JP7645449B2 - Transport system and cargo transport method - Google Patents

Description

The present invention relates to an automated guided vehicle system that automatically transports cargo.

Automated guided vehicles such as those shown in Patent Document 1 are used to transport large cargo on ships, in factories, distribution centers, etc.

By introducing such automated guided vehicles, it is possible to reduce the number of staff required at distribution centers, etc., and cut costs.

JP2008-090511

To automate such transport vehicles, it is necessary to manage the location of the transport vehicle and the cargo being transported, and to confirm and track whether the transport vehicle deviates from the designated route and whether the cargo has been transported to the designated location.

However, when a transport vehicle is used indoors, such as in a warehouse, or in the cargo compartment of an airplane or ship, the current location of the transport vehicle can be determined by satellite positioning methods such as GPS outdoors, but the current location of the transport vehicle cannot be determined indoors, inside an airplane, or on a ship where GPS cannot reach, because radio waves cannot reach the vehicle. It is possible to lay guide wires or embed transponders on the travel path, but the installation work is costly.
In addition, since the cargo is transported by a transport vehicle, the position of the cargo placed in the cargo yard changes frequently, so the transport vehicle must run according to the situation in the cargo yard.

That is, the transport system according to the present invention is a transport system having a transport vehicle that transports cargo, a control device that controls the transport of cargo by the transport vehicle, map information including a first area or a second area in which the transport vehicle can travel, a cargo layout map showing the location of cargo arranged in a cargo yard included in the map information, a first position detection means provided on the transport vehicle that acquires a current location in the first area included in the map information, and a second position detection means that acquires a current location in the second area included in the map information, and the control device is characterized by having an area determination means that determines whether the current location of the transport vehicle is the first area or the second area based on the map information, a switching means that switches between the first position detection means and the second position detection means based on the determination result of the area determination means, and a cargo position update means that updates the cargo layout map in response to the transfer of the cargo by the transport vehicle.

The cargo transport method according to the present invention is a cargo transport method using a transport vehicle that transports cargo, map information including a first area or a second area in which the transport vehicle can travel, a cargo layout map showing the location of cargo arranged in a cargo storage area included in the map information, a first position detection means provided in the transport vehicle that acquires a current location in the first area included in the map information, and a second position detection means that acquires a current location in the second area included in the map information, and includes an area determination step of determining whether the current location of the transport vehicle is the first area or the second area based on the map information, a switching step of switching between the first position detection means and the second position detection means based on the determination result of the area determination step, and a cargo position update step of updating the cargo layout map in accordance with the transfer of the cargo by the transport vehicle.

As a result, in the transport system and cargo transport method according to the present invention, it is possible to use the appropriate position detection means depending on the location by switching between the first position detection means and the second position detection means possessed by the transport vehicle based on map information. In addition, since the cargo position update means updates the cargo position on the map in response to the transport of cargo by the transport vehicle, it is possible to efficiently determine the travel route of the transport vehicle depending on the situation in the cargo storage area.

The transport system according to the present invention is also characterized in that, when the transport vehicle transports the cargo inside a moving body such as an aircraft, a vehicle, or a ship, the transport system manages the transport of the cargo by the transport vehicle based on internal map information within the moving body when it determines that the transport vehicle has entered the moving body.

As a result, in the transport system according to the present invention, when a transport vehicle enters a moving body, the transport vehicle is guided based on the internal map information of the moving body, making it possible to transport cargo.

The transport system according to the present invention is also characterized in that the cargo is placed on a carrier having a loading platform, and the transport vehicle transports the cargo together with the carrier.

This makes it possible to place multiple cargo items on a carrier, allowing multiple cargo items to be transported by a single transport vehicle.

As described above, according to the present invention, even when loading and unloading operations using a transport vehicle are automated, the current location of the transport vehicle can be determined even in places where radio waves such as GPS cannot reach. In addition, the location of the cargo in the cargo yard can be updated in accordance with the loading and unloading operations of the transport vehicle, making it possible to track the cargo.

1 is a block diagram showing an overall configuration of a transport system according to the present invention; FIG. FIG. FIG. This is map information within the distribution center. This is a cargo layout diagram included in the map information within the distribution center. 1 is a ship's interior map showing map information inside the ship. 11 is a flowchart showing a processing procedure of a higher-level system. 11 is a flowchart showing a processing procedure in which a transport vehicle travels to a location of a cargo to be transported and places the cargo on a loading platform. 1 is a flowchart showing a processing procedure from when a transport vehicle moves with cargo loaded on its platform to when the cargo is unloaded at a destination. FIG. 13 shows another example of a cargo layout diagram.

The following describes an embodiment of the present invention with reference to the drawings.

The automated guided transport system 100 of this embodiment is a system block diagram in which a ship 503 is used to transport cargo between distribution centers 200 and 300 that store and manage the cargo. Note that while a ship 503 is used in this embodiment, vehicles such as trucks and trailers, airplanes, and trains may also be used, or multiple types of moving bodies may also be used.

The distribution center 200 is provided with a host system 201 that manages the loading and unloading work by the transport vehicles 1 within the distribution center 200. The host system 201 is connected to the multiple transport vehicles 1 performing loading and unloading work within the distribution center 200 via wireless communication, and data communication is possible as needed. The host system 201 can also communicate with a ship management system 401 that manages the ships operating between the distribution centers 200 and 300, and transmits and receives information such as the ship's operating schedule and operating status, and the ship's interior map 5031 (a container interior map in the case of trucks, trailers, trains, etc., and a cargo compartment interior map in the case of aircraft) as needed. The distribution center 300 has the same configuration as the distribution center 200, but only the configuration of the distribution center 200 will be described in detail below.

The upper system 201 of the distribution center 200 also has map information 500 as shown in FIG. 5. The map information 500 includes information necessary for the transport vehicle 1 to automatically travel within the distribution center 200, such as the layout of buildings within the distribution center 200 (warehouse 505, etc.), the locations of cargo storage areas 501 and 502 where cargo and carriers are placed (described later), and a ship 503 on which the transport vehicle 1 loads and unloads cargo 10 (described later).

Furthermore, the map information 500 includes predefined indoor areas 510, such as the ship 503, in which the transport vehicle 1 can travel and which are located inside a building, and outdoor areas 520 in which the transport vehicle 1 can travel and which are located outside a building.

Furthermore, the map information 500 includes a cargo layout diagram 5011 of the cargo storage area 501 included in the map information 500 (Figure 6). When the transport vehicle 1 performs loading and unloading work on the ship 503, the ship interior map 5031 held by the ship management system 401 is downloaded from the ship management system to the host system 201 or 301 and used as the cargo layout diagram of the ship 503 (Figure 7). Similarly, the host system 301 of the distribution center 300 also has map information of the interior of the distribution center 300.

As shown in FIG. 3, the transport vehicle 1 has a vehicle body 2 and a loading platform 3. In addition, the transport vehicle 1 of this embodiment is capable of automatic travel based on map information 500, etc.

The vehicle body 2 has four wheels 5: a pair of left and right front wheels 5a and a pair of left and right rear wheels 5b (in FIG. 2, the left side of the vehicle body 2 is the front and the right side is the rear). Each of the four wheels 5 is arranged so that the direction of travel of the vehicle body 2 can be changed by changing the orientation of the wheels relative to the vehicle body 2.

The vehicle body 2 is provided with a positioning sensor 6. The positioning sensor 6 is disposed in the center of the width direction at the front end of the vehicle body 2. The positioning sensor 6 may be attached anywhere on the vehicle 1 as long as the traveling position of the vehicle 1 can be recognized. As the positioning sensor 6, an optical scanner (e.g., LiDAR, etc.) equipped with a projector that emits laser light, a receiver that receives the reflected light, and a motor that rotates the projector and receiver in a horizontal arc is used. In addition, a camera or millimeter wave radar may be used, or a magnetic sensor may be used to read a transponder, RFID tag, magnetic tape, etc. laid on the road surface to recognize the vehicle's position. The vehicle's position may be calculated from the steering angle of the vehicle 1, the steering angle of the tires, the inclination of the vehicle 1 by an acceleration sensor, etc. The vehicle body 2 also has a GPS receiver 7. Furthermore, the vehicle 1 has a switching unit (not shown) that switches between the positioning sensor 6 and the GPS receiver 7.

The transport vehicle 1 then enters the lower part of the carrier 10 shown in FIG. 4 and raises the loading platform 3 to a predetermined height, thereby lifting the carrier 10. The carrier 10 has a loading compartment formed by a bottom surface 11, side walls 13 arranged to surround the bottom surface 11 on three sides, and a top surface 14, and legs 12 are formed at the four corners of the lower part of the bottom surface 11. In FIG. 4, two pieces of cargo 10A are loaded on the carrier 10. The transport vehicle 1 transports the cargo 10A together with the carrier 10. Also, the carrier 10 transported by the transport vehicle 1 does not necessarily have to be loaded with cargo 10A.

The cargo transport procedure by the transport system of this embodiment will be described with reference to Figures 5 to 10. In this embodiment, an example is shown in which a transport vehicle 1 is used at a distribution center 200 to transport cargo from a cargo storage area 501 to a ship 503. Figure 8 is a flowchart showing the processing procedure of the upper system 201 or 301. Figure 9 is a flowchart showing the processing procedure from when the transport vehicle 1 travels to the location of the cargo to be transported and loading the cargo together with the carrier 10 onto the loading platform 3, and Figure 10 is a flowchart showing the processing procedure from when the transport vehicle 1 travels with the carrier 10 loaded onto the loading platform 3 and unloads the cargo at the destination.

(Step S1)
First, the upper system 201 receives map information 500 of the distribution center 200 and a signal from the positioning sensor 6 or the GPS receiver 7 of the transport vehicle 1 , and acquires the current location of the transport vehicle 1 operating in the distribution center 200 .

(Step S2)
Next, the upper system 201 searches for a transport vehicle 1 that is not currently performing loading/unloading work or a transport vehicle 1 that will soon complete loading/unloading work in the vicinity of the carrier 10 to be transported (hereinafter, the target carrier). At this time, it is preferable to select a transport vehicle 1 that can begin loading/unloading work on the target carrier the earliest. In addition, when there are multiple cargo yard locations as in this embodiment, it is preferable to check which cargo yard the target carrier is located in before searching for a transport vehicle 1. In this embodiment, since the target carrier is located in the cargo yard 501, the upper system 201 selects a transport vehicle 1 in the vicinity of the cargo yard 501.

(Step S3)
Next, the upper system 201 checks the current location of the selected transport vehicle 1 again, and creates a travel route to the cargo yard 501 based on the map information 500, the location of the cargo yard 501 where the target carrier is located, and the current location of the selected transport vehicle 1. The location of the target carrier located on the cargo layout diagram 5011 (FIG. 6) of the cargo yard 501 may be compared with the location of the vehicle entrance/exit of the cargo yard 501 to create a travel route so that the transport vehicle 1 arrives at the vehicle entrance/exit closest to the target carrier. In addition, since the target carrier in this embodiment is located at position A in FIG. 6, the upper system 201 may create a travel route from the current location of the selected transport vehicle 1 to the carrier A in FIG. 6 based on the map information 500 and the current cargo location on the cargo layout diagram 5011.

(Step S4)
Next, the host system 201 transmits to the selected guided vehicle 1 a travel route to the cargo storage area 501. The guided vehicle 1 that has received the travel route starts processing according to the flowchart of FIG.

9, when the transport vehicle 1 receives a travel route from the upper system 201 (step S11), it checks its current location (step S12). At this time, the switching unit compares the current location of the vehicle with the map information 500, and if the current location is the outdoor area 520, it turns on the GPS receiver 7 (step S121), and if the current location is the indoor area 510, it turns on the positioning sensor 6 (step S122). Also, if it is inside the ship 503, it downloads the shipboard map 5031 from the ship management system 400, switches the map to the shipboard map 5031 (step S123), and turns on the positioning sensor 6 (step S124). Once the current location of the vehicle has been identified, it starts automatic travel to the cargo yard 501 where the target carrier is placed according to the route received from the upper system 201. During travel, the current location is checked at any time, and the vehicle travels while checking whether it is deviating from the travel route. In this embodiment, the current location of the transport vehicle 1 is in the outdoor area 520 (around the cargo storage area 501), so the GPS receiver 7 is turned on to obtain the current location.

In addition, when the transport vehicle 1 moves from an outdoor area to an indoor area or from an indoor area to an outdoor area while traveling along a route specified by the upper system 201, the positioning sensor 6 and GPS receiver 7 are switched appropriately.

Figure 6 shows a cargo layout diagram 5011 of a cargo storage area 501. In this embodiment, the target carrier A is located at A on the cargo layout diagram 5011. When the transport vehicle 1 reaches the cargo storage area 501, it receives the latest version of the cargo layout diagram 5011 from the upper system, switches the map information 500 used for route reference to the cargo layout diagram 5011, and drives to the vicinity of the target carrier.

When the transport vehicle 1 reaches the vicinity of the target carrier (step S13), the target cargo is placed on the loading platform 3 of the transport vehicle 1 (step S14). When loading of the target cargo is completed, the transport vehicle 1 requests the upper system 201 to update the cargo placement diagram 5011 (step S15).

(Steps S5 to S6)
When the upper system 201 receives a request to update the cargo layout diagram 5011 from the transport vehicle 1, it updates the position of the target carrier that was at A on the cargo layout diagram 5011 to "unloaded" (vacant) (step S6). Also, each time the cargo layout diagram 5011 is updated, the cargo layout diagrams 5011 of all the transport vehicles 1 in the cargo storage area 501 are updated. At this time, if there are also requests to update the cargo layout diagram 5011 from other transport vehicles 1, the cargo layout diagram 5011 is updated in order of the earliest request. Also, during the update, the cargo layout diagram 5011 is locked and cannot be updated by other transport vehicles 1.

(Step S7)
Next, the upper system 201 creates a travel route from the current location of the transport vehicle 1 to the destination cargo yard (ship 503 in this embodiment) based on the current location of the transport vehicle 1 (cargo yard 501) and the map information 500. As in step S2, it is preferable to create the travel route by comparing in advance the location of the vehicle on the cargo arrangement diagram 5011 (FIG. 6), the location of the vehicle entrance/exit on the ship interior map 5031 of the destination ship 503, and the loading/unloading location of the target carrier.

(Step 8)
Next, the host system 201 transmits a travel route to the destination to the selected guided vehicle 1. The guided vehicle 1 that has received the travel route starts processing according to the flowchart of FIG.

As shown in the flowchart of FIG. 10, when the transport vehicle 1 receives a travel route from the host system 201 (step S21), it checks its current location (step S22). At this time, the switching unit compares the current location of the vehicle with the map information 500, and if the current location is the outdoor area 520, it turns on the GPS receiver 7 (step S221), if the current location is the indoor area 510, it turns on the positioning sensor 6 (step S222), and if the current location is inside the ship 503, it downloads the ship's in-ship map 5031 from the ship management system 400 (step S223) and turns on the positioning sensor 6 (step S224). Once the current location of the vehicle has been identified, it starts automatic travel to the ship 503, which is the destination of the target carrier, according to the route received from the host system 201. During travel, the current location is checked at any time, and the vehicle travels while checking whether it is deviating from the travel route. In this embodiment, the current location of the transport vehicle 1 is the outdoor area 520 (cargo storage area 501), so the GPS receiver 7 is turned on to obtain the current location.

In addition, when the transport vehicle 1 moves from an outdoor area to an indoor area or from an indoor area to an outdoor area while traveling along a route specified by the upper system 201, the positioning sensor 6 and GPS receiver 7 are switched appropriately.

Figure 7 shows the ship's internal map 5031. In this embodiment, the target carrier is transported to position B (unloading point) on the ship's internal map 5031. When the transport vehicle 1 arrives at the ship 503, it receives the latest version of the ship's internal map 5031 from the upper system and switches the map information 500 used for route reference to the ship's internal map 5031. In addition, since the ship 503 is in an indoor area 510, the GPS receiver 7 is switched to the positioning sensor 6 (steps S22, S223, S224) and the transport vehicle 1 drives to the unloading point.

When the transport vehicle 1 reaches the unloading point (step S23), the platform 3 is lowered to unload the target carrier, and after escaping from under the target carrier, it requests the host system to update the ship interior map 5031 (steps S24 to S25).

(Step S10)
When the upper system 201 receives a request to update the ship interior map 5031 from the transport vehicle 1, it updates the ship interior map 5031. Furthermore, each time the ship interior map 5031 is updated, the ship interior maps 5031 of all the transport vehicles 1 on the ship 503 are updated. At this time, if there are also requests to update the ship interior map 5031 from other transport vehicles 1, the update is performed in order of the earliest request. Furthermore, during the update, the ship interior map 5031 is locked and cannot be updated by other transport vehicles 1.

The ship's interior map 5031 is sent from the upper system 201 to the ship management system 401 when the ship 503 departs from the distribution center 200. When the ship 503 arrives at the distribution center 300 from the distribution center 200 and loading and unloading operations using the transport vehicle 1 begin, the upper system 301 downloads the ship's interior map 5031, which records the cargo position at the distribution center 200, from the ship management system 401 and uses it to create a travel route for the transport vehicle 1.

The conveying system and cargo conveying method of the present invention can switch the positioning sensor 6 and GPS receiver 7 of the conveying vehicle 1 according to the outdoor area 520 and indoor area 510 set in the map information 500, so that the current location of the conveying vehicle 1 can be obtained even indoors.
In addition, when the transport vehicle 1 starts transporting the carrier 10, the carrier 10 being transported is deleted from the cargo arrangement map of the departure point (cargo yard 501 is used as an example in this embodiment), and when the carrier arrives at the cargo yard of the destination (ship 503 is used as an example in this embodiment) and the loading and unloading of the carrier 10 from the transport vehicle 1 is completed, the transported carrier is added to the cargo arrangement map of the destination (ship interior map 5031 is used as an example in this embodiment). This allows the cargo positions of the distribution centers 200, 300 and ship 530 to be updated at any time. Furthermore, it is also possible to perform cargo tracking management.

The specific configuration is not limited to the above-mentioned embodiment.

For example, in the above embodiment, the upper system 201 or 301 creates the travel route for the transport vehicle 1, but the travel route may be created by the transport vehicle 1.

For example, in the above embodiment, the ship management system 401 managed the operation schedule and ship interior map of the ship operating between the distribution centers 200, 300, but these may also be managed by the upper system 201 or 301. Also, the ship interior map 5031 may be transmitted and received between the upper systems 201, 301 to share the cargo location inside the ship 503. Furthermore, if the ship operation schedule is managed or held by the upper system 201 or 301, the ship interior map may be identified from the type of ship listed in the ship operation schedule and used for loading and unloading operations of the transport vehicle 1.

For example, in the above embodiment, the map information 500 includes the cargo layout diagram 5011 of the cargo storage area 501, but each cargo layout diagram may be stored separately.
Furthermore, as in the examples of Figures 11(a) and (b), the cargo layout plan 5011 or the shipboard map 5031 may pre-number areas on the cargo (or carrier 10) layout plan (Figure 11(b)) where cargo can be loaded, and the presence or absence of cargo in each area may be managed in a table (Figure 11(a)).

In addition to the configuration of the above embodiment, a travel route may be created taking into account the vehicle type (such as the size of the vehicle) of the transport vehicle 1. Also, since the weight and size of the cargo that can be transported is determined for each vehicle type, the travel route may be created taking this into consideration. In this case, a table showing the vehicle type of each transport vehicle 1 and the weight and size of the cargo that can be transported can be stored in the upper system 201 or 301, and the table can be referenced when the transport vehicle is to perform loading and unloading work.

In addition to the configuration of the above embodiment, a switching area for the transport vehicle 1 to switch between the positioning sensor 6 and the GPS receiver 7 may be set in the map information 500. In this case, when the transport vehicle 1 is traveling along the travel route and reaches the switching area, the positioning sensor 6 and the GPS receiver 7 are switched to each other. The positioning sensor 6 and the GPS receiver 7 may also be switched depending on the radio wave reception status from the satellite of the GPS receiver 7. In this case, if the radio wave received by the GPS receiver 7 is weaker than a predetermined value, the positioning sensor 6 is switched to. Furthermore, the signal pattern when the GPS signal is weak indoors may be recorded, and machine learning, deep learning, etc. may be used to learn the signal pattern, so that the indoor area or outdoor area is determined from the GPS signal pattern. In addition, the detection results of the positioning sensor 6 and the GPS receiver 7 may be constantly kept in mind, and if there is a discrepancy between the detection results of both sensors that is greater than a predetermined value, the transport vehicle 1 may automatically travel based only on the detection result of the positioning sensor 6.

In addition to the configuration of the above embodiment, the higher-level system 201 or 301 may take into consideration the situation of other nearby transport vehicles 1 when creating a travel route for a specific transport vehicle 1, for example, by designating a route that bypasses a certain section when congestion occurs in that section, or by setting up a dedicated area that other transport vehicles 1 cannot enter around a transport vehicle 1 that is transporting long cargo that overflows from the loading platform 3 or carrier 10. Also, when the transport vehicle 1 creates a travel route, it may respond in a similar manner to the above.

In the above embodiment, a driving route is assigned to each transport vehicle 1 individually, but the driving route of the transport vehicle 1 may be scheduled in advance in accordance with the cargo transport schedule.

In addition, the travel route may be created taking into account the remaining fuel of the transport vehicle 1, or the remaining battery level if the transport vehicle 1 is electrically driven. A weight sensor may also be provided on the transport vehicle 1 to check whether the carrier 10 is securely placed on the transport vehicle 1, whether the load exceeds the load capacity of the transport vehicle 1, and whether the cargo (carrier 10) placed is correct based on the weight of the cargo (carrier 10). An IC tag or the like may be attached to the cargo or carrier 10, and the cargo or carrier 10 may be identified by reading it with the transport vehicle 1. Furthermore, a travel route may be created by linking the operation of equipment such as a crane or forklift that places cargo on the carrier 10 with the loading and unloading work of the transport vehicle 1.

In the above embodiment, the transport vehicle 1 is an unmanned vehicle capable of automatic travel, but a transport vehicle 1 that can be operated by a person may be used, or unmanned vehicles and vehicles operated by a person may be mixed. When a vehicle operated by a person is used, or when unmanned vehicles and manned vehicles are mixed, the cargo layout diagrams 5011, 5031, etc. may be manually updated by a driver or an administrator of the upper system 201, 301 according to the transfer of the carrier 10, or when a weight sensor of the transport vehicle 1 detects cargo or the carrier 10, the cargo placed on the transport vehicle 1 may be estimated from the current location of the transport vehicle 1, and the cargo layout diagrams 5011, 5031, etc. may be updated on the upper system 201, 301 side. The transport vehicle 1 may also be other vehicles such as a forklift, truck, or trailer. Furthermore, by periodically comparing an image of a crane loading cargo with the cargo layout diagrams 5011, 5031, etc. of the upper system 201, 301, it may be confirmed whether the cargo position on the system is consistent with the actual cargo position. Furthermore, when transporting cargo to the ship 503, the update status of the cargo arrangement diagram 5031 of the ship 503 may be monitored, and the ballast water of the ship 503 may be adjusted according to the weight and position of the cargo, so that the hull does not tilt. In this case, the cargo arrangement diagram 5031 may be monitored by a person, but it is preferable that the upper systems 201, 301 are connected to a computer that controls the ship 503 and automatically control the ballast water.

Reference Signs List 1: Transport vehicle 2: Vehicle body 3: Cargo platform 5: Wheels 200: Distribution center 201: Host system 300: Distribution center 301: Host system 401: Ship management system 500: Map information 501: Container storage area 503: Ship 510: Second area 520: First area 5011: Container layout plan 5031: Ship interior map

Claims (3)

A transport vehicle for transporting cargo;
A control device for controlling the transportation of cargo by the transport vehicle;
Map information including a first area and a second area in which the transport vehicle can travel;
A cargo arrangement map showing the positions of cargo arranged in the cargo storage area included in the map information;
a first position detection means provided in the transport vehicle and configured to acquire a current location within a first area included in the map information;
a second location detection means for acquiring a current location in a second area included in the map information;
A conveying system having:
the map information includes a switching area for switching between the first position detection means and the second position detection means,
The control device includes:
a switching means for switching between the first position detection means and the second position detection means based on the switching area;
a cargo position update means for updating the cargo placement map in response to the transportation of the cargo by the transportation vehicle;
having
the first area is an indoor area included in the map information,
When the first area is a moving object selected from the group consisting of an aircraft, a vehicle, and a ship,
A transportation system, characterized in that a cargo layout diagram within a moving object is shared at a destination of the moving object. map information including a first area and a second area in which a transport vehicle that transports cargo can travel;
A cargo arrangement map showing the positions of cargo arranged in the cargo storage area included in the map information;
a first position detection means provided in the transport vehicle and configured to acquire a current location within a first area included in the map information;
a second location detection means for acquiring a current location in a second area included in the map information;
A cargo transport method using the
a current position acquisition step of acquiring a current position of the transportation vehicle using the first position detection means or the second position detection means;
an area determination step of determining whether the current location of the transport vehicle is in the first area or the second area based on the current location acquired in the current location acquisition step and the map information;
a switching step of switching between the first position detection means and the second position detection means based on a result of the area determination step;
a cargo position update step of updating the cargo placement map in response to the transportation vehicle transferring the cargo;
having
the first area is an indoor area included in the map information,
A method for transporting cargo, wherein when the first area is a moving body selected from the group consisting of an aircraft, a vehicle, and a ship, a cargo layout diagram within the moving body is shared with a destination of the moving body. the map information includes a switching area;
The first position detection means and the second position detection means based on the switching area.
The cargo transport method according to claim 2 , further comprising switching between the above-mentioned steps.

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