Abstract: A control device controlling the movement route of a transportation vehicle calculates a movement route to a target position of the transportation vehicle and, in a case where an obstacle exists on the calculated movement route, counts the number of detours indicating the magnitude of an influence of the obstacle on movement route calculation, and calculates the movement route again so as to avoid the obstacle.

Abstract: A control device controlling the movement route of a transportation vehicle calculates a movement route to a target position of the transportation vehicle and, in a case where an obstacle exists on the calculated movement route, counts the number of detours indicating the magnitude of an influence of the obstacle on movement route calculation, and calculates the movement route again so as to avoid the obstacle.

Abstract: A storage device 101 includes: a plurality of division processing parts 120, each configured so as to correspond to a characteristic of data to be written, for dividing the data in accordance with a previously set criterion; and a data writing part 117 for writing division data obtained by division by the division processing part into a storage device. The storage device also includes: a reception buffer 111 for receiving data to be written and temporarily storing as reception data; a division process selecting part 113 for detecting a characteristic of the reception data stored by the reception buffer and selecting the division processing part configured so as to correspond to the detected characteristic of the reception data; and a data transmitting part 114 for transmitting the reception data stored by the reception buffer, to the division processing part selected by the division process selecting part.