Coordinated control device and management system for mobile bodies

Abstract

Provided is a coordinated control device of mobile bodies, which can suppress an increase in the moving time of a specific mobile body. The coordinated control device of mobile bodies includes: an encounter determination section that determines whether a plurality of mobile bodies inside a facility will encounter on a moving path of a predetermined movement; an interlacing possibility determination section that determines whether the plurality of mobile bodies can interlace on a moving line where the mobile bodies will encounter, when the plurality of mobile bodies are determined to encounter by the encounter determination section; a control command generation section that generates waiting command information for at least one of the plurality of mobile bodies, when the plurality of mobile bodies are determined to be unable to interlace by the interlacing possibility determination section; and a control command transmission section that transmits the waiting command information generated by the control command generation section to at least one of the plurality of mobile bodies.

Description

Technical Field

[0001] This invention relates to a coordination control device and management system for mobile bodies. Background Technology

[0002] Patent Document 1 discloses a mobile vehicle management device. According to this management device, congestion on various roads can be suppressed.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 4238355 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, the management device described in Patent Document 1, when predicting that multiple mobile bodies will arrive at the travel route simultaneously, indicates a detour route to a specific mobile body. Therefore, the travel time of a specific mobile body may become longer.

[0008] This invention was made to solve the aforementioned problems. The object of this invention is to provide a coordinated control device and management system for mobile bodies capable of suppressing the increase in the movement time of a specific mobile body.

[0009] Methods for solving problems

[0010] The mobile body coordination control device of the present invention comprises: an encounter determination unit that determines whether multiple mobile bodies within a facility will encounter each other on a predetermined movement path; an interleaving determination unit that, when the encounter determination unit determines that the multiple mobile bodies will encounter each other, determines whether the multiple mobile bodies can interleave on the movement path where they will encounter each other; a control command generation unit that, when the interleaving determination unit determines that the multiple mobile bodies cannot interleave, generates waiting command information for at least one of the multiple mobile bodies; and a control command sending unit that sends the waiting command information generated by the control command generation unit to at least one of the multiple mobile bodies.

[0011] The mobile body management system of the present invention comprises: a management device that stores information on the position, movement speed, and movement path to the destination of a plurality of mobile bodies, and information on a map for calculating the movement path; and a coordination control device that determines whether the plurality of mobile bodies will encounter each other and whether they can intersect based on the information stored in the management device, and sends a waiting command message to at least one of the plurality of mobile bodies when the plurality of mobile bodies cannot intersect.

[0012] Invention Effects

[0013] According to the present invention, when the coordination control device determines that multiple moving bodies cannot intersect, it sends a waiting command message to at least one of the multiple moving bodies. Therefore, it is possible to prevent the movement time of a particular moving body from becoming excessive. Attached Figure Description

[0014] Figure 1 This is the first example of a structural diagram of the management system of the coordination control device for the moving body in Implementation Method 1.

[0015] Figure 2 This is the second example of a structural diagram of the management system of the coordination control device for the moving body in Implementation Method 1.

[0016] Figure 3 This is a block diagram of the coordination control device for the moving body in Embodiment 1.

[0017] Figure 4 This is a diagram illustrating a method for avoiding encounters between multiple mobile bodies using the coordination control device for mobile bodies in Embodiment 1.

[0018] Figure 5 This is a diagram illustrating the movement path of the facility for the coordination control device of the moving body in Implementation Method 1.

[0019] Figure 6 This is a diagram illustrating a method for determining the repetition of movement paths of multiple mobile bodies using the coordination control device for mobile bodies in Embodiment 1.

[0020] Figure 7 This is a diagram illustrating a method for determining the encounter of multiple mobile bodies using the coordination control device for mobile bodies in Embodiment 1.

[0021] Figure 8 This is a diagram illustrating a method for determining whether multiple moving bodies can interleave using the coordination control device for moving bodies in Embodiment 1.

[0022] Figure 9 This is a flowchart illustrating the operation of the coordination control device for the moving body in Embodiment 1.

[0023] Figure 10 This is a hardware structure diagram of the coordination control device for the moving body in Implementation Method 1.

[0024] Figure 11 This is a block diagram of the coordination control device for the moving body in Embodiment 2.

[0025] Figure 12 This is a diagram illustrating a method for controlling a moving body according to priority using a coordination control device for a moving body in Embodiment 2.

[0026] Figure 13 This is a flowchart illustrating the operation of the coordination control device for the moving body in Embodiment 2.

[0027] Figure 14 This is a block diagram of the coordination control device for the moving body in Embodiment 3.

[0028] Figure 15 This is a diagram illustrating a method for setting a waiting area using the coordination control device of the moving body in Embodiment 3.

[0029] Figure 16 This is a block diagram of the coordination control device for the moving body in embodiment 4.

[0030] Figure 17 This is a diagram illustrating a method for selecting the movement path of a mobile body using the coordination control device of the mobile body in Embodiment 4.

[0031] Figure 18 This is a flowchart illustrating the operation of the coordination control device for the moving body in Embodiment 4.

[0032] Figure 19 This is a flowchart illustrating the operation of the coordination control device for the moving body in Embodiment 4. Detailed Implementation

[0033] The embodiments will be described with reference to the accompanying drawings. Furthermore, in each drawing, the same or equivalent parts are labeled with the same reference numerals. Repeated descriptions of these parts are appropriately simplified or omitted.

[0034] Implementation Method 1

[0035] Figure 1 This is the first example of a structural diagram of the management system of the coordination control device for the moving body in Implementation Method 1. Figure 2 This is the second example of a structural diagram of the management system of the coordination control device for the moving body in Implementation Method 1.

[0036] exist Figure 1 In the management system of the mobile body 1, multiple mobile bodies 1 are configured to move autonomously along movement routes within a facility (not shown). The coordination control device 2 receives mobile body information from the multiple mobile bodies 1 directly and periodically, including the position, speed, movement route information to the destination, and priority of each mobile body 1.

[0037] exist Figure 2In the management system of mobile body 1, multiple mobile bodies 1 are configured to move autonomously within a movement path within a facility (not shown). Management device 3 periodically receives mobile body information from a subset of the multiple mobile bodies 1. Coordination control device 2 indirectly and periodically receives mobile body information from a subset of the multiple mobile bodies 1 from management device 3. Coordination control device 2 directly and periodically receives mobile body information from the remaining multiple mobile bodies 1.

[0038] Next, use Figure 3 The coordination control device 2 will be described.

[0039] Figure 3 This is a block diagram of the coordination control device for the moving body in Embodiment 1.

[0040] like Figure 3 As shown, the coordination control device 2 includes a map information storage unit 2a, a mobile body information storage unit 2b, a mobile body information acquisition unit 2c, an encounter determination unit 2d, an interleaving determination unit 2e, a control command generation unit 2f, and a control command sending unit 2g.

[0041] Map information storage unit 2a stores topology information used to calculate the movement path of mobile body 1. Mobile body information storage unit 2b stores the movement information of multiple mobile bodies 1. Mobile body information acquisition unit 2c acquires the movement information of each of the multiple mobile bodies 1.

[0042] The encounter determination unit 2d determines whether multiple mobile bodies 1 will encounter each other on a predetermined movement path based on the mobile body information stored in the mobile body information storage unit 2b. When the encounter determination unit 2d determines that multiple mobile bodies 1 will encounter each other, the crossover determination unit 2e determines whether the multiple mobile bodies 1 can crossover on the movement path where they will encounter each other.

[0043] When the interleaving determination unit 2e determines that the multiple mobile bodies 1 cannot interleave, the control command generation unit 2f generates a waiting command message for at least one of the multiple mobile bodies 1. The control command sending unit 2g sends the waiting command message generated by the control command generation unit 2f to at least one of the multiple mobile bodies 1.

[0044] Next, use Figure 4 The method for avoiding encounters between multiple moving objects 1 is explained.

[0045] Figure 4 This is a diagram illustrating a method for avoiding encounters between multiple mobile bodies using the coordination control device for mobile bodies in Embodiment 1.

[0046] like Figure 4As shown in the previous paragraph, when it is determined that the first mobile body 1 and the second mobile body 1 encounter each other on mobile line A, the coordination control device 2 prioritizes the first mobile body 1, which has a higher priority. Specifically, the coordination control device 2 sends a movement command message to the first mobile body 1, which has a higher priority. The coordination control device 2 then sends a waiting command message to the second mobile body 1, which has a lower priority.

[0047] Mobile unit 1 begins traversing mobile line A based on a movement command message from the coordination control unit 2. Mobile unit 1 waits based on a waiting command message from the coordination control unit 2.

[0048] Then, the coordination control device 2 determines, based on the movement information of the first moving body 1, that the first moving body 1 has passed through movement line A. Additionally, as... Figure 4 As shown in the middle section, the coordination control device 2 directly receives information from the first mobile body 1 indicating that it has passed through the mobile line A, thereby knowing that the first mobile body 1 has passed through the mobile line A.

[0049] Then, as Figure 4 As shown in the lower section, the coordination control device 2 sends a movement command message to the second mobile body 1. The second mobile body 1 then travels along movement line A according to the movement command message from the coordination control device 2.

[0050] Next, use Figure 5 The mobile lines are explained.

[0051] Figure 5 This is a diagram illustrating the movement path of the facility for the coordination control device of the moving body in Implementation Method 1.

[0052] like Figure 5 As shown, the movement space of the facility is represented by a topology.

[0053] Multiple mobile lines become links. Each mobile line has a "path width" attribute value. The "path width" is set to the minimum path width within that mobile line.

[0054] The location where the path width of a mobile line changes is called a node. The location where a mobile line branches is called a node. The node of a mobile line is called a node.

[0055] Next, use Figure 6 The method for determining the repetition of the movement paths of multiple moving bodies 1 is explained.

[0056] Figure 6 This is a diagram illustrating a method for determining the repetition of movement paths of multiple mobile bodies using the coordination control device for mobile bodies in Embodiment 1.

[0057] like Figure 6As shown, when control command processing is performed for the first mobile body 1, the coordination control device 2 determines that the movement path of the first mobile body 1 is repeated in the previous one and the two previous movement paths from the current movement path of the first mobile body 1.

[0058] At this point, the range of movement routes for duplicate detection is appropriately set. For example, the range of movement routes for duplicate detection is fixed from the movement route at the current time point to a pre-set number of movement routes. Alternatively, the range of movement routes for duplicate detection may be varied based on the map's topology information and the path width of the movement routes.

[0059] Next, use Figure 7 The method for determining the encounter of multiple moving objects 1 is explained.

[0060] Figure 7 This is a diagram illustrating a method for determining the encounter of multiple mobile bodies using the coordination control device for mobile bodies in Embodiment 1.

[0061] exist Figure 7 On the left side, the probability that the first mobile body 1 and the second mobile body 1 will pass through the mobile line A at the same time is high. In this case, the coordination control device 2 determines that the first mobile body 1 and the second mobile body 1 will meet on the mobile line A.

[0062] exist Figure 7 On the right side, there is a high probability that the first mobile body 1 has already passed through mobile line A when the second mobile body 1 passes through mobile line A. In this case, the coordination control device 2 determines that the first mobile body 1 and the second mobile body 1 will not meet on mobile line A.

[0063] Next, use Figure 8 The method for determining whether multiple moving bodies 1 can intersect is explained.

[0064] Figure 8 This is a diagram illustrating a method for determining whether multiple moving bodies can interleave using the coordination control device for moving bodies in Embodiment 1.

[0065] Normally, the coordination control device 2 determines that multiple mobile bodies 1 can interleave if the total width of the mobile bodies 1 traveling simultaneously in the mobile line does not exceed the width of the passage.

[0066] Alternatively, the width of a person can be considered so that a person can pass through the movement path when multiple moving bodies 1 intersect.

[0067] In addition, such as Figure 8As shown, the width of the moving body 1, which includes the positioning error of the moving body 1, can also be considered to allow the moving bodies 1 to interleave safely. In this case, the coordination control device 2 can receive the positioning error information from the moving body 1 as the moving body information, or it can estimate the positioning error based on the historical moving body information.

[0068] Next, use Figure 9 The operation of the coordination control device 2 will be explained.

[0069] Figure 9 This is a flowchart illustrating the operation of the coordination control device for the moving body in Embodiment 1.

[0070] In step S1, the coordination control device 2 determines whether the moving object 1 has reached its destination.

[0071] If the moving object 1 has not reached its destination in step S1, the coordination control device 2 performs step S2. In step S2, the coordination control device 2 determines whether the moving object 1 is in motion.

[0072] If the moving object 1 is moving in step S2, the coordination control device 2 performs the action of step S2. If the moving object 1 is not moving in step S2, the coordination control device 2 performs the action of step S3.

[0073] In step S3, the coordination control device 2 determines whether the movement path of the object moving body 1 is the same as the movement path of other moving bodies 1.

[0074] If the movement path of object 1 is the same as the movement path of other moving objects 1 in step S3, the coordination control device 2 performs the action in step S4.

[0075] In step S4, the coordination control device 2 determines whether the target moving body 1 and the other moving body 1 can intersect in the corresponding moving line.

[0076] If the moving object 1 and the other moving object 1 cannot intersect in step S4, the coordination control device 2 performs the action in step S5.

[0077] In step S5, the coordination control device 2 determines whether the priority of the object moving body 1 is higher than the priority of the other moving body 1.

[0078] If the priority of object moving body 1 is not higher than the priority of other moving body 1 in step S5, the control device performs the action in step S6.

[0079] In step S6, the coordination control device 2 generates a waiting command message for the moving object 1. Then, the coordination control device 2 performs the action of step S1.

[0080] In step S3, if the movement path of object 1 does not overlap with the movement path of other 1, in step S4, if object 1 and other 1 can intersect, and in step S5, if the priority of object 1 is higher than the priority of other 1, the coordination control device 2 performs the action of step S7.

[0081] In step S7, the coordination control device 2 generates a travel command information for the moving object 1 to the next travel route. Then, the coordination control device 2 performs the action of step S1.

[0082] If the moving object 1 reaches its destination in step S1, the coordination control device 2 terminates its operation.

[0083] According to Embodiment 1 described above, when the coordination control device 2 determines that the multiple moving bodies 1 cannot intersect, it sends a waiting command message to at least one of the multiple moving bodies 1. Therefore, it is possible to prevent the movement time of a specific moving body 1 from becoming longer.

[0084] Furthermore, the coordination control device 2 determines whether the multiple mobile bodies 1 will encounter each other based on the time when they pass through the predetermined movement path. Therefore, it is possible to determine more accurately whether the multiple mobile bodies 1 will encounter each other.

[0085] Furthermore, the coordination control device 2 determines whether multiple moving bodies 1 can intersect based on the width of the movement path to be targeted, the size of the moving body 1 to be targeted, and the width that a person can walk on. Therefore, even when multiple moving bodies 1 intersect, it can suppress obstacles to a person's movement.

[0086] Furthermore, the coordination control device 2 determines whether multiple moving bodies 1 can interleave based on the path width of the moving line to be targeted, the size of the moving body 1 to be targeted, and the accuracy of the self-position estimation of the moving body 1 to be targeted. Therefore, even if the accuracy of the self-position estimation of the moving body 1 is low, it is still possible to accurately determine whether multiple moving bodies 1 can interleave.

[0087] Next, use Figure 10 An example of the coordination control device 2 will be explained.

[0088] Figure 10 This is a hardware structure diagram of the coordination control device for the moving body in Implementation Method 1.

[0089] The functions of the coordination control device 2 can be implemented through a processing circuit. For example, the processing circuit has at least one processor 100a and at least one memory 100b. For example, the processing circuit has at least one dedicated hardware 200.

[0090] When the processing circuit has at least one processor 100a and at least one memory 100b, the functions of the coordination control device 2 are implemented by software, firmware, or a combination of software and firmware. At least one of the software and firmware is described as a program. At least one of the software and firmware is stored in at least one memory 100b. The at least one processor 100a reads and executes the program stored in the at least one memory 100b, thereby implementing the functions of the coordination control device 2. The at least one processor 100a is also referred to as a central processing unit, processing device, arithmetic unit, microprocessor, microcomputer, or DSP. For example, the at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, a disk, floppy disk, optical disk, high-density disk, mini-disk, DVD, etc.

[0091] When the processing circuit has at least one dedicated hardware 200, the processing circuit is implemented, for example, by a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the coordination control device 2 is implemented by a separate processing circuit. For example, each function of the coordination control device 2 is implemented uniformly by a processing circuit.

[0092] Regarding the various functions of the coordination control device 2, some can be implemented by dedicated hardware 200, while others can be implemented by software or firmware. For example, the function of the interleaving determination unit 2e can be implemented by a processing circuit that is the dedicated hardware 200, and at least one processor 100a reads and executes the program stored in at least one memory 100b, thereby implementing functions other than the interleaving determination unit 2e.

[0093] In this way, the processing circuit implements the functions of the coordination control device 2 through hardware 200, software, firmware, or a combination thereof.

[0094] Although not illustrated, the functions of the management device 3 are implemented by the same processing circuit that implements the functions of the coordination control device 2.

[0095] Implementation Method 2

[0096] Figure 11 This is a block diagram of the coordination control device for the moving body in Embodiment 2. Furthermore, parts that are identical or equivalent to those in Embodiment 1 are labeled with the same reference numerals. Descriptions of these parts are omitted.

[0097] like Figure 11 As shown, the coordination control device 2 of Embodiment 2 is a device that adds a priority determination unit 2h to the coordination control device 2 of Embodiment 1.

[0098] The priority determination unit 2h determines the priority of the mobile body 1 based on its state. At this time, if the interleaving determination unit 2e determines that multiple mobile bodies 1 cannot be interleaved, the control command generation unit 2f generates waiting command information for the mobile body 1 with the lowest priority among the multiple mobile bodies 1.

[0099] Next, use Figure 12 The method for controlling the moving body 1 based on priority is explained.

[0100] Figure 12 This is a diagram illustrating a method for controlling a moving body according to priority using a coordination control device for a moving body in Embodiment 2.

[0101] Figure 12 The left side of the diagram shows the case where priorities are preset in each of the multiple moving bodies 1.

[0102] like Figure 12 As shown in the upper left section, when the priority of the first mobile body 1 is higher than that of the second mobile body 1, the coordination control device 2 gives priority to the first mobile body 1 regarding the passage of the mobile line.

[0103] For example, such as Figure 12 As shown in the middle section on the left, when the second mobile body 1 has entered the mobile line, the coordination control device 2 sends a movement command message to the first mobile body 1. The coordination control device 2 sends a control command message to the second mobile body 1, causing it to return to the intersecting mobile line and stop.

[0104] like Figure 12 As shown in the lower left section, after the first mobile body 1 passes through the mobile line, the coordination control device 2 sends a movement command message toward the second mobile body 1.

[0105] Figure 12 The right side shows the case where a higher priority is given to a mobile body 1 that has already entered a non-intersecting mobile line.

[0106] like Figure 12 As shown in the upper right section, when the second mobile body 1 has already entered the mobile line, the coordination control device 2 grants priority to the second mobile body 1 regarding passage through the mobile line. In this case, the coordination control device 2 sends a movement command message to the second mobile body 1. The coordination control device 2 also sends a waiting command message to the first mobile body 1.

[0107] like Figure 12 As shown in the lower right section, after the second mobile body 1 passes through the mobile line, the coordination control device 2 sends a movement command message toward the first mobile body 1.

[0108] Next, use Figure 13 The operation of the coordination control device 2 will be explained.

[0109] Figure 13 This is a flowchart illustrating the operation of the coordination control device for the moving body in Embodiment 2.

[0110] In step S11, the coordination control device 2 determines whether the moving object 1 has reached its destination.

[0111] If the moving object 1 has not reached its destination in step S11, the coordination control device 2 performs step S12. In step S12, the coordination control device 2 determines whether the moving object 1 is in motion.

[0112] If the moving object 1 is moving in step S12, the coordination control device 2 performs the action of step S12. If the moving object 1 is not moving in step S12, the coordination control device 2 performs the action of step S13.

[0113] In step S13, the coordination control device 2 determines whether the movement path of the object moving body 1 is the same as the movement path of other moving bodies 1.

[0114] If the movement path of the moving object 1 is repeated with the movement path of other moving objects 1 in step S13, the coordination control device 2 performs the action in step S14.

[0115] In step S14, the coordination control device 2 determines the priority of the object moving body 1 and the other moving bodies 1. Then, the coordination control device 2 performs the action in step S15.

[0116] In step S15, the coordination control device 2 determines whether the priority of the target moving body 1 is higher than the priority of the other moving body 1.

[0117] If the priority of object moving body 1 is not higher than the priority of other moving body 1 in step S15, the control device performs the action of step S16.

[0118] In step S16, the coordination control device 2 generates a waiting command message for the moving object 1. Then, the coordination control device 2 performs the action of step S11.

[0119] If the movement path of object 1 does not overlap with the movement path of other 1 in step S13, and if the priority of object 1 is higher than the priority of other 1 in step S15, the coordination control device 2 performs the action of step S17.

[0120] In step S17, the coordination control device 2 generates a travel command information for the moving object 1 to the next travel route. Then, the coordination control device 2 performs the action of step S11.

[0121] In step S11, if the moving object 1 reaches its destination, the coordination control device 2 terminates its operation.

[0122] According to Embodiment 2 described above, the coordination control device 2 determines the priority of the mobile body 1 based on its state. Therefore, it is possible to prioritize mobile bodies 1 that are performing important tasks.

[0123] Alternatively, a higher priority can be assigned to the faster-moving mobile body 1 among the multiple mobile bodies 1. In this case, the overall waiting time of the multiple mobile bodies 1 can be shortened.

[0124] Furthermore, the coordination control device 2 assigns a higher priority to mobile bodies 1 that have entered movement lines determined to be non-interleaving. Therefore, mobile bodies 1 do not need to retreat while waiting, and multiple mobile bodies 1 can be controlled efficiently.

[0125] Implementation Method 3

[0126] Figure 14 This is a block diagram of the coordination and control device for the moving body in Embodiment 3. Furthermore, parts that are the same as or equivalent to those in Embodiment 1 are labeled with the same reference numerals. Descriptions of these parts are omitted.

[0127] The coordination control device 2 of embodiment 3 is a device that adds a waiting area generation unit 2i to the coordination control device 2 of embodiment 1.

[0128] The waiting area generation unit 2i generates information about the area where the moving body 1 can wait. At this time, the control command generation unit 2f generates control command information based on the information generated by the waiting area generation unit 2i as waiting command information.

[0129] Next, use Figure 15 The method for setting up a waiting area is explained.

[0130] Figure 15 This is a diagram illustrating a method for setting a waiting area using the coordination control device of the moving body in Embodiment 3.

[0131] like Figure 15 As shown, when a waiting prohibition zone and a passage zone for moving body 1 are defined in the map information, the coordination control device 2 sets an area not included in that zone as a waiting zone. Alternatively, a waiting zone can be set as a passage zone that does not yet include people.

[0132] Areas that cannot be set as waiting areas can be predefined as map information or automatically defined based on the travel history of the moving body 1.

[0133] For example, a prohibited waiting area is an area where a moving object 1 cannot wait. Specifically, the perimeter of an emergency door and the perimeter of a staircase constitute prohibited waiting areas.

[0134] According to Embodiment 3 described above, the coordination control device 2 generates control command information for moving to an area that does not obstruct surrounding traffic as waiting command information. Therefore, it is possible to more reliably suppress obstruction of the passage of other moving bodies 1, etc.

[0135] Furthermore, the coordination control device 2 generates control command information that causes areas not included in the waiting prohibited zone to wait as waiting command information. Therefore, it is possible to more reliably suppress obstruction of the passage of other moving bodies 1, etc.

[0136] Implementation Method 4

[0137] Figure 16 This is a block diagram of the coordination and control device for the moving body in Embodiment 4. Furthermore, parts that are identical or equivalent to those in Embodiment 1 are labeled with the same reference numerals. Descriptions of these parts are omitted.

[0138] The coordination control device 2 of embodiment 4 is a device that adds a detour command generation unit 2j and a control command evaluation unit 2k to the coordination control device 2 of embodiment 1.

[0139] The detour command generation unit 2j generates detour command information for the mobile body 1, which, from its position (where the waiting command information was generated by the controlled command generation unit 2f) to its destination, detours along the same movement path as other mobile bodies 1. The control command evaluation unit 2k generates control command information from the waiting command information generated by the control command generation unit 2f and the detour command information generated by the detour command generation unit 2j, selecting the command information that allows for more efficient movement. At this time, the control command sending unit 2g sends the control command information generated by the control command evaluation unit 2k toward the mobile body 1.

[0140] Next, use Figure 17 The method for selecting the movement route of moving body 1 is explained.

[0141] Figure 17 This is a diagram illustrating a method for selecting the movement path of a mobile body using the coordination control device of the mobile body in Embodiment 4.

[0142] exist Figure 17 In the case where the priority of the first mobile body 1 is lower than that of the second mobile body 1, the coordination control device 2 compares the waiting situation and the detour situation of the first mobile body 1.

[0143] Specifically, such as Figure 17 As shown on the left side of the lower section, the coordination control device 2 generates control command information for the first moving body 1, causing the second moving body 1 to resume movement after it has passed the movement path. For example... Figure 17 As shown on the right side of the lower section, the coordination control device 2 generates control command information for traveling in the detour of the mobile route.

[0144] After selecting the control command information that can move more efficiently based on the comparison results, the coordination control device 2 sends it toward the first moving body 1.

[0145] Next, use Figure 18 and Figure 19 The operation of the coordination control device 2 will be explained.

[0146] Figure 18 and Figure 19 This is a flowchart illustrating the operation of the coordination control device for the moving body in Embodiment 4.

[0147] In step S21, the coordination control device 2 determines whether the moving object 1 has reached its destination.

[0148] If the moving object 1 has not reached its destination in step S21, the coordination control device 2 performs the action in step S22. In step S22, the coordination control device 2 determines whether the moving object 1 is in motion.

[0149] If the moving object 1 is moving in step S22, the coordination control device 2 performs the action of step S22. If the moving object 1 is not moving in step S22, the coordination control device 2 performs the action of step S23.

[0150] In step S23, the coordination control device 2 determines whether the movement path of the object moving body 1 is the same as the movement path of other moving bodies 1.

[0151] If the movement path of the moving object 1 is repeated with the movement path of other moving objects 1 in step S23, the coordination control device 2 performs the action in step S24.

[0152] In step S24, the coordination control device 2 determines whether the target moving body 1 and the other moving body 1 can intersect in the corresponding moving line.

[0153] If the moving object 1 and the other moving object 1 cannot intersect in step S24, the coordination control device 2 performs the action in step S25.

[0154] In step S25, the coordination control device 2 determines whether the priority of the target moving body 1 is higher than the priority of the other moving body 1.

[0155] If the priority of object moving body 1 is not higher than the priority of other moving body 1 in step S25, the control device performs the action of step S26.

[0156] In step S26, the coordination control device 2 generates a waiting command message for the moving object 1. Then, the coordination control device 2 performs the action in step S27. In step S27, the coordination control device 2 generates a detour command message for the moving object 1.

[0157] Then, the coordination control device 2 performs step S28. In step S28, the coordination control device 2 determines whether the content of the detour command information is more efficient than the content of the waiting command information.

[0158] If the content of the detour command information is not more efficient than the content of the waiting command information in step S28, the coordination control device 2 performs the action in step S29. In step S29, the coordination control device 2 sends the waiting command information toward the moving object 1. Then, the coordination control device 2 performs the action in step S21.

[0159] If, in step S28, the content of the detour command information is more efficient than the content of the waiting command information, the coordination control device 2 performs the action in step S30. In step S30, the coordination control device 2 sends the detour command information toward the moving object 1. Then, the coordination control device 2 performs the action in step S21.

[0160] In step S23, if the movement path of object 1 does not overlap with the movement path of other 1, in step S24, if object 1 and other 1 can intersect, and in step S25, if the priority of object 1 is higher than the priority of other 1, the coordination control device 2 performs the action of step S31.

[0161] In step S31, the coordination control device 2 generates a travel command information for the moving object 1 to the next travel route. Then, the coordination control device 2 performs the action of step S21.

[0162] In step S21, when the moving object 1 reaches its destination, the coordination control device 2 terminates its operation.

[0163] According to Embodiment 4 described above, the coordination control device 2 generates control command information that enables more efficient movement from among waiting command information and avoidance command information. Therefore, the moving object 1 can reach its destination in a shorter time.

[0164] Furthermore, in embodiments 1 to 4, a portion of the functions of the coordination control device 2 can also be implemented by the management device 3. For example, the functions of the map information storage unit 2a and the mobile body information storage unit 2b of the coordination control device 2 can also be implemented by the management device 3. In this case, it is also possible to suppress the increase in the movement time of a specific mobile body 1.

[0165] Industrial availability

[0166] As described above, the mobile body coordination control device and management system of the present invention can be used in a system for managing the movement of multiple mobile bodies.

[0167] Label Explanation

[0168] 1: Moving body; 2: Coordination and control device; 2a: Map information storage unit; 2b: Moving body information storage unit; 2c: Moving body information acquisition unit; 2d: Encounter determination unit; 2e: Interleaving determination unit; 2f: Control command generation unit; 2g: Control command sending unit; 2h: Priority determination unit; 2i: Waiting area generation unit; 2j: Detour command generation unit; 2k: Control command evaluation unit; 3: Management device; 100a: Processor; 100b: Memory; 200: Hardware.

Claims

1. A mobile body coordination control device, comprising: an encounter determination section that determines whether a plurality of mobile bodies inside a facility will encounter on a moving path of a predetermined movement; an interweavability determination section that, when the plurality of mobile bodies are determined to encounter by the encounter determination section, determines whether the plurality of mobile bodies can interweave on a moving line, which is obtained by dividing the moving path by a node that is a point at which a moving line passage width changes or a point at which a moving line branches, based on a passage width of a moving line as an object, a size of a mobile body as an object, and an accuracy of a self position estimation of a mobile body as an object; a control command generation section that generates waiting command information for at least one of the plurality of mobile bodies when the plurality of mobile bodies are determined to be unable to interweave by the interweavability determination section; and a control command transmission section that transmits the waiting command information generated by the control command generation section to at least one of the plurality of mobile bodies.

2. The mobile body coordination control device according to claim 1, wherein the encounter determination section determines whether the plurality of mobile bodies will encounter based on a time at which the plurality of mobile bodies pass through the moving path of the predetermined movement.

3. The mobile body coordination control device according to claim 1, wherein the coordination control device has a priority decision section that decides a priority of a mobile body based on a state of the mobile body, and the control command generation section generates the waiting command information for a mobile body of which the priority is low among the plurality of mobile bodies when the plurality of mobile bodies are determined to be unable to interweave by the interweavability determination section.

4. The mobile body coordination control device according to claim 2, wherein the coordination control device has a priority decision section that decides a priority of a mobile body based on a state of the mobile body, and the control command generation section generates the waiting command information for a mobile body of which the priority is low among the plurality of mobile bodies when the plurality of mobile bodies are determined to be unable to interweave by the interweavability determination section.

5. The mobile body coordination control device according to claim 3, wherein the priority decision section sets a higher priority to a mobile body of which a moving speed is faster among the plurality of mobile bodies.

6. The mobile body coordination control device according to claim 4, wherein the priority decision section sets a higher priority to a mobile body of which a moving speed is faster among the plurality of mobile bodies.

7. The mobile body coordination control device according to claim 3, wherein the priority decision section sets a higher priority to a mobile body that has already entered the moving line when the plurality of mobile bodies are determined to be unable to interweave by the interweavability determination section.

8. The mobile body coordination control device according to claim 4, wherein the priority decision section sets a higher priority to a mobile body that has already entered the moving line when the plurality of mobile bodies are determined to be unable to interweave by the interweavability determination section. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 9. The coordinated control device of a moving body according to any one of claims 1 to 8, wherein the control command generating section generates, as the waiting command information, control command information that causes movement to an area that does not impede the passage of surrounding moving bodies.

10. The coordinated control device of a moving body according to any one of claims 1 to 8, wherein the control command generating section generates, as the waiting command information, control command information that causes waiting in an area that is not included in the waiting prohibited area.

11. The coordinated control device of a moving body according to claim 9, wherein the control command generating section generates, as the waiting command information, control command information that causes waiting in an area that is not included in the waiting prohibited area.

12. The coordinated control device of a moving body according to any one of claims 1 to 8, wherein the coordinated control device of a moving body has: a detour command generating section that generates detour command information that detours in a moving path that is repeated with other moving bodies from a position of a moving body for which the control command generating section has generated waiting command information to a destination; and a control command evaluating section that generates, as control command information, command information that enables more efficient movement from among the waiting command information generated by the control command generating section and the detour command information generated by the detour command generating section, the control command transmitting section transmits, toward the moving body, control command information generated by the control command evaluating section.

13. The coordinated control device of a moving body according to claim 9, wherein the coordinated control device of a moving body has: a detour command generating section that generates detour command information that detours in a moving path that is repeated with other moving bodies from a position of a moving body for which the control command generating section has generated waiting command information to a destination; and a control command evaluating section that generates, as control command information, command information that enables more efficient movement from among the waiting command information generated by the control command generating section and the detour command information generated by the detour command generating section, the control command transmitting section transmits, toward the moving body, control command information generated by the control command evaluating section.

14. The coordinated control device of a moving body according to claim 10, wherein the coordinated control device of a moving body has: a detour command generating section that generates detour command information that detours in a moving path that is repeated with other moving bodies from a position of a moving body for which the control command generating section has generated waiting command information to a destination; and a control command evaluating section that generates, as control command information, command information that enables more efficient movement from among the waiting command information generated by the control command generating section and the detour command information generated by the detour command generating section, the control command transmitting section transmits, toward the moving body, control command information generated by the control command evaluating section.

15. The coordinated control device of a moving body according to claim 11, wherein the coordinated control device of a moving body has: ​ ​ ​ a detour command generation section that generates detour command information for detouring in a movement path that is repeated with other mobile bodies from a position of a mobile body for which the waiting command information is generated by the control command generation section to a destination; and a control command evaluation section that generates, as control command information, command information that enables more efficient movement from among the waiting command information generated by the control command generation section and the detour command information generated by the detour command generation section, the control command transmission section transmits the control command information generated by the control command evaluation section toward the mobile body.

16. The coordinated control device of a mobile body according to any one of claims 1 to 8, wherein the possibility of interleaving determination section determines whether the plurality of mobile bodies as the object can be interleaved based on a width of a movement line as the object, a size of the mobile body as the object, and a width in which a person can walk.

17. The coordinated control device of a mobile body according to claim 9, wherein the possibility of interleaving determination section determines whether the plurality of mobile bodies as the object can be interleaved based on a width of a movement line as the object, a size of the mobile body as the object, and a width in which a person can walk.

18. The coordinated control device of a mobile body according to claim 10, wherein the possibility of interleaving determination section determines whether the plurality of mobile bodies as the object can be interleaved based on a width of a movement line as the object, a size of the mobile body as the object, and a width in which a person can walk.

19. The coordinated control device of a mobile body according to claim 11, wherein the possibility of interleaving determination section determines whether the plurality of mobile bodies as the object can be interleaved based on a width of a movement line as the object, a size of the mobile body as the object, and a width in which a person can walk.

20. The coordinated control device of a mobile body according to claim 12, wherein the possibility of interleaving determination section determines whether the plurality of mobile bodies as the object can be interleaved based on a width of a movement line as the object, a size of the mobile body as the object, and a width in which a person can walk.

21. The coordinated control device of a mobile body according to claim 13, wherein the possibility of interleaving determination section determines whether the plurality of mobile bodies as the object can be interleaved based on a width of a movement line as the object, a size of the mobile body as the object, and a width in which a person can walk.

22. The coordinated control device of a mobile body according to claim 14, wherein the possibility of interleaving determination section determines whether the plurality of mobile bodies as the object can be interleaved based on a width of a movement line as the object, a size of the mobile body as the object, and a width in which a person can walk.

23. The coordinated control device of a mobile body according to claim 15, wherein the possibility of interleaving determination section determines whether the plurality of mobile bodies as the object can be interleaved based on a width of a movement line as the object, a size of the mobile body as the object, and a width in which a person can walk.

24. A management system of a mobile body, the management system of a mobile body having: A management device that stores information of positions, moving speeds, moving paths to destinations, and information of a map for calculating the moving paths of a plurality of moving bodies; and The coordinated control device according to any one of claims 1 to 23, wherein whether the plurality of moving bodies will encounter and whether the plurality of moving bodies can be interleaved are determined based on the information stored in the management device, and when the plurality of moving bodies cannot be interleaved, a wait command information is transmitted to at least one of the plurality of moving bodies.

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