Patent Description:
At production sites such as factories, it is needed to move articles such as parts and materials used. It is also necessary to move articles in distribution warehouses. Transport robots (Automated Guided Vehicles (AGVs)) are used to move these articles.

Here, regarding movements of articles in factories and the like, transport destinations of articles are predetermined, and types of articles (materials) to be handled are not so many. Thus, the transport robots are only required to transport a limited variety of articles through fixed routes.

Due to such circumstances, in factories and the like, for example, magnetic tapes or QR codes (registered trademark) are attached to a floor, and transport robots that move by relying on the magnetic tapes or the like are often used. Alternatively, in recent years, transport robots called Simultaneous Localization and Mapping (SLAM), which estimate their own positions and move to destinations, are also used.

<CIT> discloses robots that transport an article on top of two robots. <CIT> discloses robots that transport an article together with a cart on which the article is loaded.

<CIT> discloses a conveyance system which includes a movement plan management unit for managing the movement plan information of a plurality of conveyance devices. At least one of the plurality of conveyance devices has a first communication unit that receives movement plan information from the movement plan management unit. The conveyance device has a drive unit, a conveyance device state information acquisition unit that acquires conveyance device state information, a second communication unit that transmits and receives the conveyance device state information, the movement plan information, and function assignment information, and a function control unit that controls execution of an assigned function on the basis of the function assignment information. At least one of the plurality of conveyance devices has a function assignment unit that performs assignment of functions to be executed to generate the function assignment information on the basis of the movement plan information and the conveyance device state information.

<CIT> discloses a control process for a conveyor system for conveying pallets or other objects comprises at least two mutually separate free-moving, i.e. not rail-mounted, conveyor units. Of the at least two conveyor units, a first conveyor unit is assigned a superordinate status and a second conveyor unit is assigned a subordinate status. The second conveyor unit therefore follows the first conveyor unit. To this end, the second conveyor unit detects a shift in the mutual relative position of the two conveyor units with the aid of a sensor and modifies its driving parameters depending on the shift in position detected by the sensor.

Transport robots using magnetic tapes and the like or SLAM type transport robots described above are suitable for transporting articles in factories and the like, but are unsuitable for shipping articles in distribution warehouses and the like.

In distribution warehouses, transport destinations of articles are different depending on the shippers (clients), and it is difficult to use transport robots that use magnetic tapes or QR codes (registered trademark) that cannot flexibly change the routes. In other words, in order to meet the demands of the shippers, it is necessary to frequently reattach magnetic tapes or the like, which is not realistic. QR codes (registered trademark) and the like attached to the floors become dirty due to movements of carts and the like, and it becomes difficult for transport robots to read the QR codes (registered trademark) with the passage of time. Alternatively, in rental warehouses, it may be prohibited to attach magnetic tapes or the like to the floors or the like.

In distribution warehouses, unlike factories and the like, the surrounding environments of transport robots often changes frequently. For example, obstacles may be placed on the passages and block the routes of the transport robots. As described above, the existing transport robots are often unsuitable for transporting articles in distribution warehouses.

In factories and the like, articles to be handled by transport robots are predetermined, and transport modes according to the articles can be selected. For example, a method suitable for the articles is selected from a mode in which transport robots act as carts to load and transport articles on the robots, a mode in which transport robots pull and transport carts with towing equipment, and a mode of lifting up and transporting the entire carts. Alternatively, in large-scale factories or the like, articles may be transported by belt conveyors.

However, because distribution warehouses handle articles to be delivered to consumers by electronic commerce (e-commerce) or articles traded between individuals such as auctions, the types of articles to be handled by the transport robots are enormous, and their shapes and the like cannot be assumed in advance. Thus, with the type of robot that load on carts, it is necessary to prepare a large number of robots for each size of the articles.

In distribution warehouses, articles (load) are often carried on carts and carried into the warehouses, and with the type of robot that loads articles on carts, it is necessary for the operators to reload the load. With the type of towing robot, it is necessary for the operators to connect the towing equipment and the transport robot. In addition, the transport of articles by carry-in robots or belt conveyors that lift up the entire carts is suitable for large-scale factories or the like, but is not suitable for distribution warehouses, especially small-scale distribution warehouses.

As described above, distribution warehouses have different circumstances from factories, such that load is carried in by carts, and the carts and packing styles are different for each shipper (client). Thus, there are many problems in using existing transport robots for article transport in distribution warehouses.

Such problems caused by the circumstances of distribution warehouses cannot be solved by applying the techniques disclosed in <CIT> and <CIT>.

<CIT>discloses a technique in which a slave robot cooperates with a master robot to carry an object. However, the robots disclosed in <CIT>do not operate in consideration of the surrounding environments. Thus, there arise problems that obstacles and the like existing around the carry-in robots are not detected, and the robots collide with the obstacles and the like.

<CIT> discloses a transport robot that grips a handle of a cart and pushes the cart to move. The robot disclosed in the document enables the transport of articles by controlling a predetermined point of the cart and a reference point of the robot to be in the same trajectory. Although the robot is equipped with an obstacle sensor, because the movement route is not determined based on the obstacle information obtained from the sensor, the robot may get stuck in a case where an obstacle exists on the route.

A main example object of the present invention is to provide a transport system, a control apparatus, a transport method, and a program that contribute to smoothly transporting a wide variety of articles.

Advantageous features are set out in the dependent claims.

According to a first example aspect of the present invention, there is provided a transport system including: first and second transport robots configured to transport an article; a generation apparatus configured to generate position information for the first transport robot and position information for the second transport robot; and a control apparatus configured to transmit, to the first and second transport robots, control information for transporting the article with the first and second transport robots, based on the position information for the first transport robot and the position information for the second transport robot, wherein the control apparatus is configured to transmit control information for the first and second transport robots to face each other and to hold and transport the article.

According to a second example aspect of the present invention, there is provided a control apparatus connected to first and second transport robots configured to transport an article and a generation apparatus configured to generate position information for the first transport robot and position information for the second transport robot, wherein the control apparatus transmits, to the first and second transport robots, control information for transporting the article with the first and second transport robots, based on the position information for the first transport robot and the position information for the second transport robot, wherein the control apparatus is configured to transmit control information for the first and second transport robots to face each other and to hold and transport the article.

According to a third example aspect of the present invention, there is provided is a transport method in which a transport system includes first and second transport robots configured to transport an article, wherein the transport method includes: generating position information for the first transport robot and position information for the second transport robot; and transmitting, to the first and second transport robots, control information for transporting the article with the first and second transport robots, based on the position information for the first transport robot and the position information for the second transport robot, wherein the control apparatus is configured to transmit control information for the first and second transport robots to face each other and to hold and transport the article.

According to each example aspect of the present invention, a transport system, a control apparatus, and a transport method that contribute to smoothly transporting a wide variety of articles are provided. Note that, according to the present invention, instead of or together with the above effects, other effects may be exerted.

First of all, an overview of an example embodiment will be described. Note that reference signs in the drawings provided in the overview are for the sake of convenience for each element as an example to promote better understanding, and description of the overview is not to impose any limitations. Note that, in the Specification and drawings, elements to which similar descriptions are applicable are denoted by the same reference signs, and overlapping descriptions may hence be omitted.

The transport system according to one example embodiment includes a first transport robot <NUM>, a second transport robot <NUM>, a generation apparatus <NUM>, and a control apparatus <NUM> (see <FIG>). The first transport robot <NUM> and the second transport robot <NUM> transports an article. The generation apparatus <NUM> generates position information for the first transport robot <NUM> and position information for the second transport robot <NUM>. The control apparatus <NUM> transmits, to the first transport robot <NUM> and the second transport robot <NUM>, control information for transporting the article with the first transport robot <NUM> and the second transport robot <NUM>, based on the position information for the first transport robot <NUM> and the position information for the second transport robot <NUM>.

<FIG> summarizes operations of the transport system according to the example embodiment. The generation apparatus <NUM> generates position information for the first transport robot <NUM> and position information for the second transport robot <NUM> (step S <NUM>). The control apparatus <NUM> transmits, to the first transport robot <NUM> and the second transport robot <NUM>, control information for transporting the article with the first transport robot <NUM> and the second transport robot <NUM>, based on the position information (step S2). The first transport robot <NUM> and the second transport robot <NUM> transport the article based on the received control information (step S3).

In the transport system, two transport robots cooperate to move (transport) an article. Thus, the transport system can be applied to a wide variety of articles carried into distribution warehouses and the like. For example, by two transport robots holding an article and moving, the two transport robots can transport the article regardless of the shape of the article or the like. The control apparatus <NUM> can control these transport robots in consideration of not only the situations of the two transport robots but also the surrounding environments and the like. Thus, for example, even if obstacles or the like exist around the transport robots (on the route of the transport robots), the control apparatus <NUM> can execute control to avoid the obstacles.

Specific example embodiments will be described below in further detail with reference to the drawings.

The first example embodiment will be described in further detail with reference to the drawings.

<FIG> is a diagram illustrating an example of a schematic configuration of a transport system according to the first example embodiment. With reference to <FIG>, the transport system includes a plurality of transport robots <NUM>-<NUM> to <NUM>-<NUM>, a plurality of camera apparatuses <NUM>-<NUM> to <NUM>-<NUM>, a position information management apparatus <NUM>, a transport planning apparatus <NUM>, and a control apparatus <NUM>.

In the following description, in a case where there is no particular reason for distinguishing the transport robots <NUM>-<NUM> to <NUM>-<NUM>, they are simply referred to as "transport robots <NUM>". Other configurations are also described in similar ways. The configuration illustrated in <FIG> is an example, and is not to limit the number of transport robots <NUM> and the like included in the transport system.

The transport robots <NUM> are cooperative transport robots that transport the articles <NUM> in cooperation with other robots. Specifically, transport robots <NUM> hold an article <NUM> from opposing directions and move in the holding state to transport the article <NUM>. The transport robots <NUM> are configured to be able to communicate with the control apparatus <NUM>, and move based on control commands (control information) from the control apparatus <NUM>.

Note that the articles <NUM> are fixed to carts with wheels. Thus, when two transport robots <NUM> lightly hold an article <NUM> and move, the article <NUM> also moves.

The transport robots <NUM> can move independently, and make pairs with arbitrary transport robots <NUM> to transport articles <NUM>. For example, in the example of <FIG>, the transport robot <NUM>-<NUM> and the transport robot <NUM>-<NUM> make a pair, and the transport robot <NUM>-<NUM> and the transport robot <NUM>-<NUM> make a pair. However, the transport robot <NUM>-<NUM> and the transport robot <NUM>-<NUM> may be paired to transport an article <NUM>. Note that, in the following description, a pair consisting of two transport robots <NUM> will be referred to as a transport robot pair.

Transport robots <NUM> that are not transporting articles <NUM> (transport robots <NUM> that are not making pairs with other transport robots <NUM>) wait at a predetermined position in a field. Although <FIG> illustrates pairs of transport robots that are transporting articles <NUM>, there are also transport robots <NUM> that are waiting at a predetermined position in the field (not illustrated in <FIG>).

The camera apparatuses <NUM> are apparatuses that capture the inside of the field. Each of the camera apparatuses <NUM> includes, for example, a depth camera, a stereo camera, and the like. The depth camera is a camera capable of capturing a depth image in which each pixel value of the image indicates the distance from the camera to an object. The stereo camera is a camera that enables measurement related to the depth direction (height direction) of the object by capturing the object from a plurality of different directions by using two cameras.

The camera apparatuses <NUM> are installed on ceilings, pillars, or the like. Each camera apparatus <NUM> is placed such that the inside of the field can be overlooked when pieces of the image data captured by all the camera apparatuses <NUM> are integrated.

Each camera apparatus <NUM> is connected to the position information management apparatus <NUM>. The camera apparatuses <NUM> capture the inside of the field at a predetermined interval (predetermined sampling cycle), and transmit the image data to the position information management apparatus <NUM>. The camera apparatuses <NUM> capture the situations in the field in real time and transmit the image data including the situations to the position information management apparatus <NUM>.

The position information management apparatus <NUM> is an apparatus that performs management related to the positions of the object bodies in the field (for example, a factory or a distribution warehouse). The position information management apparatus <NUM> identifies object bodies located in the field based on the image data received from the camera apparatuses <NUM>, and also generates position information of the object bodies. For example, in the example of <FIG>, the position information management apparatus <NUM> generates the position information of the transport robot <NUM>-<NUM> and the position information of the transport robot <NUM>-<NUM>.

The position information management apparatus <NUM> analyzes the image data obtained from the camera apparatuses <NUM> including the depth cameras and the like to identify object bodies in the field (for example, transport robots <NUM>, articles <NUM>, other obstacles placed in the field, and the like). Note that, in the disclosure of the present application, object bodies that do not exist in the initial state of the field are treated as "obstacles".

The position information management apparatus <NUM> generates position information related to object bodies in the field. The position information management apparatus <NUM> calculates the positions (absolute positions) of the objects in a three-dimensional coordinate system (X-axis, Y-axis, and Z-axis) having an arbitrary point (for example, an entrance/exit) in the field as an origin. The position information management apparatus <NUM> transmits the calculated position information of the object bodies (hereinafter referred to as object body position information) to the control apparatus <NUM>.

The transport planning apparatus <NUM> is an apparatus that generates article transport plan information including information related to transport source and transport destination of articles <NUM> transported by transport robot pairs. Specifically, the transport planning apparatus <NUM> identifies the articles <NUM> to be transported by the operator, and provides operation screens (Graphical User Interface (GUI)) for inputting the transport source and the transport destination of the articles <NUM>. The transport planning apparatus <NUM> generates article transport plan information, based on the information input by the GUI. The transport planning apparatus <NUM> transmits the generated article transport plan information to the control apparatus <NUM>.

The control apparatus <NUM> controls the transport robots <NUM> by using the object body position information obtained from the position information management apparatus <NUM> and the article transport plan information obtained from the transport planning apparatus <NUM>. When the control apparatus <NUM> obtains the transport plan information, the control apparatus <NUM> selects two transport robots <NUM> from the transport robots <NUM> waiting in the field. The control apparatus <NUM> instructs the two selected transport robots <NUM> to move toward the transport source described in the transport plan information. Specifically, the control apparatus <NUM> transmits control commands (control information) to the two transport robots <NUM> and remotely controls these robots so as to move toward the transport source.

Each of the two transport robots <NUM> moves based on the control commands from the control apparatus <NUM>, and when the contact with the article <NUM> is detected by the contact sensor or the like, the "article holding completion notification" is transmitted to the control apparatus <NUM>. Note that, depending on a control method of the control apparatus <NUM>, it is not necessary to transmit the article holding completion notification from the transport robots <NUM>. For example, the control apparatus <NUM> may consider that the two transport robots <NUM> hold the object body (article <NUM>) after a predetermined time (for example, <NUM> seconds) has elapsed since each of the two transport robots <NUM> has moved to a predetermined position. In other words, the control apparatus <NUM> may transmit a control command (control information) after the predetermined time has elapsed.

When the control apparatus <NUM> obtains the article holding notification from each transport robot <NUM>, the control apparatus <NUM> transmits a control command to each of the two transport robots <NUM> to remotely control the transport robot pair to move to the transport destination described in the article transport plan. At that time, the control apparatus <NUM> performs remote control such that the transport robot pair moves to the transport destination while holding the article <NUM>. For example, the control apparatus <NUM> transmits the control commands (control information) such that the two transport robots <NUM> move while keeping the distance between the two transport robots <NUM> facing each other.

Subsequently, the details of each apparatus included in the transport system will be described.

<FIG> is a diagram illustrating an example of a processing configuration (processing modules) of the transport robot <NUM> according to the first example embodiment. With reference to <FIG>, the transport robot <NUM> includes a communication control section <NUM>, an actuator control section <NUM>, and a holding detection section <NUM>.

The communication control section <NUM> is means for controlling communication with the control apparatus <NUM>. The communication control section <NUM> communicates with the control apparatus <NUM> by using a wireless communication means such as a wireless Local Area Network (LAN), Long Term Evolution (LTE), or a network used in a specific area such as local <NUM>.

The actuator control section <NUM> is means for controlling an actuator composed of a motor or the like, based on a control command (control information) received from the control apparatus <NUM>. For example, the control apparatus <NUM> transmits the control command including start of rotation of the motor, rotation speed of the motor, stop of rotation of the motor, and the like to the transport robot <NUM>. The actuator control section <NUM> controls the motor and the like according to the control command.

The holding detection section <NUM> is means for detecting that an article <NUM> is held with another transport robot <NUM> making a pair. The transport robot <NUM> is installed with a "contact sensor" on the surface for holding the article. The holding detection section <NUM> monitors output of the contact sensor and determines whether or not the sensor has detected contact with an object body. In a case where the contact with the object body (article <NUM>) is detected, the holding detection section <NUM> transmits an "article holding completion notification" to the control apparatus <NUM> via the communication control section <NUM>.

<FIG> is a diagram illustrating an example of a processing configuration (processing modules) of the position information management apparatus <NUM> according to the first example embodiment. With reference to <FIG>, the position information management apparatus <NUM> includes a communication control section <NUM>, an object body position information generation section <NUM>, and a storage section <NUM>.

The communication control section <NUM> is means for controlling communication with other apparatuses (for example, the camera apparatuses <NUM> or the control apparatus <NUM>) connected by wire (for example, LAN, optical fiber, or the like) or wirelessly.

The object body position information generation section <NUM> is means for generating the object body position information described above. The object body position information generation section <NUM> generates the object body position information based on the image data obtained from the camera apparatuses <NUM>.

Each of the camera apparatuses <NUM> transmit the image data to the position information management apparatus <NUM> together with the own identifier (ID). The camera apparatus <NUM> that is the transmission source of the image data is identified from the identifier of the camera apparatus <NUM>. Because the camera apparatus <NUM> is fixed to the ceiling or the like, the camera apparatus <NUM> continuously transmit image data of predetermined area in the field to the position information management apparatus <NUM>.

The object body position information generation section <NUM> detects object bodies by, for example, the following method. The storage section <NUM> stores information in which the identifier of each camera apparatus <NUM> and the area captured by the camera apparatus <NUM> are associated with each other (see <FIG>). By referring to the associated information, the object body position information generation section <NUM> can grasp which area in the field obtained image data corresponds to.

The storage section <NUM> stores initial image data of the area captured by each camera apparatus <NUM>. The initial image data is image data in which object bodies that do not exist in the initial state are not imaged in the field. The object body position information generation section <NUM> compares the obtained image data with the corresponding initial image data, and when difference is found, determines that the image data includes an object body to be detected. Note that the object body to be detected by the object body position information generation section <NUM> includes a transport robot <NUM>, an article <NUM>, an obstacle placed in a passage of the field, and the like.

For example, the storage section <NUM> stores initial images as illustrated on the left side of <FIG>. The image illustrated on the right side of <FIG> is an image obtained from the camera apparatus <NUM>. The object body position information generation section <NUM> calculates the difference between the two pieces of image data and detects the object body included in the obtained image on the right side. Note that, in a case where the initial state in the field is changed, the initial image data stored in the storage section <NUM> is updated. For example, the initial image data is updated in a case where the layout of the factory or the like is changed.

Note that the object body discrimination by the object body position information generation section <NUM> is not limited to the method using the initial image data. For example, the object body position information generation section <NUM> may calculate the coordinates of object bodies (obstacles) and detect that object bodies exist on the passage (on the link) based on the coordinates of the object bodies and the normal coordinate information of the field.

When the object body position information generation section <NUM> detects an object body, the object body position information generation section <NUM> approximates the object body to, for example, a rectangular shape, and calculates the coordinates of the four points. Specifically, the object body position information generation section <NUM> calculates the relative coordinates (X coordinate and Y coordinate) of the object body with respect to the absolute coordinates of the reference point, based on the number of pixels from the reference point (for example, the lower left of the image) in the image data to the object body. At that time, the object body position information generation section <NUM> calculates the relative coordinates of the object body, based on the information (resolution of the imaging element or the like) of the camera apparatus <NUM> from which the image data has been obtained.

The absolute coordinates of the reference point of the obtained image data are known in advance. The object body position information generation section <NUM> calculates the absolute coordinates (X and Y coordinates) of the object body in the field by adding the calculated relative coordinates of the object body to the absolute coordinates of the reference point. In addition, in a case where the image data is captured by a depth camera, the object body position information generation section <NUM> reads out a pixel value corresponding to the calculated X and Y coordinates to obtain the Z coordinate (height) of the object body.

The object body position information generation section <NUM> calculates the absolute positions of the four points forming the object body by executing such processing for the four corners of the object body.

Next, the object body position information generation section <NUM> determines the type of the object body included in the obtained image. The object body position information generation section <NUM> calculates the size of the detected object body from the absolute coordinates of the four points. The object body position information generation section <NUM> may determine the type of the object body, based on the calculated size. For example, because the sizes of the transport robots <NUM> are known in advance, when the size of the object body and the size of a transport robot <NUM> match, the object body position information generation section <NUM> determines that the detected object body is the transport robot <NUM>. On the other hand, in a case where the size of the detected object body and the sizes of the transport robots <NUM> do not match, the object body position information generation section <NUM> determines that the detected object body is an obstacle.

Note that the method of determining whether or not the object body is a transport robot, based on the size of the object body is an example, and other directions can be used. For example, markers having identification functions such as QR codes (registered trademark) or Augmented Reality (AR) markers may be attached to the transport robots <NUM>, and the object body position information generation section <NUM> may detect the transport robots <NUM> by reading the markers. In the first example embodiment, the description is made assuming that a marker is attached to the transport robot <NUM>, and that a detected object body is a transport robot <NUM> and that the identification of the transport robot <NUM> is possible. Alternatively, the identification of the transport robots <NUM> may be performed by the object body position information generation section <NUM> transmitting specific signals or messages to the transport robots <NUM>, and the transport robots <NUM> that receive the signals or the like responding with the identification numbers or the like. In other words, the object body position information generation section <NUM> can perform the identification of the transport robots <NUM> by signals or the like from the transport robots <NUM> without assigning identification information (for example, characters or patterns) on the outsides of the transport robots <NUM>.

The object body position information generation section <NUM> may determine an object body held between two transport robots <NUM> as an article <NUM>.

The object body position information generation section <NUM> transmits types of detected object bodies (transport robots <NUM>, obstacles, or the like) and their absolute positions to the control apparatus <NUM>. Note that the absolute position of the object body may be the calculated absolute coordinates of the four points forming the object body, or may be the absolute coordinates of one point representing the object body (for example, the center of the object body).

<FIG> is a diagram illustrating an example of the object body position information transmitted from the position information management apparatus <NUM>. Note that, as illustrated in <FIG>, in a case where a plurality of object bodies are detected from the image data, the object body position information related to these object bodies may be collectively transmitted to the control apparatus <NUM>. As described above, the position information management apparatus <NUM> generates the position information of object bodies including the transport robots <NUM> and transmits the generated position information to the control apparatus <NUM>.

<FIG> is a diagram illustrating an example of a processing configuration (processing modules) of the transport planning apparatus <NUM> according to the first example embodiment. With reference to <FIG>, the transport planning apparatus <NUM> includes a communication control section <NUM>, a transport plan information generation section <NUM>, a display section <NUM>, and a storage section <NUM>.

The communication control section <NUM> is means for controlling communication with other apparatuses, similarly to the communication control section <NUM> of the position information management apparatus <NUM>.

The transport plan information generation section <NUM> is means for generating the above-mentioned article transport plan information. The transport plan information generation section <NUM> identifies the articles <NUM> to be transported by the operators, and generates information related to the GUI for inputting the transport sources or the transport destinations of the articles <NUM>. The transport plan information generation section <NUM> delivers the generated GUI information to the display section <NUM>. The display section <NUM> displays the GUI information on a liquid crystal display or the like. Alternatively, the transport plan information generation section <NUM> may generate information for displaying GUIs on a terminal used by an operator, and transmit the generated information to the terminal.

The transport plan information generation section <NUM> displays, for example, a screen as illustrated in <FIG>. The transport plan information generation section <NUM> transmits the information input by the operator in accordance with the screen as illustrated in <FIG> to the control apparatus <NUM>. Specifically, the transport plan information generation section <NUM> associates information for identifying the article <NUM> to be transported (for example, the article name, the serial number, or the like), the place where the article <NUM> is placed (transport source), and the transport destination of the article <NUM> with each other, and transmits the information to the control apparatus <NUM> as article transport plan information.

Note that, as illustrated in <FIG>, in a case where the transport destination or the like is exchanged between the transport planning apparatus <NUM> and the control apparatus <NUM> by using the name in the field or the like, the absolute coordinates of the name in the field are shared in advance by the transport planning apparatus <NUM> and the control apparatus <NUM>. Alternatively, the transport plan information generation section <NUM> may convert the name in the field input by the operator into the absolute coordinates in the field, and transmit the converted absolute coordinates to the control apparatus <NUM>.

<FIG> is a diagram illustrating an example of a processing configuration (processing modules) of the control apparatus <NUM> according to the first example embodiment. With reference to <FIG>, the control apparatus <NUM> includes a communication control section <NUM>, a field information management section <NUM>, a robot selection section <NUM>, a route calculation section <NUM>, a robot control section <NUM>, and a storage section <NUM>.

The communication control section <NUM> controls communication with other apparatuses, similarly to the communication control section <NUM> of the transport planning apparatus <NUM> and the like. In a case where the communication control section <NUM> obtains object body position information from the position information management apparatus <NUM>, and obtains article transport plan information from the transport planning apparatus <NUM>, the communication control section <NUM> stores these pieces of information in the storage section <NUM>.

The field information management section <NUM> is means for managing map information, link information, and the like of the field.

The storage section <NUM> stores field configuration information indicating the configuration of the field. Here, in the disclosure of the present application, start points, end points, branch points, and the like of passages through which transport robots <NUM> can pass are regarded as nodes. The field configuration information defines the absolute coordinates of the nodes.

For example, suppose that the field configuration is as illustrated in <FIG>. In this case, the absolute coordinates of the node N1 and the node N2 are defined by the field configuration information (see <FIG>).

The storage section <NUM> stores link information indicating the connection relationships of the nodes. For example, in the example of <FIG>, the link information as illustrated in <FIG> is stored.

The storage section <NUM> stores field management information for managing the current situations of the field. The field management information includes, for each link, the distance of the link, the existence/non-existence of transport robots <NUM>, and the existence/non-existence of obstacles.

<FIG> is a diagram illustrating an example of field management information. As illustrated in <FIG>, when transport robots <NUM> exist on the passages indicated by the links, the absolute coordinates of the transport robots <NUM> are written in the transport robot field. Similarly, when obstacles exist on the passages, the absolute coordinates of the obstacles are written in the obstacle field. Note that the initial values of the transport robot field and the obstacle field are "no transport robot" and "no obstacle". Because the field configuration is predetermined, the distances between the nodes constituting each link can also be calculated in advance. The distances between the nodes are calculated before operating the system and written in the field management information.

The field information management section <NUM> updates the field management information, based on the object body position information received from the position information management apparatus <NUM>. Specifically, the field information management section <NUM> identifies the types of object bodies (transport robots, obstacles) included in the obtained object body position information. The field information management section <NUM> refers to the field configuration information and the link configuration information stored in the storage section <NUM>, and identifies the links on which the identified object bodies exist. The field information management section <NUM> updates the transport robot field and the obstacle field corresponding to the identified links based on the types of the identified object bodies (transport robots, obstacles) and their absolute coordinates.

For example, in the example of <FIG>, when obstacles are placed on the link consisting of the node N2 and the node N6, the absolute coordinates of the obstacles are set in the obstacle field of the link.

The field information management section <NUM> performs the update of the field management information every time object body position information is obtained from the position information management apparatus <NUM>. Thus, by referring to the field management information, the current situations in the field can be grasped. When obstacles are placed in the field, the existence of the obstacles can be immediately found by referring to the field management information. The positions of the transport robots <NUM> operating in the field are also found from the field management information.

The field information management section <NUM> updates the current position field of robot management information described later, based on the absolute coordinates of the transport robots <NUM> read from the object body position information.

The robot selection section <NUM> is means for selecting transport robots <NUM> for transporting articles <NUM>. Specifically, when the robot selection section <NUM> obtains article transport plan information from the transport planning apparatus <NUM>, the robot selection section <NUM> selects transport robots <NUM> for transporting articles <NUM> described in the information. The robot selection section <NUM> selects two transport robots <NUM> from a plurality of transport robots <NUM> waiting in the waiting area.

The robot selection section <NUM> may select two transport robots <NUM>, based on any criteria. For example, the robot selection section <NUM> may select transport robots <NUM> closest to the transport source described in the transport plan information, or may select transport robots <NUM> in the order of the shortest operating time. Alternatively, in a case where the remaining battery levels can be obtained from the transport robots <NUM>, the robot selection section <NUM> may select the robots having the largest remaining battery levels in order. Alternatively, the robot selection section <NUM> may select transport robots <NUM> with special specifications according to the articles <NUM>. For example, in a case where the articles <NUM> are extremely heavy, transport robots <NUM> for transporting heavy objects may be selected, and when the articles <NUM> are lightweight, transport robots <NUM> for transporting lightweight objects may be selected.

The robot selection section <NUM> notifies the route calculation section <NUM> and the robot control section <NUM> of the selected transport robots <NUM> (transport robot pairs). The robot selection section <NUM> reflects the information related to the selected transport robots <NUM> in the robot management information. Note that the details of the robot management information will be described later.

The route calculation section <NUM> is means for calculating a route for transport robot pairs to transport articles <NUM> from the transport source to the transport destination, based on article transport plan information generated by the transport planning apparatus <NUM>. For example, in a case where "area A" is described as the transport source and "area D" is described as the transport destination in the article transport plan information, the route from the lower left to the middle upper right of <FIG> is calculated. Note that the storage section <NUM> stores the relationships between each area and the corresponding node in association with each other. For example, information that the area B corresponds to the node N4 is stored in the storage section <NUM>.

The route calculation section <NUM> calculates the route for transporting the articles <NUM> from the transport source to the transport destination by using route search algorithms such as Dijkstra's algorithm and Bellman-Ford algorithm. For example, in the above example, the route via the nodes N1, N2, N3, N8, and N9 and the route via the nodes N1, N2, N6, N7, and N8 are calculated.

The route calculation section <NUM> refers to field management information at the time of route calculation. The route calculation section <NUM>, for example, treats each distance between nodes as a cost of a link to calculate the transport route. At that time, the route calculation section <NUM> determines that the link with an obstacle is impassable, and treats the cost of the link as infinite to calculate the transport route. Note that the route calculation section <NUM> does not consider the cost for the link with transport robot <NUM>. This is because the transport robot <NUM> moves with the passage of time.

The route calculation section <NUM> manages calculated route and transport robots <NUM> using the route in association with each other. Specifically, the route calculation section <NUM> updates robot management information stored in the storage section <NUM>.

<FIG> is a diagram illustrating an example of robot management information. With reference to <FIG>, identifiers of transport robots <NUM>, the state of each robot (transporting, waiting), information on transport robots <NUM> to form pairs, the current positions, and information related to routes used by the transport robots <NUM> are managed in association with each other.

As the identifier of each transport robot <NUM>, arbitrary identifiers (IDs) such as Media Access Control (MAC) addresses or names (transport robots No. <NUM> and No. <NUM>) assigned to each transport robot <NUM> can be used. Of the pieces of the information illustrated in <FIG>, the state field is updated by the robot control section <NUM>. The field related to pair robot is updated by the robot selection section <NUM>. The current position field is updated by the field information management section <NUM>. The transport route field is updated by the route calculation section <NUM>.

The robot control section <NUM> is means for controlling transport robots <NUM>. The robot control section <NUM> transmits control information for transporting articles <NUM> by transport robot pairs to each transport robot <NUM>, based on position information of transport robots <NUM> and position information of other transport robots <NUM> making pairs with the transport robots <NUM>. In other words, the robot control section <NUM> controls transport robots <NUM> by transmitting control commands (control information) to the transport robots <NUM>. Note that, when the robot control section <NUM> transmits control commands to transport robots <NUM>, the robot control section <NUM> may transmit all the control commands at once such that transport robot pairs can move from transport source to transport destination, or may transmit control commands in order according to the positions of the transport robot pairs and the like.

The robot control section <NUM> needs information related to the orientations of transport robots <NUM> when controlling the transport robots <NUM>. In this case, gyroscope sensors or the like are attached to the transport robots <NUM>, and the robot control section <NUM> may obtain information related to the orientations from the transport robots <NUM>. Alternatively, the orientations when placing the transport robots <NUM> in the waiting area may be predetermined, and the orientations of the transport robots <NUM> may be estimated, based on control commands transmitted from the robot control section <NUM> to the transport robots <NUM>.

When receiving the notification of robot selection from the robot selection section <NUM>, the robot control section <NUM> controls the selected transport robots <NUM> to move to the transport source described in the article transport plan. Note that the control related to the initial movement can be the same as the control when transport robots <NUM> move from transport source to transport destination, which will be described later, and thus the details thereof will be omitted.

When the transport robots <NUM> move to the transport source, the robot control section <NUM> confirms whether or not articles <NUM> are placed at the transport source. Any method can be used for the confirmation. For example, in a case where an operator places the articles <NUM> at the transport source, the confirmation may be made by the operator pressing a button connected to the control apparatus <NUM>. Alternatively, sensors (infrared sensors, cameras, weight sensors, and the like) may be installed in the area which is the transport source, and the confirmation of articles <NUM> may be performed by using the sensors. In other words, the robot control section <NUM> may recognize that articles <NUM> has been installed at the transport source, based on the output of the sensors.

The robot control section <NUM> may confirm whether or not the articles <NUM> placed at the transport source are the articles <NUM> input by the article transport plan information. For example, consider a case in which a camera is installed near the transport source and a marker (AR marker or the like) for identifying an article <NUM> is attached to the article <NUM>. In this case, the robot control section <NUM> may refer to information in which the marker and the article <NUM> are associated with each other, and confirm that the article <NUM> placed at the transport source match the article <NUM> input by the article transport plan information.

Alternatively, the robot control section <NUM> may determine that the articles <NUM> that the operator has placed at the transport source are the articles <NUM> described in the article transport plan information, and may omit the confirmation. In other words, the robot control section <NUM> may trust the operator and omit the confirmation of the articles <NUM>.

When an article <NUM> is placed at a transport source, the robot control section <NUM> controls two transport robots <NUM> to hold the article <NUM> by transmitting control commands to the transport robots <NUM>. Specifically, the robot control section <NUM> moves the two transport robots <NUM> so as to face each other over the article <NUM>, and moves the robots such that the distance between the robots becomes narrower.

When each of the two transport robots <NUM> succeeds in holding the article <NUM>, the control apparatus <NUM> is notified of the article holding completion notification. When the robot control section <NUM> receives the notification from each of the two transport robots <NUM>, the robot control section <NUM> starts the transport by the two transport robots <NUM>. Specifically, the robot control section <NUM> generates a control command such that the transport robot pair holding the article <NUM> moves on the route calculated as the transport route of the transport robot pair, and transmit the control command to each transport robot <NUM>.

The control of the two transport robots <NUM> by the robot control section <NUM> can be realized by the description of Reference <NUM> below. Details related to the mechanism of the transport robots <NUM> are also described in the document.

The robot control section <NUM> treats one of the two transport robots <NUM> as a "leading transport robot" and treats the other one as a "following transport robot". Moreover, the robot control section <NUM> obtains the current position of the leading transport robot <NUM> of the transport robots <NUM> described in the robot management information. Next, the robot control section <NUM> determines the position where the leading transport robot <NUM> arrives.

In a case of causing the transport robot pair to go straight, the robot control section <NUM> calculates the time and speed for rotating the motor of each transport robot <NUM> according to the distance between the current position of the leading transport robot <NUM> and the calculated arrival position. At that time, the robot control section <NUM> generates a control command such that the motor rotation speeds of the transport robots <NUM> are the same.

In a case of rotating the transport robot pair, the robot control section <NUM> uses a model of circular motion that draws a curve by speed difference between left and right wheels. Specifically, the robot control section <NUM> calculates input speed to the left and right wheels for arriving at the target position from the current position in a circular orbit, based on the target position and the position and the orientation of the robot. The robot control section <NUM> uses the calculated input speed as is for the leading transport robot <NUM>, and generates a control command to be transmitted to the leading transport robot <NUM>, based on the calculated input speed. In contrast, for the following transport robot <NUM>, the robot control section <NUM> calculates a speed correction value in the front-rear direction based on the distance between the robots (the distance between plates over which the transport robots hold the article <NUM>) and an offset correction value of the left and right wheels based on a rotation angle. The robot control section <NUM> generates a control command to be transmitted to the following transport robot <NUM>, based on these correction values (the speed correction value and the offset correction value).

In a case where the transport robot pair arrives at the transport destination, the robot control section <NUM> controls the transport robot pair so as to place the article <NUM> at the transport destination. Specifically, the robot control section <NUM> completes the transport of the article <NUM> by controlling the distance between the two transport robots <NUM> to be longer.

The basic control of the robot control section <NUM> is as described above.

The control of the robot control section <NUM> is a control in a case where other transport robots <NUM> do not exist in the field and no obstacle is placed on the transport route during transport. However, in an actual field, other transport robots <NUM> may use the transport route, or an obstacle may be placed on the transport route initially calculated.

The robot control section <NUM> controls two transport robots <NUM> such that the article <NUM> is correctly transported to the transport destination even in such a situation.

The robot control section <NUM> refers to latest field management information and robot management information, and determines whether or not it is necessary to recalculate the transport route related to the transport robots <NUM> during transport. Specifically, the robot control section <NUM> refers to latest field management information, and determines whether or not an object body (obstacle or transport robot pairs) exist on the links constituting the transport route of the transport robot pair during transport. In a case where it is determined that the object body exists as a result of the determination, the robot control section <NUM> instructs the route calculation section <NUM> to recalculate the transport route with the current position of the transport robot pair as the start node and the transport destination as the end node.

The route calculation section <NUM> recalculates the transport route in accordance with the instruction. At that time, because the latest link management information describes the absolute coordinates of the object bodies (obstacles or transport robot pairs) in the obstacle field of the links included in the previously calculated transport route, the route calculation section <NUM> calculates the transport route to the transport destination while avoiding the links with the object bodies. The recalculated transport route is reflected in the transport route field of the robot management information. The robot control section <NUM> may control the two transport robots <NUM> based on the reflected transport route.

For example, consider a case in which the initially calculated transport route is nodes N1, N2, N3, N8, and N9, as indicated by the solid line in <FIG>. In this case, the robot control section <NUM> controls the transport robot pair so as to pass through the route. However, while the transport robot pair is moving between the nodes N1 and N2, an object body (an obstacle is exemplified in <FIG>) may be placed between the nodes N3 and N8. In this case, the robot control section <NUM> grasps the existence of the object body from the latest field management information, and instructs the route calculation section <NUM> to recalculate the transport route. As a result, the route as indicated by the dotted line in <FIG> is recalculated. As described above, in a case where an object body (obstacle, transport robot <NUM>) exists on the calculated route, the control apparatus <NUM> calculates (recalculates) the route for transporting the article <NUM> in consideration of the existence of the object body.

Alternatively, the control apparatus <NUM> may change the control according to the type of the object body placed in the field. For example, when the object body existing in the field is an "obstacle", the control apparatus <NUM> recalculates the route described above. On the other hand, when the object body existing in the field is a "transport robot pair", the control apparatus <NUM> may recalculate the route according to the distance between the transport robot pairs.

Obstacles placed on the transport route may not be moved in a short time. Thus, when the robot control section <NUM> detects that an obstacle is placed on the transport route, the robot control section <NUM> instructs the route calculation section <NUM> to recalculate the transport route. On the other hand, even if transport robots <NUM> exist on the transport route, the robots are expected to move in a short time, so that there is a possibility that they will not be obstacles (obstacles that blocks the way) of the transport robot pair during transport.

Thus, in a case where another transport robot pair exists on the transport route, the robot control section <NUM> instructs the route calculation section <NUM> to recalculate the transport route when the distance between the two sets of transport robot pairs is short. Specifically, the robot control section <NUM> refers to the latest field management information, and when transport robots <NUM> exist on the transport route of the transport robot pair during transport, the robot control section <NUM> calculates the distance between the current position of the transport robot pair during transport and the transport robots <NUM> existing on the transport route. The robot control section <NUM> executes threshold processing for the distance, and instructs the route calculation section <NUM> to recalculate the transport route according to the result.

When the transport route is recalculated and reflected in the transport route field of the robot management information, the robot control section <NUM> controls the transport robot pair so as to move on the latest transport route.

For example, as illustrated in <FIG>, consider a case in which a pair of two transport robots transports an article <NUM> from the area A to the area D. At that time, suppose that the transport robot pair during transport is moving between the nodes N1 and N2. Suppose that another transport robot pair is also transporting an article. In this case, in a case where another transport robot pair is moving between the nodes N3 and N8, the transport route is recalculated because the distance between the two sets of transport robot pairs is short. On the other hand, in a case where another transport robot pair is moving between the nodes N8 and N9, the transport route is not recalculated because the distance between the two sets of transport robot pairs is long.

Subsequently, the operation of the transport system according to the first example embodiment will be described. <FIG> is a sequence diagram illustrating an example of the operation of the transport system according to the first example embodiment.

The camera apparatuses <NUM> transmit captured image data to the position information management apparatus <NUM> (step S01).

The position information management apparatus <NUM> analyzes the obtained image data and attempts to detect an object body. In a case where the object body is detected from the field, the position information management apparatus <NUM> generates object body position information (step S02). The position information management apparatus <NUM> transmits the generated object body position information to the control apparatus <NUM> (step S03).

The camera apparatuses <NUM> and the position information management apparatus <NUM> repeat the operations of steps S01 to S03 in a predetermined cycle. As a result, the control apparatus <NUM> can grasp the situations in the field in real time.

When the control apparatus <NUM> obtains the object body position information, the control apparatus <NUM> updates field management information (step S04).

The control apparatus <NUM> receives article transport plan information from the transport planning apparatus <NUM> (step S05).

The control apparatus <NUM> selects transport robots <NUM> to transport articles <NUM> (step S06).

The control apparatus <NUM> calculates transport routes of transport robot pairs, based on the article transport plan information (step S07).

The control apparatus <NUM> generates control commands and transmits the control commands to the transport robot pairs such that transport robot pairs move on the calculated transport route (step S08).

Each transport robot <NUM> receives the control command and executes the control command (steps S09 and S10). When the transport robot <NUM> executes the control command, the transport robot <NUM> transmits a positive acknowledgment (ACK, Acknowledgement).

The control apparatus <NUM> and the transport robot pairs transport the articles <NUM> to the transport destination by repeating the steps S08 to S09.

As described above, in the transport system according to the first example embodiment, the control apparatus <NUM> transmits control information for two transport robots <NUM> to hold and transport an article <NUM> to the transport robots <NUM>. At that time, the control apparatus <NUM> calculates a route for transporting the article <NUM>, based on the position information of the object bodies (transport robots <NUM>, obstacles) existing in the field, and transmits control information for transporting the article <NUM> through the calculated route to the transport robots <NUM>. In other words, in the transport system according to the first example embodiment, position information of transport robots <NUM> and the like is generated, and the control of the transport robots <NUM> is performed based on the position information. Thus, magnetic tapes or the like are unnecessary, and the transport robots <NUM> can be controlled even in an environment (complex environment) in which SLAM does not function.

In addition, in the first example embodiment, two transport robots cooperate to transport articles <NUM>, so the labor of operators reloading the articles <NUM> is unnecessary, or it is possible to handle a wide variety of shapes of articles <NUM>. In other words, because two transport robots <NUM> make a pair and move while holding an article <NUM>, movements of articles <NUM> can be performed regardless of the shapes or the like of the articles <NUM>. Even in a case where articles <NUM> are loaded on carts, pairs of transport robots <NUM> can move the articles <NUM> together with the carts, so that the operators do not need to reload the articles <NUM>. Because two transport robots cooperate to transport (carry) an article <NUM>, it is not necessary to attach towing equipment or the like to the article <NUM> or the cart.

The control apparatus <NUM> can be implemented as a cloud server on a network (for example, the Internet or a wireless communication network such as LTE), and realizes coordinated control of transport robots <NUM> while overlooking the entire field. In addition, because the transport robots <NUM> are centrally controlled by the control apparatus <NUM>, sensors (expensive sensors) for monitoring the peripheries of the transport robots <NUM> are unnecessary, and the prices of the transport robots <NUM> can be reduced.

The transport instruction of the article <NUM> is generated by the transport planning apparatus <NUM>, and the user can input location information such as an address via the apparatus, so that intuitive, easy-to-understand, and efficient transport of the article <NUM> is possible.

Subsequently, hardware of each apparatus constituting the transport system will be described. <FIG> is a diagram illustrating an example of a hardware configuration of the control apparatus <NUM>.

The control apparatus <NUM> can be configured with an information processing apparatus (so-called, a computer), and includes a configuration illustrated in <FIG>. For example, the control apparatus <NUM> includes a processor <NUM>, a memory <NUM>, an input/output interface <NUM>, a communication interface <NUM>, and the like. Constituent elements such as the processor <NUM> are connected to each other with an internal bus or the like, and are configured to be capable of communicating with each other.

However, the configuration illustrated in <FIG> is not to limit the hardware configuration of the control apparatus <NUM>. The control apparatus <NUM> may include hardware not illustrated, or need not include the input/output interface <NUM> as necessary. The number of processors <NUM> and the like included in the control apparatus <NUM> is not to be limited to the example illustrated in <FIG>, and for example, a plurality of processors <NUM> may be included in the control apparatus <NUM>.

The processor <NUM> is, for example, a programmable device such as a central processing unit (CPU), a micro processing unit (MPU), and a digital signal processor (DSP). Alternatively, the processor <NUM> may be a device such as a field programmable gate array (FPGA) and an application specific integrated circuit (ASIC). The processor <NUM> executes various programs including an operating system (OS).

The memory <NUM> is a random access memory (RAM), a read only memory (ROM), a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory <NUM> stores an OS program, an application program, and various pieces of data.

The input/output interface <NUM> is an interface of a display apparatus and an input apparatus (not illustrated). The display apparatus is, for example, a liquid crystal display or the like. The input apparatus is, for example, an apparatus that receives user operation, such as a keyboard and a mouse.

The communication interface <NUM> is a circuit, a module, or the like that performs communication with another apparatus. For example, the communication interface <NUM> includes a network interface card (NIC), a radio communication circuit, or the like.

The function of the control apparatus <NUM> is implemented by various processing modules. Each of the processing modules is, for example, implemented by the processor <NUM> executing a program stored in the memory <NUM>. The program can be recorded on a computer readable storage medium. The storage medium can be a non-transitory storage medium, such as a semiconductor memory, a hard disk, a magnetic recording medium, and an optical recording medium. In other words, the present invention can also be implemented as a computer program product. The program can be updated through downloading via a network, or by using a storage medium storing a program. In addition, the processing module may be implemented by a semiconductor chip.

Note that the position information management apparatus <NUM>, the transport planning apparatus <NUM>, and the like can also be configured by information processing apparatuses similarly to the control apparatus <NUM>, and because the basic hardware configurations are not different from that of the control apparatus <NUM>, the descriptions thereof will be omitted.

Note that the configuration, the operation, and the like of the transport system described in the example embodiment are merely examples, and are not to limit the configuration and the like of the system. For example, the functions of the position information management apparatus <NUM> may be realized by the control apparatus <NUM>. For example, the position information management apparatus <NUM> may execute a process related to determination of positions of object bodies, and the control apparatus <NUM> may determine the types of the object bodies.

Alternatively, the position information management apparatus <NUM> may be installed inside the field, and the control apparatus <NUM> may be implemented in a server on the network. In other words, the transport system disclosed in the present application may be realized as an edge cloud system.

In the example embodiment, when calculating the transport route of the transport robot pair, transport routes of other transport robot pairs are not taken into consideration. However, the transport route may be calculated in consideration of transport routes of other transport robot pairs. In this case, the route calculation section <NUM> may calculate the route with the costs of links used (links to be used) by other transport robot pairs as infinite.

Alternatively, the route calculation section <NUM> may count the number used as transport routes by transport robot pairs for each link, and calculate the transport route using the counted value as the degree of congestion of the link. The route calculation section <NUM> may treat the degree of congestion as the cost of the link and calculate the transport route so as to avoid links having high degrees of congestion.

In the example embodiment, a case in which cameras capable of detecting heights of object bodies (for example, depth cameras) are used has been described. However, in a case where it is not necessary to detect heights of object bodies, normal cameras may be used. Alternatively, infrared sensors or distance sensors may be used as sensors for detecting positions of object bodies.

In a case where a QR code (registered trademark) can be attached to an article <NUM>, the code may include identification information of the article <NUM>, and transport robots <NUM> may read the information. In this case, the transport robots <NUM> may compare read identification information with identification information of article <NUM> instructed to be transported by the control apparatus <NUM>, and determine whether or not to transport the article <NUM> according to the comparison results.

By installing an article transport program in a storage section of a computer, the computer can be caused to function as a control apparatus <NUM>. By causing the computer to execute the article transport program, an article transport method can be executed by the computer. plurality of sequence diagrams used in the description above, a plurality of processes (processing) are described in order; however, the order of execution of the processes executed in each example embodiment is not limited to the described order. In each example embodiment, the illustrated order of processes can be changed as far as there is no problem with regard to processing contents, such as a change in which respective processes are executed in parallel, for example.

Although the industrial applicability of the present invention is apparent from the description, the present invention can be preferably applied to article transport in factories, distribution warehouses, and the like.

Claim 1:
A transport system comprising:
first and second transport robots (<NUM>, <NUM>, <NUM>) configured to transport an article (<NUM>) together;
a generation apparatus (<NUM>, <NUM>) configured to generate position information for the first transport robot (<NUM>, <NUM>) and position information for the second transport robot (<NUM>, <NUM>); and
a control apparatus (<NUM>, <NUM>) configured to transmit, to the first and second transport robots (<NUM>, <NUM>, <NUM>), control information for transporting the article (<NUM>) with the first and second transport robots (<NUM>, <NUM>, <NUM>), based on the position information for the first transport robot and the position information for the second transport robot,
characterised in that
the control apparatus (<NUM>, <NUM>) is configured to transmit control information for the first and second transport robots (<NUM>, <NUM>, <NUM>) to face each other over the article while holding the article (<NUM>),
the generation apparatus (<NUM>, <NUM>) includes an object body position information generation section (<NUM>) and is configured to be connected to one or more cameras (<NUM>), wherein the object body position information generation section (<NUM>) is configured to determine whether a detected object included in an obtained image from the cameras (<NUM>) is the first or second transport robot (<NUM>, <NUM>, <NUM>) or not, based on the size of the first and second transport robots.