生部產生前述移動控制資訊之複數個候選，對於產生之前述複數個候選各者決定評估值，且基於決定之前述評估值，自前述複數個候選選擇1個候選，藉此，產生前述移動控制資訊；且 前述複數個候選分別包含自前述移動機之前述位置到達前述開始位置之路徑、且為前述移動機之移動時間為前述準備時間以上、或前述移動機到達前述開始位置之時刻為前述準備完成時刻以後之移動路徑； 前述產生部基於在前述移動機於前述移動路徑中移動之情形下推定為前述移動機消耗之前述能量量，決定前述評估值。 The control device of claim 1, wherein the generating unit generates a plurality of candidates for the movement control information, determines an evaluation value for each of the plurality of candidates generated, and selects 1 from the plurality of candidates based on the determination of the evaluation value. candidates, thereby generating the aforementioned movement control information; and The plurality of candidates respectively include paths from the aforementioned position of the aforementioned mobile machine to the aforementioned starting position, and the moving time of the aforementioned mobile machine is more than the aforementioned preparation time, or the time when the aforementioned mobile machine reaches the aforementioned starting position is after the aforementioned preparation completion time. the moving path; The generating unit determines the evaluation value based on the amount of energy estimated to be consumed by the mobile machine when the mobile machine moves on the movement path. 如請求項1之控制裝置，其中前述產生部產生前述移動控制資訊之複數個候選，對於產生之前述複數個候選各者決定評估值，且基於決定之前述評估值，自前述複數個候選選擇1個候選，藉此，產生前述移動控制資訊；且 前述複數個候選分別包含自前述移動機之前述位置到達前述開始位置之移動路徑； 前述產生部基於在前述移動機於前述移動路徑中移動之情形下推定為前述移動機消耗之前述能量量、及自前述移動機到達前述開始位置至前述準備完成為止之準備等待時間，決定前述評估值。 The control device of claim 1, wherein the generating unit generates a plurality of candidates for the movement control information, determines an evaluation value for each of the plurality of candidates generated, and selects 1 from the plurality of candidates based on the determination of the evaluation value. candidates, thereby generating the aforementioned movement control information; and The plurality of candidates respectively include movement paths from the aforementioned position of the aforementioned mobile machine to the aforementioned starting position; The generating unit determines the evaluation based on the amount of energy estimated to be consumed by the mobile machine when the mobile machine moves on the movement path and the preparation waiting time from the arrival of the mobile machine at the starting position to the completion of the preparation. value. 一種系統，其具備： 可儲存訂購之對象之移動機； 取得部，其於受理前述訂購時，取得：表示前述移動機之位置之移動機位置資訊、表示開始前述對象之搬運之開始位置之開始位置資訊、及表示用於將前述對象之狀態設為可開始搬運之狀態之準備所需之準備時間或前述準備完成之準備完成時刻之準備資訊；及 產生部，其基於推定為前述移動機為了從由取得之前述移動機位置資訊表示之前述位置移動至由前述開始位置資訊表示之前述開始位置而消耗之能量量、及由前述準備資訊表示之前述準備時間或前述準備完成時刻，產生用於使前述移動機自前述移動機之前述位置移動至前述開始位置之移動控制資訊。 A system that has: A mobile device that can store ordered objects; The acquisition unit, when accepting the aforementioned order, obtains: the moving machine position information indicating the position of the aforementioned moving machine, the start position information indicating the starting position for starting the transportation of the aforementioned object, and the information indicating the state for setting the aforementioned object to be enabled. The preparation time required to prepare for the start of transportation or the preparation information on the completion time of the aforementioned preparations; and The generating unit is based on the estimation of the amount of energy consumed by the mobile machine in order to move from the aforementioned position represented by the acquisition of the aforementioned mobile machine position information to the aforementioned start position represented by the aforementioned starting position information, and the aforementioned amount represented by the aforementioned preparation information. The preparation time or the preparation completion time generates movement control information for moving the mobile machine from the previous position to the starting position. 一種方法，其係由控制裝置或系統執行者，且包含下述步驟： 於受理訂購時，取得：表示可儲存前述訂購之對象之移動機之位置之移動機位置資訊、表示開始前述對象之搬運之開始位置之開始位置資訊、及表示用於將前述對象之狀態設為可開始搬運之狀態之準備所需之準備時間或前述準備完成之準備完成時刻之準備資訊；及 基於推定為前述移動機為了從由取得之前述移動機位置資訊表示之前述位置移動至由前述開始位置資訊表示之前述開始位置而消耗之能量量、及由前述準備資訊表示之前述準備時間或前述準備完成時刻，產生用於使前述移動機自前述移動機之前述位置移動至前述開始位置之移動控制資訊。 A method performed by a control device or system and comprising the following steps: When accepting the order, obtain: mobile machine position information indicating the position of the mobile machine that can store the object of the aforementioned order, starting position information indicating the starting position for starting the transportation of the aforementioned object, and indicating the status of the aforementioned object. The preparation time required to prepare for the start of transportation or the preparation time when the aforementioned preparations are completed; and It is estimated that the amount of energy consumed by the mobile machine in order to move from the aforementioned position represented by obtaining the aforementioned mobile machine position information to the aforementioned starting position represented by the aforementioned starting position information, and the aforementioned preparation time represented by the aforementioned preparation information or the aforementioned When the preparation is completed, movement control information for moving the mobile machine from the aforementioned position to the aforementioned starting position is generated.
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