JP7600649B2 - Transport System - Google Patents

Description

The present invention relates to a transport system equipped with a transport robot.

Self-propelled transport robots, such as automated guided vehicles (AGVs) and automated guided forklifts (AGFs), have been proposed for use in factories, warehouses, etc. A transport system that realizes the automation of transport in factories, etc., is configured by controlling multiple such transport robots by a control device via wireless communication.

JP 2019-48689 A

Transport robots that can determine their own position based on distance information obtained from distance sensors such as LiDAR (Light Detection And Ranging) and stereo cameras are also being considered. Such transport robots can autonomously determine their travel route without the need to install guides showing predetermined travel routes on the floor of a factory, warehouse, etc.

The application of such transport robots therefore has the advantage of enabling the creation of a flexible transport system that can handle a wide variety of transport tasks in factories and warehouses and can flexibly respond to changes in production lines. However, in transport systems that use transport robots that autonomously determine their travel route, it is difficult to improve the accuracy of determining the transport robot's position compared to transport systems that use transport robots that only travel along predetermined routes following guides.

In one aspect, the present invention has been made in consideration of the above-mentioned circumstances, and aims to improve the accuracy of determining the position of a transport robot in a transport system that employs a transport robot that autonomously determines its travel route.

The present invention employs the following configuration to solve the above-mentioned problems. A transport system according to one aspect of the present invention includes a plurality of self-propelled transport robots and a control device that communicates with the plurality of transport robots. The transport robot has a sensor that detects the distance to a surrounding object and outputs the distance information, and a self-position calculation unit that calculates self-position information related to its own position using the distance information. The control device has an inherent state acquisition unit that acquires the self-position information and the distance information from each of the plurality of transport robots, an estimated position calculation unit that calculates estimated position information related to the position of the transport robot using the self-position information acquired from the transport robot and information related to the position of the transport robot included in the distance information acquired from the transport robot other than the transport robot, and an estimated position transmission unit that notifies the transport robot of the estimated position of the transport robot.

The above configuration makes it possible to improve the accuracy of determining the position of a transport robot in a transport system that employs a transport robot that autonomously determines its travel route.

In the transport system according to the above aspect, the estimated position calculation unit may calculate the estimated position information by also using the self-position information acquired from a transport robot other than the transport robot. According to the above configuration, the method of calculating the estimated position information by the estimated position calculation unit is made more specific.

In the transport system according to the above aspect, the self-location information and the estimated location information may each include information about the position on the floor surface where the transport robot is traveling and information about the orientation of the transport robot. With the above configuration, the content of the self-location information and the estimated location information is made more specific.

In the transport system according to the above aspect, the transport robot may further have a travel mechanism for travelling, and a travel control unit for controlling the travel mechanism and calculating odometry data of the transport robot, and the self-position calculation unit may be configured to calculate the self-position information based on the odometry data and the distance information. According to the above configuration, the method of calculating the self-position information by the self-position calculation unit is more specific.

In the transport system according to one aspect described above, the transport robot may further include a slave storage unit that stores identification information of the transport robot, and a unique state notification unit that transmits unique information including the distance information and the self-position information attached to the identification information, and the unique state acquisition unit may further acquire the identification information from a plurality of the transport robots. With the above configuration, the transport robots can be easily identified when each unit of the control device handles information related to the transport robot.

The control device according to each aspect of the present invention may be realized by a computer. In this case, the control program of the control device that causes the computer to operate as each unit (software element) of the control device to realize the control device on the computer, and the computer-readable recording medium on which the control program is recorded, also fall within the scope of the present invention.

According to one aspect of the present invention, in a transport system using a transport robot that autonomously determines its travel route, the accuracy of determining the position of the transport robot is improved.

1 is a block diagram showing a configuration of a main part of a transport system according to an embodiment of the present invention. 1 is a diagram showing an example of an external shape of a transport robot of a transport system according to an embodiment of the present invention; 1 is a floor map diagrammatically illustrating an example of a factory to which a conveying system according to an embodiment of the present invention is applied; 1A and 1B are diagrams for explaining a method in which a transport robot detects surrounding objects using a distance sensor. FIG. 5 is a graph showing distance information output by a distance sensor of the transport robot in the example shown in FIG. 4 . 1 is a diagram for explaining a method for the transport robot to detect surrounding objects using a distance sensor, and shows a situation in which an obstacle exists in a monitoring area. FIG. 5 is a diagram showing a situation in which another transport robot is present within the monitoring range of the transport robot in the example shown in FIG. 4. FIG. 8 is a graph showing distance information output by a distance sensor of the transport robot in the example shown in FIG. 7 . FIG. 13 is a diagram showing a situation in which a specific transport robot is present within the monitoring range of a plurality of other transport robots. 4 is a flowchart illustrating a characteristic operation executed by the transport system according to the embodiment of the present invention.

[Embodiment]
Hereinafter, an embodiment according to one aspect of the present invention will be described with reference to the drawings.

§1 Application Example An example of a situation in which the present invention is applied will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the configuration of a transport system 1 according to the first embodiment. The transport system 1 includes a control device 10 and a plurality of self-propelled transport robots 30. The control device 10 communicates with the plurality of transport robots 30 and issues instructions to each of the transport robots 30.

In FIG. 1, the internal configuration of one transport robot 30 is shown in detail, but the other transport robots 30 have a similar internal configuration. The transport robot 30 has a distance sensor 36 (sensor) that detects the distance to surrounding objects and outputs the distance information, and a self-position calculation unit 33 that uses the distance information to calculate self-position information regarding its own position.

The control device 10 has a unique state acquisition unit 13 that acquires the self-position information and the distance information from each transport robot 30. The control device 10 has an estimated position calculation unit that calculates estimated position information regarding the position of the other transport robot using information regarding the position of the other transport robot contained in the distance information acquired from each transport robot 30 and the self-position information of the other transport robot. Furthermore, the control device 10 has an estimated position transmission unit that notifies the other transport robot of the estimated position of the other transport robot.

In the transport system 1 according to the first embodiment, the estimated position information, which is information relating to the position of the self-propelled transport robot 30, is calculated in the control device 10 based not only on the self-position information calculated by the transport robot 30 (hereinafter, the self-machine) but also on the distance information from transport robots other than the transport robot 30 (hereinafter, the other machines).

Then, the estimated position information is reported from the control device 10 to the transport robot 30, which is the transport robot itself. Therefore, in the transport system 1, the transport robot 30 can estimate its own position based on estimated position information that is more accurate than its own position information. This makes it possible to realize a transport system in which the accuracy of position estimation for a self-propelled transport robot is improved.

§2 Configuration example <Application scene of the conveyor system>
Fig. 2 is a diagram showing an example of the appearance of the transport robot 30 of the transport system 1 according to this application example. Fig. 3 is a diagram showing a schematic floor map of a factory 100, which is an example of an area such as a factory or warehouse to which the transport system 1 according to this application example can be applied.

Within the factory 100, a self-propelled transport robot 30 is deployed to transport objects to be transported, such as finished products, semi-finished products, parts, raw materials, tools, jigs, packaging materials, and cassettes for storing them. Furthermore, a self-propelled transport robot 30M having a robot arm (manipulator) for grasping the objects to be transported mounted on the transport robot as a cart may be deployed as part of the transport system 1.

The transport robot 30M is an example of the transport robot 30, and in the following description, it is included in the transport robot 30. The transport robot 30 may take the form of an unmanned transport vehicle, an AGF, or other self-propelled transport device.

In the factory 100, shelves 110 are installed on which the objects to be transported can be placed. In addition, in the factory 100, production equipment is also installed for performing processing, assembly, treatment, inspection, etc. on the objects to be transported or using the objects to be transported. The transport robot 30 of the transport system 1 can transport the objects to be transported between these facilities.

As shown in FIG. 3, the position of each transport robot 30 is represented by XY coordinates defined on the floor of the factory 100. The orientation of each transport robot 30 is represented by an angle θ defined relative to the XY coordinates. In this way, the position and orientation of each transport robot 30 can be represented as (X, Y, θ). Hereinafter, in this specification, information relating to the position of the transport robot refers to information relating to the position and orientation (X, Y, θ) of such a transport robot.

<Conveyor system configuration overview>
The following describes a more specific configuration example and operation of the transport system 1. As shown in Fig. 1, the transport system 1 includes a control device 10 and a plurality of self-propelled transport robots 30. The control device 10 is an information processing system that is responsible for managing transport and may also be called a transport system server (AMHS server: Automated Material Handling System Server) or the like.

The control device 10 transmits more specific transport instructions to the transport robot 30 in the transport system 1 based on commands from a higher-level information processing system, etc. The control device 10 need only be an information processing system capable of executing such processing, and does not need to be a device physically contained in a single housing.

When the transport system 1 is applied to a production factory, the upper information processing system that manages the production of products in the production factory is sometimes called a manufacturing execution system server (MES server). When the transport system 1 is applied to a logistics warehouse, the upper information processing system that manages the entry and exit of stored items in the logistics warehouse is sometimes called a warehouse management system server (WMS server).

<Configuration of the transport robot>
1 , the transport robot 30 has the following functional blocks: an instruction receiving unit 31, a travel control unit 32, a self-position calculation unit 33, a specific state notification unit 34, and an estimated position acquisition unit 35. The transport robot 30 also has a distance sensor 36, a slave storage unit 37, a travel mechanism unit 38, and a slave communication unit 39.

The distance sensor 36 is disposed on the front side of the transport robot 30 and monitors the forward traveling direction of the transport robot 30. As shown in FIG. 2, in the specific example of embodiment 1, the distance sensor 36 is composed of two LiDARs and can obtain distance information indicating the distance to an object present within the monitoring area.

The area to be monitored can, for example, include a range of approximately 120° to the left and right from the front in the direction of travel of the transport robot 30. Examples of such distance information will be described later. Note that distance information is also generally referred to as a distance image.

The number of LiDARs placed on the transport robot 30 may be one or more, and if there are multiple LiDARs, they may be placed so that they can monitor the rear as well. In addition, the type of distance sensor is not limited to LiDAR, and may be a sensor that acquires distance images such as a stereo camera or a ToF (Time-of-Flight) camera, or one that uses other methods.

The slave memory unit 37 is a recording device provided in the transport robot 30. The slave memory unit 37 stores identification information for the transport robot 30 and map information for the floor of the factory 100, as well as various information and driving history necessary for the transport robot 30 to perform driving, the control program for the transport robot 30, etc., as appropriate.

The travel mechanism 38 is a mechanism that operates under the control of the travel control unit 32 and allows the transport robot 30 to travel on the floor surface. In the external view of the transport robot 30 in Figure 2, wheels 38A, which are part of the travel mechanism 38, are shown.

The slave communication unit 39 is a communication interface through which the transport robot 30 communicates with the control device 10. Since real-time distance information is included in the communication with the transport robot 30 via the slave communication unit 39, it is preferable that the communication is high speed, has low latency, and has multiple connections. Therefore, it is preferable that the slave communication unit 39 communicates with the master communication unit 19 of the control device 10 using 5G (5th Generation) communication or Wi-Fi 6 (Wi-Fi: registered trademark). In the external view of the transport robot 30 in Figure 2, an antenna 39A that is part of the slave communication unit 39 is shown.

The instruction receiving unit 31 is a functional block that receives instructions from the control device 10 via the slave communication unit 39. The driving control unit 32 is a functional block that controls the driving mechanism unit 38 and drives the transport robot 30. The driving control unit 32 also calculates odometry data based on operation information of each mechanism from the driving mechanism unit 38, specifically, the rotary encoder output of the motor, etc. The odometry data is information that indicates the position of the transport robot 30 during or after driving relative to the position of the transport robot 30 at a certain point in time.

The self-position calculation unit 33 is a functional block that calculates the approximate position of the transport robot 30 using odometry data, and further calculates self-position information regarding the self-position of the transport robot 30 by comparing the distance information with map information near the approximate position. The unique state notification unit 34 is a functional block that notifies the control device 10 of the unique information of the transport robot 30 via the slave communication unit 39. The estimated position acquisition unit 35 is a functional block that acquires estimated position information from the control device 10 via the slave communication unit 39. The estimated position information will be described later.

The unique information here refers to information about the unique state of each individual transport robot 30 itself, and includes distance information and self-position information. Furthermore, it may include information about the operation of the transport robot 30 and other internal states, such as the operating state of the transport robot 30, the loading state of the transport object, and the remaining battery level.

As a basic operation, the transport robot 30 performs the required transport in accordance with instructions from the control device 10 as follows. The instruction receiving unit 31 receives a transport instruction from the control device 10 via the slave communication unit 39. The travel control unit 32 controls the travel mechanism unit 38 based on information related to the self-position and the destination position information included in the transport instruction, and causes the transport robot 30 to travel to the destination. At that time, the self-position calculation unit 33 continues to update the self-position information based on the odometry data from the travel control unit 32 and the distance information from the distance sensor 36.

<Configuration of the control device>
1 , the control device 10 has functional blocks of a higher-level command receiving unit 11, an instruction issuing unit 12, an inherent state acquiring unit 13, a positional relationship calculating unit 14, an estimated position calculating unit 15, and an estimated position transmitting unit 16. The control device 10 also has a master storage unit 17, a higher-level communication unit 18, and a master communication unit 19.

The master memory unit 17 is a recording device provided in the control device 10. The master memory unit 17 stores map information of the floor of the factory 100 and the control program of the control device 10, as well as the unique information and operation logs of each transport robot 30 as appropriate. The upper communication unit 18 is a communication interface that allows the control device 10 to communicate with a higher-level information processing system. The master communication unit 19 is a communication interface that allows the control device 10 to communicate with the transport robots 30.

The upper command reception unit 11 is a functional block that receives commands from a higher-level information processing system via the upper communication unit 18. The command issuing unit 12 issues commands to each transport robot 30 based on the commands from the higher-level information processing system, and transmits the commands to each transport robot 30 via the master communication unit 19.

At that time, the instruction issuing unit 12 refers to the unique state of each transport robot 30 acquired by the unique state acquiring unit 13, and issues an appropriate instruction to each transport robot 30 to execute a command from the higher-level information processing system. The functions of the positional relationship calculating unit 14, the estimated position calculating unit 15, and the estimated position transmitting unit 16 will be described later.

<Principle of Estimated Position Calculation>
The principle of calculating the estimated position of the transport robot 30 in the transport system 1 according to the configuration example will be described below with reference to Figures 4 to 9. Figure 4 is a diagram showing a situation in which the transport robot 30 measures the distance to surrounding objects using the distance sensor 36 on the floor of the factory 100. Figure 5 is a diagram showing the distance information output by the distance sensor 36 at that time in the form of a graph.

The map information includes information about the locations of the shelves and production equipment placed on the floor of the factory 100. For the production equipment 120a shown in FIG. 4, information about the locations of the four corners of the casing is registered in the map information as point landmarks MC1 to MC4.

In addition, information regarding the positions of the lines (sides) connecting the corners of production facility 120a is registered in the map information as line landmarks ML1 to ML4. Similarly, point landmarks MC5 to MC8 and line landmarks ML5 to ML8 are registered in the map information for production facility 120b.

In Figure 4, the monitoring range R of the distance sensor 36 of the transport robot 30 is shown by a dotted line. Figure 5 is a diagram showing distance information in a graph, with the horizontal axis representing the angle from the front of the transport robot 30, i.e., the orientation relative to the transport robot 30, and the vertical axis representing the distance from the reference point of the transport robot 30. The monitoring range R is also shown in Figure 5. As shown in Figure 5, the distance information output by the distance sensor 36 includes information about the distance to objects located within the monitoring range R.

The self-position calculation unit 33 calculates the approximate position of the transport robot 30, including its orientation, from information about its past self-position and odometry data, and matches the distance information with map information near the area where the estimated monitoring range R is located. Since the approximate position calculated from the odometry data contains an error, a discrepancy occurs between the map information and the distance information. The self-position calculation unit 33 calculates self-position information, which is information about the transport robot 30's own position, by correcting the discrepancy from the approximate position.

Figure 6 shows a situation in which a worker W is standing within the monitoring range R of the distance sensor 36 of the transport robot 30, and a temporarily placed item Ob is also placed there. Due to occlusion caused by the worker W and the temporarily placed item Ob, an obstructed area Da is created in which the distance sensor 36 cannot determine the distance to the object registered in the map information.

In such a case, it is easy to understand that the accuracy of the self-location information calculated by the self-location calculation unit 33 decreases. Therefore, the self-location calculation unit 33 also calculates accuracy information about the reliability of the self-location information depending on the matching situation between the map information and the distance information, for example, how many point landmarks and line landmarks have been matched.

Figure 7 shows the situation in Figure 4 where another transport robot 30b is now within the monitoring range R of the distance sensor 36 of the transport robot 30a. Figure 8 is a graph corresponding to Figure 5 at this time. As shown in the figure, the distance information acquired by the transport robot 30a includes information regarding the position of the other transport robot 30b.

In other words, by analyzing the distance information acquired by the transport robot 30a, it is possible to obtain information regarding the distance and direction of the other transport robot 30b from the transport robot 30a, as well as the orientation of the transport robot 30b. Therefore, it can be understood that the position, including the orientation, of the transport robot 30b can be calculated from the self-position information of the transport robot 30a and the distance information acquired by the transport robot 30a.

Figure 9 shows a situation where the transport robot 30a is within the monitoring range Rb of the transport robot 30b and within the monitoring range Rc of the transport robot 30c. There are three types of information regarding the position of the transport robot 30a: (i) Its own position information calculated by the transport robot 30a. (ii) Information regarding the position of the transport robot 30a derived from its own position information calculated by the transport robot 30b and distance information of the transport robot 30b. (iii) Information regarding the position of the transport robot 30a derived from its own position information calculated by the transport robot 30c and distance information of the transport robot 30c.

By integrating these pieces of information to calculate information regarding the position of the transport robot 30a, (i) it becomes possible to achieve even higher accuracy than if the information were solely based on the self-position information calculated by the transport robot 30a. More specifically, it is possible to integrate these pieces of information and obtain an estimated position value as follows.

For example, for coordinate X, assume that estimates X1 to X3 have been obtained by the above (i) to (iii). The simple average of estimates X1 to X3 can be used as the integrated position estimate. Alternatively, the weighted average using weighting coefficients determined according to the respective accuracy information for estimates X1 to X3 can be used as the integrated position estimate.

Alternatively, for each of the estimated values X1 to X3, a probability distribution function such as a normal distribution with a variance determined according to the respective accuracy information and a peak at each estimated value can be calculated, and the peak of the distribution function obtained by adding up these probability distribution functions can be used as the integrated position estimate. The same applies to the coordinate Y and the direction θ.

In the example shown in FIG. 9, the transport robot 30b is present within the monitoring range Ra of the transport robot 30a and within the monitoring range Rc of the transport robot 30c. Therefore, information with improved accuracy regarding the position of the transport robot 30b can also be calculated in a similar manner based on information from the other transport robots 30a and 30c. In this way, it becomes possible to obtain information with improved accuracy regarding the position of the transport robot based on mutual information between the transport robots.

<Operation of the control device>
A characteristic operation of the transport system 1 based on the above-mentioned principle of the estimated position calculation will be described below with reference to the flowchart in Fig. 10. In the transport system 1, when the transport robot 30 is executing the transport operation, the flow shown in Fig. 10 is repeatedly executed in real time.

Step S1: In each transport robot 30 of the transport system 1, distance information is acquired by the distance sensor 36. In addition, odometry data is calculated in the travel control unit 32.

Step S2: In each transport robot 30 of the transport system 1, the self-position calculation unit 33 calculates self-position information based on the distance information and odometry data.

Step S3: In each transport robot 30 of the transport system 1, the unique state notification unit transmits unique information including distance information and self-position information to the control device 10 via the slave communication unit 39, together with the identification information of the transport robot 30 itself stored in the slave memory unit 37.

Step S4: The unique state acquisition unit 13 of the control device 10 acquires unique information with identification information from each transport robot 30 via the master communication unit 19.

Step S5: The positional relationship calculation unit 14 of the control device 10 calculates the monitoring range R of each transport robot 30 from the self-position information of each transport robot 30 included in the unique information. At that time, each transport robot 30 is identified based on the identification information of the transport robot 30 attached to the unique information. Furthermore, the positional relationship calculation unit 14 calculates which other transport robot 30 each transport robot 30 is within its monitoring range R based on each self-position information and each calculated monitoring range R.

Step S6: The estimated position calculation unit 15 of the control device 10 calculates estimated position information regarding the position of each transport robot 30. In this case, the estimated position calculation unit 15 uses the self-position information acquired from the transport robot 30, information regarding the position of the transport robot contained in the distance information acquired from the other transport robots 30, and the self-position information acquired from the other transport robots 30. The calculation of the estimated position information is performed based on the method of calculating the "integrated position estimate" described in the principle of estimated position calculation above.

Step S7: The estimated position transmission unit 16 of the control device 10 transmits the estimated position information of each transport robot 30 calculated by the estimated position calculation unit 15 to each transport robot 30 via the master communication unit 19. At that time, the estimated position transmission unit 16 identifies each transport robot 30 based on the acquired identification information of the transport robot 30.

Step S8: In each transport robot 30 of the transport system 1, the estimated position acquisition unit 35 acquires the estimated position information of the own robot from the control device 10 via the slave communication unit 39. The estimated position acquisition unit 35 updates the information regarding the position of the own robot based on the acquired estimated position information.

According to the transport system 1 of the configuration example, the position estimation of the transport robot 30 is performed not only based on the distance information from its own distance sensor 36, but also on the distance information from the distance sensors 36 of other devices. Therefore, the accuracy of the position estimation of the transport robot 30 can be improved compared to when the position estimation is performed only based on the distance information from its own distance sensor 36.

[Software implementation example]
Each functional block of the control device 10 (particularly, the higher-level command receiving unit 11, the instruction issuing unit 12, the inherent state acquisition unit 13, the positional relationship calculation unit 14, the estimated position calculation unit 15, and the estimated position transmission unit 16) or the functional blocks of the transport robot 30 (particularly, the instruction receiving unit 31, the driving control unit 32, the self-position calculation unit 33, the inherent state notification unit 34, and the estimated position acquisition unit 35) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

In the latter case, the control device 10 or the transport robot 30 is equipped with a computer that executes the instructions of a program, which is software that realizes each function. This computer is equipped with, for example, one or more processors, and a computer-readable recording medium that stores the program. The object of the present invention is achieved by having the processor in the computer read and execute the program from the recording medium.

The processor may be, for example, a CPU (Central Processing Unit). The recording medium may be a "non-transitory tangible medium" such as a ROM (Read Only Memory), as well as a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The device may further include a RAM (Random Access Memory) for expanding the program.

The program may be supplied to the computer via any transmission medium capable of transmitting the program (such as a communication network or broadcast waves). One aspect of the present invention may also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. The technical scope of the present invention also includes embodiments obtained by appropriately combining the disclosed technical means.

REFERENCE SIGNS LIST 1 Transport system 10 Control device 11 Upper command reception unit 12 Instruction issuing unit 13 Unique state acquisition unit 14 Positional relationship calculation unit 15 Estimated position calculation unit 16 Estimated position transmission unit 17 Master memory unit 18 Upper communication unit 19 Master communication unit 30, 30a to 30c, 30M Transport robot 31 Instruction reception unit 32 Travel control unit 33 Self-position calculation unit 34 Unique state notification unit 35 Estimated position acquisition unit 36 Distance sensor 37 Slave memory unit 38 Travel mechanism unit 39 Slave communication unit R, Ra to Rc Monitoring range

Claims (5)

A plurality of self-propelled transport robots;
a control device that communicates with the plurality of transport robots;
the transport robot has a sensor that detects a distance to a surrounding object and outputs the distance information, and a self-position calculation unit that calculates self-position information regarding its own position using the distance information;
The control device includes:
an inherent state acquisition unit that acquires the self-position information and the distance information from each of the plurality of transport robots;
an estimated position calculation unit that calculates estimated position information regarding the position of the transport robot using the self-position information acquired from the transport robot and information regarding the position of the transport robot included in the distance information acquired from the transport robot other than the transport robot;
and an estimated position transmitting unit that notifies the transport robot of the estimated position of the transport robot. The estimated position calculation unit
The transport system according to claim 1 , wherein the estimated position information is calculated by also using the self-position information acquired from transport robots other than the transport robot in question. The transport system according to claim 1 or 2, wherein the self-position information and the estimated position information each include information about the position on the floor surface where the transport robot is traveling and information about the orientation of the transport robot. The transport robot further comprises:
A traveling mechanism for performing traveling;
a travel control unit that controls the travel mechanism unit and calculates odometry data of the transport robot,
The self-position calculation unit is
The transportation system according to claim 1 , wherein the self-position information is calculated based on the odometry data and the distance information. The transport robot further comprises:
A slave storage unit that stores identification information of the transport robot;
a unique state notification unit that transmits unique information including the distance information and the self-location information by attaching the unique information to the identification information,
The transport system according to claim 1 , wherein the specific state acquisition unit further acquires the identification information from a plurality of the transport robots.

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