METHOD FOR CONTROLLING A MOBILE OBJECT, MOBILE OBJECT AND COMPUTER-READABLE STORAGE MEDIUM

Abstract

A method for controlling a mobile object that moves automatically includes: detecting, by means of a sensor provided in the mobile object, an object to be detected in a direction in which the mobile object returns to a passage running along an arrangement area in which an object can be arranged when the mobile object passes through the passage, enters the arrangement area from the passage to perform cargo handling, and then returns to the passage; and setting a travel path in the passage based on a result of the detection.

Description

Area

[0001] The present disclosure relates to a method for controlling a mobile object, a mobile object and a computer-readable storage medium. background

[0002] A mobile object is known that includes a sensor for detecting its environment and moves automatically. For example, patent literature 1 discloses a configuration in which a mobile object stops when an obstacle is detected by a sensor. List of references to patent literature

[0003] Patent literature 1: Japanese published patent application no. 2023-167210 Summary / Technical Problem

[0004] For the mobile object described above, it is necessary to set a travel route according to the sensor's detection result.

[0005] The present disclosure was made in view of the foregoing, and one object of the present disclosure is to provide a method for controlling a mobile object and a computer-readable storage medium that can set a driving route according to the detection result of a sensor. Solution to the problem

[0006] A method according to one aspect of the present disclosure serves to control a mobile object that moves automatically and includes: detecting, by means of a sensor provided in the mobile object, an object to be detected in a direction in which the mobile object returns to a passage running along an arrangement surface in which an object can be arranged when the mobile object passes through the passage, enters the arrangement surface from the passage to perform cargo handling, and then returns to the passage; and setting a travel path in the passage based on a result of the detection.

[0007] A mobile object according to another aspect of the present disclosure moves automatically and includes: a sensor configured to detect an object to be detected in a direction in which the mobile object returns to a passage running along an arrangement surface in which an object can be arranged when the mobile object passes through the passage, enters the arrangement surface from the passage to perform cargo handling, and then returns to the passage; and a control unit configured to set a travel path in the passage based on a detection result of the sensor.

[0008] A computer program for controlling an automatically moving mobile object is stored on a computer-readable storage medium, as described in yet another aspect of the present disclosure. The computer program causes the computer to: detect, by means of a sensor provided in the mobile object, an object to be detected in a direction in which the mobile object returns to a passageway running along an arrangement surface in which an object can be arranged when the mobile object passes through the passageway, enters the arrangement surface from the passageway to perform cargo handling, and then returns to the passageway; and set a travel path in the passageway based on the result of the detection. Advantageous effects of the invention

[0009] According to the present disclosure, it is possible to set a driving distance according to the detection result of a sensor. Brief description of the drawings Fig. Figure 1 is a schematic diagram of a motion control system according to the present embodiment. Fig. 2A is a schematic side view of a mobile object. Fig. 2B is a diagram that schematically illustrates an example of a stop area relating to a second sensor. Fig. 2C is a diagram that schematically illustrates a stop area when the mobile object rotates. Fig. Figure 3 is a schematic block diagram of an administrative device. Fig. Figure 4 is a schematic block diagram of an information processing device. Fig. Figure 5 is a schematic diagram to illustrate a path. Fig. Figure 6 is a schematic block diagram of a control device for the mobile object. Fig. Figure 7A is a diagram that schematically illustrates an example of the detection result of a detection control unit. Fig. Figure 7B is a diagram that schematically illustrates a process of detecting the position of an object to be detected by the detection control unit. Fig. 7C is a diagram that schematically illustrates a process of detecting the position of an object to be detected by the detection control unit. Fig. Figure 8 is a diagram illustrating an example of a turning lane. Fig. Figure 9 is a diagram illustrating an example of a turning lane. Fig. Figure 10 is a schematic diagram to explain how to reset the path. Fig. Figure 11 is a schematic diagram to explain how to reset the path. Fig. Figure 12 is a flowchart to explain the processing sequence according to the present embodiment. Fig. Figure 13 is a schematic diagram to illustrate another example of resetting the path. Description of the embodiments

[0010] The following describes in detail embodiments of a method for controlling a mobile object, a mobile object and a computer-readable storage medium according to the present disclosure with reference to the accompanying drawings. The invention is not limited to the exemplary embodiments. Furthermore, components in the following embodiments include those that can be easily replaced by a person skilled in the art or those that are essentially the same.

[0011] Fig. Figure 1 is a schematic diagram of a motion control system according to the present embodiment. As shown in Figure 1, the system is a static, static, and static, ... Fig. 1 comprises a motion control system 1 according to the first embodiment, a mobile object 10, a management device 12, and an information processing device 14. The motion control system 1 is a system that controls the movement of the mobile object 10, which belongs to a facility W. The facility W is a facility where the distribution of goods is managed, such as a warehouse. However, the facility W can also be any facility in which the mobile object 10 is used. In the motion control system 1, the mobile object 10 picks up an object P located in a unit area A within an area AR of the facility W and transports the object P. It should be noted that the unit area A serves as the origin and destination of the transport of the object P.The area AR is an area in which object P is installed or in which the mobile object 10 moves, and is, for example, the floor surface of the facility W. In the present embodiment, the object to be transported by the mobile object 10 is cargo loaded onto a pallet. However, object P is not limited to cargo loaded onto a pallet and can have any shape. For example, object P can be cargo without a pallet. Furthermore, the mobile object 10 is not limited to that which transports object P and can also be a device that moves within the facility W for any purpose.

[0012] In the following, a direction along surface AR is referred to as the X-direction, and a direction along surface AR that intersects the X-direction is referred to as the Y-direction. In the present embodiment, the Y-direction is a direction orthogonal to the X-direction. The X-direction and the Y-direction can also be referred to as directions along the horizontal plane. Furthermore, a direction orthogonal to both the X-direction and the Y-direction, more precisely a direction perpendicular upwards, is referred to as the Z-direction. Moreover, in the present embodiment, unless otherwise specified, "position" refers to a position (coordinates) in a coordinate system on the two-dimensional plane of surface AR (coordinate system of surface AR).Unless otherwise specified, the “attitude (orientation)” of the mobile object 10 or the like further specifies the orientation of the mobile object 10 or the like in the coordinate system of the area AR and, viewed from the Z direction, is the yaw angle (rotation angle) of the mobile object 10 when the X direction is set to 0 degrees.

[0013] In the present embodiment, the area AR comprises an arrangement area AR1 and an arrangement area AR2. Arrangement areas AR1 and AR2 each extend in the Y-direction and can accommodate multiple objects P such that they are oriented in the Y-direction. Arrangement areas AR1 and AR2 are positioned on either side of a passage TR in the X-direction. In other words, arrangement areas AR1 and AR2 are positioned with the passage TR located between them in the X-direction. The passage TR extends in the Y-direction and allows the mobile object 10 to move through it. Waypoint

[0014] A waypoint is placed at each position (coordinate) in area AR. A path (a reference path R0, described below) along which the mobile object 10 moves is defined by connecting the waypoints. That is, the path obtained by connecting the waypoints along which the mobile object 10 is scheduled to travel is the reference path R0 of the mobile object 10. The waypoints are placed according to the layout of the facility W. For example, the waypoints are placed in matrix form in area AR. Mobile object

[0015] Fig. Figure 2A is a schematic side view of a mobile object according to one embodiment. In the present embodiment, the mobile object 10 is a non-holonomic system that cannot move horizontally. In the present embodiment, the mobile object 10 is a device capable of transporting an object (cargo). Furthermore, in the present embodiment, the mobile object 10 is a forklift truck; more precisely, the mobile object 10 is a so-called automated guided vehicle (AGV) or automated guided forklift (AGF). However, the mobile object 10 need not be a forklift truck transporting an object and can be any device capable of automatic movement.

[0016] According to the representation in Fig. 2A comprises the mobile object 10, a vehicle body 20, wheels 20A, spreader legs 21, a mast 22, a fork 24, a first sensor 25, second sensors 26, an inertial measurement device 27, and a control device 28. The spreader legs 21 are a pair of wave-like elements provided at one end of the vehicle body 20 in a longitudinal direction and projecting from the vehicle body 20. The wheel 20A is provided at the front end of each of the spreader legs 21 and on the vehicle body 20. There are a total of three wheels 20A. However, the position and number of wheels 20A are optional. The mast 22 is movably attached to the spreader leg 21 and moves in the longitudinal direction of the vehicle body 20. The mast 22 extends along a vertical direction. The fork 24 is attached to the mast 22 in a way that allows movement in the vertical direction.The fork 24 can also be movable in a lateral direction of the vehicle body 20 (direction intersecting the vertical and longitudinal directions) relative to the mast 22. The fork 24 has a pair of claws 24A and 24B. The claws 24A and 24B extend from the mast 22 in the rearward direction of the vehicle body 20. The claw 24A and claw 24B are spaced apart from each other in the lateral direction of the mast 22. Hereinafter, in the longitudinal direction, the direction of the side on which the fork 24 is not deployed in the mobile object 10 is referred to as the forward direction, and the direction of the side on which the fork 24 is deployed is referred to as the rearward direction.In the present embodiment, the mobile object 10 can, for example, rotate in place (heel rotation) without changing the position of the point 10p representative of the vehicle body, such as the center of the vehicle body.

[0017] The first sensor 25 is located at a first height position H1 of the mobile object 10. It should be noted that the height position is the upward distance from the lowest point of the mobile object 10 (i.e., the ground point of the wheel 20A). The first height position H1 corresponds to an upper part of the mobile object 10. The first sensor 25 is installed at the upper end of a support element 23 that extends upward from the vehicle body 20. The first height position H1 is located near the top of the mast 22. However, the position of the first sensor 25 is not limited to this; the first sensor 25 can be located at any position, and the number of first sensors 25 is also optional.

[0018] The first sensor 25 detects a detectable object located in the vicinity of the mobile object 10. The first sensor 25 detects at least one detectable object present in the vicinity of the mobile object 10 in a direction lying in the plane parallel to the surface forming the AR area (ground surface). In other words, the first sensor 25 has at least one detection area along a horizontal direction. As shown in Fig. 2A the first sensor 25 detects an object to be detected that is located in the vicinity of the mobile object 10.

[0019] The first sensor 25, for example, is a sensor that emits a laser beam. The first sensor 25 emits a laser beam while scanning in a predetermined direction and detects a target object through the reflected light of the emitted laser beam. That is, the first sensor 25 can be a so-called two-dimensional (2D) Light Detection and Ranging (LiDAR) system.

[0020] The first sensor 25 primarily detects the wall surface that defines the AR area and a shield element positioned at a high point within the AR area. The shield element has a reflective component that reflects the laser beam and is positioned at a predetermined location to serve as a marker (landmark) indicating a specific position within the AR area. The first sensor 25 primarily serves to identify the self-position (current position) of the mobile object 10 within the AR area.

[0021] The second sensors 26 are arranged at a second height position H2 of the mobile object 10. The second height position H2 is a position that differs from the first height position H1. In the present embodiment, the second height position H2 is one position lower than the first height position H1. The second height position H2 corresponds to a lower part of the mobile object 10. The second height position H2 is located around the lower surface of the mobile object 10. The second sensor 26 is provided at one end of each of the spreader legs 21 in the rearward direction and at each left and right end part on the front surface of the vehicle body 20. In other words, the second sensors 26 are arranged at four corners of the mobile object 10 in a top view.In the following, the second sensor 26 on the front of the mobile object 10 is referred to as second sensor 26F, and the second sensor 26 on the rear of the mobile object 10 is referred to as second sensor 26R. However, the position of the second sensor 26 is not limited to these locations, and the second sensor 26 can be positioned anywhere. The number of second sensors 26 is optional.

[0022] The second sensor 26 detects a detectable object located in the vicinity of the mobile object 10. The second sensor 26 detects at least one detectable object present in the vicinity of the mobile object 10 in the plane-lying direction parallel to the surface (ground surface) that forms area AR. In other words, the second sensor 26 has at least one detection area along the horizontal direction. The detection area of ​​the second sensor 26 includes a deceleration area and a stop area. If a detectable object is detected in the deceleration area with respect to the second sensor 26, the speed of the mobile object 10 is controlled to decrease. Furthermore, if a detectable object is detected in the stop area with respect to the second sensor 26, the movement of the mobile object 10 is controlled to stop. Fig. 2B is a diagram that schematically illustrates an example of a stop area DA relating to the second sensor 26. The left diagram in Fig. Figure 2B shows an example of the stop surface DA when the mobile object 10 moves backwards, and the diagram on the right in Fig. Figure 2B shows an example of the stop area DA when the mobile object 10 moves forward. According to the illustration in Fig. 2B, the stop area DA relating to the second sensor 26 is enlarged in the direction of movement (travel direction) of the mobile object 10. In other words, if the direction of movement of the mobile object 10 is backward, the stop area DA is enlarged on the rear of the mobile object 10 and decreased on the front. If the direction of movement of the mobile object 10 is forward, the stop area DA is further enlarged on the front of the mobile object 10 and decreased on the rear.

[0023] Fig. 2C is a diagram that schematically illustrates the stop area DA when the mobile object 10 rotates while moving backward, and when the mobile object 10 rotates while moving forward. Fig. In 2C, a case in which the mobile object 10 enters the array surface AR1 by rotating and moving backwards from the passage TR is compared with a case in which the mobile object 10 returns to the passage TR by rotating and moving forwards from the array surface AR1. In both cases, the mobile object 10 moves along the same path. According to the representation in Fig. 2C, when the mobile object 10 enters the arrangement area AR1 by rotating and moving backward from the passage TR, the stop area DA with respect to the second sensor 26F is narrowed. Thus, a predetermined interval or more is formed between the stop area DA and the object P in the arrangement area AR2. In contrast, when the mobile object 10 returns to the passage TR from the arrangement area AR1 by rotating and moving forward, the stop area DA with respect to the second sensor 26F is enlarged. Thus, the interval between the stop area DA and the object P in the arrangement area AR2 is narrower than when the mobile object 10 moves backward.

[0024] The second sensor 26, for example, is a sensor that emits a laser beam. The first sensor 26 emits a laser beam while scanning in a predetermined direction and detects the position of an object to be detected by the reflected light of the emitted laser beam. That is, the second sensor 26 can also be a so-called two-dimensional (2D) LiDAR.

[0025] The second sensor 26 primarily detects obstacles that are present on the ground surface of the AR area and that can come into contact with the mobile object 10.

[0026] It should be noted that the first sensor 25 and the second sensor 26 are not limited to two-dimensional (2D) LiDAR and can also be sensors that detect an object using any method. For example, the first sensor 25 and the second sensor 26 can be so-called three-dimensional (3D) LiDARs that scan in a variety of directions, or they can also be so-called one-dimensional (1D) LiDARs that do not scan, or cameras.

[0027] The inertial measurement device 27 is a device that measures the acceleration and angular velocity of the mobile object 10 and is also referred to as an inertial measurement unit (IMU). The inertial measurement device 27 outputs data on each acceleration along the three orthogonal axes in the mobile object's coordinate system, which is attached to the inertial measurement device 27, and on the angular velocity about each axis. Based on the chronological output data of the inertial measurement device 27 over time from a specific point in time, changes in the position and direction of the mobile object 10 can be calculated from that specific point in time. Administrative device

[0028] Fig. Figure 3 is a schematic block diagram of the management device. The management device 12 is a system that manages the distribution of goods in facility W. In the present embodiment, the management device 12 is a warehouse control system (WCS) or a warehouse management system (WMS). However, the management device 12 is not limited to the WCS and the WMS and can be any system. For example, the management device 12 can be a back-end system, such as another production management system. The installation location of the management device 12 is optional. The management device 12 can be located within facility W or it can be located at a remote location and manage facility W from the remote location. The management device 12 is a computer, and as shown in Figure 3, it is a computer. Fig. 3 includes a communication unit 30, a storage unit 32 and a control unit 34.

[0029] The communication unit 30 is a module used by the control unit 34 to communicate with an external device, such as the information processing device 14. For example, the communication unit 30 may include an antenna and the like. In the present embodiment, the communication method used by the communication unit 30 is wireless communication. However, any communication method can be used. The storage unit 32 is a memory that stores various types of information, such as computational data and computer programs of the control unit 34. For example, the storage unit 32 includes at least one main memory device, such as random access memory (RAM) and read-only memory (ROM), and one external storage device, such as a hard disk drive (HDD).

[0030] The control unit 34 is an arithmetic device and includes, for example, an arithmetic circuit such as a central processing unit (CPU). The control unit 34 includes a work unit 36. The control unit 34 implements the work unit 36 ​​and executes the process by reading and executing a computer program (software) from the memory unit 32. It should be noted that the control unit 34 can execute the process using a single CPU or it can include multiple CPUs and execute the process using these CPUs. Furthermore, the work unit 36 ​​can be implemented using a hardware circuit. Additionally, a computer program stored in the memory unit 32 can be stored for the control unit 34 in a computer-readable storage medium that can be read by the management device 12 (the CPU) to execute the computer program.

[0031] The work definition unit 36 ​​determines the object P, which is an object to be transported. In particular, the work definition unit 36 ​​determines, for example, based on the entered work plan, the work content, which specifies information about the object P, which is an object to be transported. The work content can also be described as information specifying the object P, which is an object to be transported. In the example of the present embodiment, the work content determines which object P is to be transported in which facility, by when, and to where. That is, the work content consists of information specifying the facility W in which the target object P is stored, the target object P, the transport destination of object P, and the transport time of object P. The work definition unit 36 ​​transmits the determined work content to the information processing device 14 via the communication unit 30.It should be noted that the work determination unit 36 ​​is not an essential component in the present embodiment. Information processing device

[0032] Fig. Figure 4 is a schematic block diagram of an information processing device. The information processing device 14 is installed in the facility W and is a device that calculates at least information about the movement of the mobile object 10 and the like. The information processing device 14 is a so-called ground system. The information processing device 14 is a computer, and according to the representation in Fig. The embodiment 4 comprises a communication unit 40, a storage unit 42, and a control unit 44. The communication unit 40 is a module used by the control unit 44 to communicate with an external device, such as the management device 12 and the mobile object 10. For example, the communication unit 40 may include an antenna and the like. In the present embodiment, the communication method used by the communication unit 40 is wireless communication. However, any communication method can be used. The storage unit 42 is a memory that stores various types of information, such as computational data and computer programs of the control unit 44. For example, the storage unit 42 includes at least one main memory device, such as RAM and ROM, and one external storage device, such as a hard disk.It should be noted that in the present embodiment, the management device 12 and the information processing device 14 are separate devices. However, the management device 12 and the information processing device 14 can also be an integrated device. That is, the management device 12 can also have at least some of the functions of the information processing device 14, and the information processing device 14 can also have at least some of the functions of the management device 12.

[0033] The control unit 44 is an arithmetic device and includes an arithmetic circuit, such as a CPU. The control unit 44 includes a work content acquisition unit 50, a mobile object selection unit 52, and a path setting unit 54. The control unit 44 implements the work content acquisition unit 50, the mobile object selection unit 52, and the path setting unit 54 and executes the processes by reading and executing a computer program (software) from the memory unit 42. It should be noted that the control unit 44 can execute these processes using a single CPU or it can include a plurality of CPUs and execute the processes using these CPUs. Furthermore, at least some of the work content acquisition unit 50, the mobile object selection unit 52, and the path setting unit 54 can be implemented by a hardware circuit.Furthermore, a computer program stored in the memory unit 42 for the control unit 44 can be stored in a computer-readable storage medium which can be read by the (CPU of the) information processing device 14 in order to execute the computer program.

[0034] The work content acquisition unit 50 acquires information about the work content determined by the management device 12, i.e., information about object P, which is an object to be transported. From the information about object P in the work content, the work content acquisition unit 50 specifies the unit area A, which serves as the origin of transport, and a destination for object P. The mobile object selection unit 52 selects the mobile target object 10. For example, the mobile object selection unit 52 selects the mobile target object 10 from a plurality of mobile bodies belonging to the facility W. The mobile object selection unit 52 can select the mobile target object 10 using any method. It should be noted that the work content acquisition unit 50 and the mobile object selection unit 52 are not essential components in the present embodiment.

[0035] Based on the position information of the unit area A of the transport origin and the transport destination of the object P, the path setting unit 54 defines a path R1 from the current position of the mobile object 10 in the direction of the unit area A of the transport origin and the unit area A of the transport destination. Fig. Figure 5 is a schematic diagram illustrating path R1. Path R1 is a trace in the coordinate system of surface AR, as it is based on the coordinate system of surface AR's two-dimensional plane (AR's coordinate system). However, it is not limited to this, and path R1 can also be a trace in the global coordinate system. In the following description, the Y-direction can be referred to as a first direction D1, and the direction opposite to the Y-direction can be referred to as a second direction D2.

[0036] In the present embodiment, the path setting unit 54 defines the path R1 such that it includes a track R1a, a track R1b, a track R1c, and a track R1d. Track R1a is a track to a predetermined position B. Track R1b is a track connected to track R1a and extends in the opposite direction to the Y-direction from the predetermined position B to a predetermined position C on one side of a target position A0. Track R1c is a track connected to track R1b and extends in the opposite direction to the X-direction from the predetermined position C to the target position A0. Track R1c can be a track that rotates the mobile object 10, thus switching the feed direction of the mobile object 10 from the direction towards the Y-direction to the direction opposite to the X-direction.Track R1d is a track leading towards a predetermined position (for example, the destination of object P or the like) by passing through passage TR from the target position A0. Predetermined position B can be set optionally and can be a position before the mobile object 10 enters passage TR between surface AR1 and surface AR2 by a predetermined distance. Predetermined position C can also be set optionally and can, for example, be a position in passage TR that has passed target position A0 by a predetermined distance in the opposite direction to the Y-direction. The path setting unit 54 transmits information about the set path R1 to the mobile target object 10 via the communication unit 40.

[0037] It should be noted that in the present embodiment, the management device 12 and the information processing device 14 are separate devices. However, the management device 12 and the information processing device 14 can also be an integrated device. That is, the management device 12 can also have at least some of the functions of the information processing device 14, and the information processing device 14 can also have at least some of the functions of the management device 12. Control device of the mobile object

[0038] Next, the control device 28 of the mobile object 10 will be described. Fig. Figure 6 is a schematic block diagram of a control device for the mobile object. The control device 28 is a device that controls the movement of the mobile object 10. The control device 28 is a computer, and according to the representation in Figure 6, it is a computer. Fig. The assembly 6 comprises a communication unit 60, a storage unit 62, and a control unit 64. The communication unit 60 is a module used by the control unit 64 to communicate with an external device, such as the information processing device 14. For example, the communication unit 60 may include an antenna and the like. In the present embodiment, the communication method used by the communication unit 60 is wireless communication. However, any communication method can be used. The storage unit 62 is a memory that stores various types of information, such as computational data and computer programs of the control unit 64. For example, the storage unit 62 includes at least one input from a main memory device, such as RAM and ROM, and one input from an external storage device, such as a hard disk.

[0039] The control unit 64 is an arithmetic device and includes an arithmetic circuit, such as a CPU. The control unit 64 includes a path detection unit 70, a motion control unit 72, and a detection control unit 74. The control unit 64 implements the path detection unit 70, the motion control unit 72, and the detection control unit 74 and executes the processes by reading and executing a computer program (software) from the memory unit 62. It should be noted that the control unit 64 can execute these processes using a single CPU or it can include multiple CPUs and have the processes executed by these CPUs. Furthermore, at least some of the path detection unit 70, the motion control unit 72, and the detection control unit 74 can be implemented by a hardware circuit.Furthermore, a computer program stored in the memory unit 62 for the control unit 64 can be stored in a computer-readable storage medium which can be read by the (CPU of the) control device 28 in order to execute the computer program.

[0040] The path acquisition unit 70 acquires information about path R1. The path acquisition unit 70 can acquire information about path R1 from the information processing device 14 if the mobile object 10 is selected as a work target, or it can read information about path R1 stored in the memory unit 62 beforehand. Furthermore, the path acquisition unit 70 does not need to acquire path R1 from the information processing device 14, and the path acquisition unit 70 itself can determine path R1.

[0041] The motion control unit 72 controls the movement of the mobile object 10 by controlling a motion mechanism, such as a drive unit, and steering the mobile object 10. The motion control unit 72 moves the mobile object 10 along path R1. The motion control unit 72 moves the mobile object 10 to traverse path R1 by sequentially receiving the position information of the mobile object 10. The method for acquiring the position information of the mobile object 10 is optional.

[0042] The detection control unit 74 causes the first sensor 25 and the second sensor 26 to detect an object and records the detection result. A specific process of the detection control unit 74 is described below.

[0043] Processing of the motion control system The processing contents of a motion control system 100 are described below.

[0044] In the administrative device 12, the work determination unit 36 ​​defines the object P, which is an object to be transported. The work determination unit 36 ​​transmits the defined work content via the communication unit 30 to the information processing device 14.

[0045] In the information processing device 14, the work content acquisition unit 50 captures information about the work content determined by the management device 12. From the information about object P in the work content, the work content acquisition unit 50 specifies the unit area A serving as the origin of transport and a destination for object P. The mobile object selection unit 52 selects the mobile destination object 10. Based on the position information of the unit area A of the origin of transport and the destination of object P, the path setting unit 54 defines the path R1 from the current position of the mobile object 10 towards the unit area A of the origin of transport and the unit area A of the destination of transport. The path setting unit 54 transmits the defined path R1 to the mobile object 10.

[0046] In the mobile object 10, the path detection unit 70 of the control device 28 detects the path R1 transmitted by the information processing device 14. The motion control unit 72 moves the mobile object 10 to traverse path R1 from the current position of the mobile object 10. The detection control unit 74 causes the first sensor 25 and the second sensor 26 to perform a detection.

[0047] The mobile object 10 moves through passage TR along path R1, enters the target position A0 in the layout area AR1, and performs a cargo transfer. In this example, the mobile object 10 picks up object P, which is located in unit area A of the layout area AR1. It should be noted that the same explanation applies if object P is located in unit area A of the layout area AR1.

[0048] When the mobile object 10 returns from the target position A0 to the passage TR, a detectable object is detected in the direction in which the mobile object 10 returns to the passage TR. Fig. Figure 7A is a diagram that schematically illustrates an example of the detection result of the detection control unit 74. This is a schematic diagram to explain the path reset. According to the representation in Fig. 7A detects the position of an object to be detected in the direction in which the mobile object 10 returns to the passage TR, based on the detection results of the first sensor 25 and the second sensor 26. Fig. 7B and Fig. Figures 7C are each a diagram that schematically illustrates the process of detecting the position of an object to be detected by the detection control unit 74. According to the representation in Fig. 7B, the detection control unit 74 can determine a position S1 of the object to be detected based on previously acquired information, such as the arrangement information of object P in the arrangement area AR1. In the example of Fig. 7B, the detection control unit 74 can detect position S1 along the position of the planned object P as the position of the object to be detected. Furthermore, according to the illustration in Fig. 7C The detection control unit 74 can further detect a position S2 of the object to be detected based on the detection result of the second sensor 26F on the front of the mobile object 10. In the present embodiment, the detection control unit 74 combines the positions of the object to be detected based on the position S1 of the object to be detected, as shown in Figure 7C. Fig. 7B and the position S2 of the object to be detected according to the representation in Fig. 7C. According to the representation in Fig. 7A The detection control unit 74 can detect the combined position as a position S of the object to be detected. It should be noted that the detection control unit 74 can detect position S only based on position S2 without using position S1, in addition to detecting position S by combining position S1 and position S2.

[0049] Based on the detection results of the objects S1 and S2 to be detected, the detection control unit 74 detects whether object P protrudes from the arrangement surface (opposite arrangement surface) AR2, which is located at a position above the arrangement surface AR1 where the target position A0 is set, towards the passage TR, with the passage TR situated between them. Upon detecting that object P protrudes towards the passage TR, the detection control unit 74 determines by how much object P protrudes towards the passage TR. For example, the detection control unit 74 determines whether object P interferes with the mobile object 10 when the mobile object 10 returns to the passage TR (whether object P (position S) is contained in the delay area or the stop area pertaining to the second sensor 26).In this case, the detection control unit 74 determines whether object P interferes with the mobile object 10 in both directions of travel (first direction D1 and second direction D2) when the mobile object 10 returns to passage TR. Furthermore, the detection control unit 74 determines, based on the turning path of the mobile object 10, whether object P interferes with the mobile object 10. Fig. 8 and Fig. Figure 9 is a diagram illustrating an example of a turning path. The turning path of the mobile object 10 includes a first turning path Ra, in which the mobile object 10 rotates as it advances, as shown in Figure 9. Fig. 8, and a second turning track Rb, in which the mobile object 10 stops, advances and turns on the spot (heel rotation) without changing the position of the point 10p representing the vehicle body, as shown in Fig. 9. The detection control unit 74 determines whether object P is interfering with mobile object 10 in each of the first turning lane Ra and the second turning lane Rb. It should be noted that in path R1, the direction of travel is assumed to be a route passing through the target position A0 along the first direction D1, and the turning lane is a route that leads mobile object 10 back to the passage TR through the first turning lane Ra. The detection control unit 74 transmits the result of its determination to the information processing device 14.

[0050] As described above, the stop area DA of the second sensor 26 is enlarged in the direction of movement (travel direction) of the mobile object 10. Therefore, when the mobile object 10 enters the arrangement area AR1 to perform cargo handling and then returns to the passage TR, the object P in the arrangement area AR2, which has not disturbed the deceleration area or the stop area relating to the second sensor 26F at the front of the vehicle, can disturb the deceleration area or the stop area relating to the second sensor 26F at the front of the vehicle when the mobile object 10 enters the arrangement area AR1.Therefore, in the motion control system according to the present embodiment, when the mobile object 10 enters the arrangement area AR1 to perform cargo handling and then returns to the passage TR, a suitable path for the mobile object 10 in the passage TR is determined by assessing whether the object P (position S) in the arrangement area AR2 interferes with the mobile object 10 in any combination of different directions of travel (first direction D1, second direction D2) and different turning lanes (first turning lane Ra, second turning lane Rb).

[0051] The determination result includes the following content. It should be noted that the following second and third determinations can be made concurrently.

[0052] It is determined that the mobile object 10 can move along the preset path R1, i.e., it is determined that the object P does not interfere if the first direction D1 passing through the target position A0 is set as the direction of travel and the turning lane is set to the first turning lane Ra (hereinafter referred to as the first determination).

[0053] It is determined that object P disturbs mobile object 10 when mobile object 10 is moved along path R1, but does not disturb when the direction of travel is set to the second direction D2, which is opposite to the first direction D1, and the turning track is set to the first turning track Ra (hereinafter referred to as the second determination).

[0054] It is determined that object P disturbs mobile object 10 when mobile object 10 is moved along path R1, but does not disturb when the direction of travel is set to the first direction D1, and the turning track is set to the second turning track Rb (hereinafter referred to as the third determination).

[0055] It is determined that object P disturbs mobile object 10 when mobile object 10 is moved along path R1, and disturbs mobile object 10 when the direction of travel is set to the second direction D2, which is opposite to the first direction D1, and the turning track is set to the first turning track Ra, but does not disturb when the direction of travel is set to the second direction D2 and the turning track is set to the second turning track Rb (hereinafter referred to as the fourth determination).

[0056] The information processing device 14 receives the determination result transmitted by the mobile object 10. Based on the determination result, the path setting unit 54 resets the path R1 in the passage TR of the mobile object 10.

[0057] Fig. 10 and Fig. Figures 11 each show a schematic diagram to explain the path reset. According to the illustration in Fig. 10, if the determination result is the first determination, the path setting unit 54 does not change the travel route of the mobile object 10 from the path R1 (travel direction: first direction D1, turning lane: first turning lane Ra).

[0058] If the determination result is only the second determination, according to the representation in Fig. 10 sets the path setting unit 54 back to the second direction D2 and the turning track to the first turning track Ra as path R2.

[0059] If the determination result is only the third determination, according to the representation in Fig. 11 resets the path setting unit 54 the track in which the direction of travel is set back to the first direction D1 and the turning track is set to the second turning track Rb as path R3.

[0060] If the determination result is only the fourth determination, according to the representation in Fig. 11 sets the path setting unit 54 back to the second direction D2 and the turning track to the second turning track Rb as path R4.

[0061] If the determination result is the second determination and the third determination, the path setting unit 54 sets the distance in which the arrival time at the destination position is reduced as a new path between the path R2 of the second determination, according to the representation in Fig. 10 (direction of travel: second direction D2, turning lane: first turning lane Ra) and path R3 as shown in Fig. 11 (Direction of travel: first direction D1, turning lane: second turning lane Rb).

[0062] If none of the first through fourth determinations are obtained, an error decision is made.

[0063] When the path is reset, the path setting unit 54 instructs the communication unit 40 to transmit the reset path R1, R2, R3, or R4 to the mobile object 10. If the error decision is made, the path setting unit 54 also instructs the communication unit 40 to transmit an instruction to perform further work to the mobile object 10.

[0064] The mobile object 10 is moved to traverse the path (R1, R2, R3 or R4) transmitted by the information processing device 14.

[0065] The processing sequence of the motion control system 1 described above is illustrated by the flowchart. Fig. Figure 12 is a flowchart to illustrate the processing sequence according to the present embodiment. As shown in Fig. In the mobile object 10, the path detection unit 70 of the control device 28 detects the path R1 transmitted by the information processing device 14 (step S101). The motion control unit 72 moves the mobile object 10 to traverse path R1 from the current position of the mobile object 10 (step S102). Furthermore, the detection control unit 74 causes the first sensor 25 and the second sensor 26 to perform a detection (step S103).

[0066] The mobile object 10 moves through passage TR along path R1 and enters the target position A0 in the arrangement area AR1 to perform a cargo transfer (step S104). When the mobile object 10 performs a cargo transfer and then returns from target position A0 to passage TR, the detection control unit 74 detects a target object in the direction in which the mobile object 10 returns to passage TR, for example, by the second sensor 26 (step S105).

[0067] Based on the detection result, the detection control unit 74 determines whether the object to be detected disturbs the mobile object 10 when the mobile object 10 rotates to return to passage TR (step S106). The detection control unit 74 transmits the determination result to the information processing device 14 (step S107).

[0068] In the information processing device 14, the path setting unit 54 resets the path R1 in the passage TR of the mobile object 10 or sets an error based on the determination result (step S108). The path setting unit 54 transmits the setting result to the mobile object 10 (step S109).

[0069] Upon receiving the reset path (Yes at step S110), the mobile object 10 is moved to traverse the path (R1, R2, R3, R4, or R5 (described later)) transmitted by the information processing device 14 (step S111). Furthermore, after receiving an error (No at step S110), the mobile object 10 waits to receive an instruction to perform further work (step S112).

[0070] As described above, according to a first aspect of the present disclosure, the method for controlling the mobile object 10, which moves automatically, is provided, i.e., a method for controlling a mobile object, which includes a detection step that detects an object to be detected by means of a sensor provided in the mobile object 10 in the direction in which the mobile object 10 returns to the passage TR, which runs along the arrangement area AR1, in which the object P can be arranged when the mobile object 10 passes through the passage TR, enters the arrangement area AR1 from the passage TR to perform a cargo transfer, and then returns to the passage TR; and a route setting step that sets a travel route in the passage TR based on the detection result in the detection step.

[0071] According to this configuration, when the mobile object 10 returns to passage TR after entering the arrangement area AR1 to perform cargo handling, a sensor located in the mobile object 10 detects an object in the direction of its return to passage TR, and the travel path in passage TR is adjusted based on the detection result. Thus, it is possible to set the travel path according to the sensor's detection result.

[0072] According to a second aspect of the present disclosure, in the method for controlling the mobile object according to the first aspect, the arrangement surface AR2, in which the object P can be arranged, is provided at a position transverse to the arrangement surface AR1, with the passage TR arranged between them, and in the detection step it is detected whether the object P protrudes from the arrangement surface AR2 towards the passage TR, and in the path setting step the direction of travel of the mobile object 10, which passes through the passage TR, and the turning path of the mobile object 10 are set on the basis of the detection result in the detection step.

[0073] If the mobile object 10 passes through the narrow passage TR, which is located between the arrangement surface AR1 and the arrangement surface AR2, according to this configuration, it is possible to set the travel distance according to the detection result of the sensor.

[0074] According to a third aspect of the present disclosure, in the method for controlling the mobile object according to the second aspect, in the route setting step a route that minimizes the movement time of the mobile object 10 to the target position after cargo handling is defined as the travel route.

[0075] With this configuration, it is possible to set the route accordingly, thus minimizing travel time to the destination. Therefore, it is possible to suppress the reduction in work efficiency.

[0076] According to a fourth aspect of the present disclosure, in the method for controlling the mobile object according to the second aspect, the turning track of the mobile object 10 includes a first turning track in which the mobile object 10 rotates while advancing, and a second turning track in which the mobile object 10 rotates while stopping its advance, and in the track setting step, the turning track of the mobile object 10 is set to the first turning track or the second turning track based on the detection result.

[0077] According to this configuration, by selecting the turning lane of the mobile object 10 from the first turning lane and the second turning lane, it is possible to set the travel distance according to the detection result of the sensor.

[0078] According to a fifth aspect of the present disclosure, in the method for controlling the mobile object according to any one of the first to fourth aspects, in the detection step an object to be detected is detected based on the detection result in the detection step and the position of the object to be detected is recorded in advance.

[0079] With this configuration, it is possible to accurately detect an object based on the sensor's detection result and the object's previously recorded position. This allows the driving path to be set accordingly.

[0080] According to a sixth aspect of the present disclosure, the mobile object 10 is provided, which is a mobile object that moves automatically and includes a sensor that detects an object to be detected in the direction in which the mobile object 10 returns to the passage TR, which runs along the arrangement area AR1 in which the object P can be arranged when the mobile object 10 passes through the passage TR, enters the arrangement area AR1 from the passage TR to carry out cargo handling, and then returns to the passage TR; and a control unit that sets a travel path in the passage TR based on the detection result of the sensor.

[0081] According to this configuration, when the mobile object 10 returns to passage TR after entering the arrangement area AR1 to perform cargo handling, a sensor located in the mobile object 10 detects an object in the direction of its return to passage TR, and the travel path in passage TR is adjusted based on the detection result. Thus, it is possible to set the travel path according to the sensor's detection result.

[0082] According to a seventh aspect of the present disclosure, the control program for a mobile object is provided, which causes a computer to execute a method for controlling an automatically moving mobile object, i.e., a control program for a mobile object that causes a computer to perform processing that includes: detecting, by means of a sensor provided in the mobile object 10, an object to be detected in the direction in which the mobile object 10 returns to the passage TR, which runs along the arrangement area AR1, in which the object P can be arranged when the mobile object 10 passes through the passage TR, enters the arrangement area AR1 from the passage TR to perform cargo handling, and then returns to the passage TR; and setting a travel path in the passage TR based on the detection result of the sensor.

[0083] According to this configuration, when the mobile object 10 returns to passage TR after entering the arrangement area AR1 to perform cargo handling, a sensor located in the mobile object 10 detects an object in the direction of its return to passage TR, and the travel path in passage TR is adjusted based on the detection result. Thus, it is possible to set the travel path according to the sensor's detection result.

[0084] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the content of these embodiments. Furthermore, the components described above can be combined as required. In addition, various omissions, substitutions, or modifications of the components can be made without deviating from the core of the embodiments described above.

[0085] For example, in the embodiments described above, if the determination result is the first determination, the travel path of the mobile object 10 is not changed compared to path R1. However, it is not limited to this. Fig. Figure 13 is a schematic diagram illustrating another example of resetting the path. As shown in Fig.13. If a target object is not detected from the detection results of the first sensor 25 and the second sensor 26, the detection control unit 74 can output a determination result indicating that a target object is not detected. After receiving the determination result indicating that a target object is not detected, the information processing device 14 can generate a travel path (path R5) in which the mobile object 10 can rotate in a shorter time than for path R1.

[0086] Furthermore, in the embodiments described above, the distance setting step, in which the travel distance in passage TR is set based on the detection result during the detection step, is performed by the information processing device 14. However, the invention is not limited to this. The distance setting step can also be performed by the control device 28 of the mobile object 10. Reference symbol list A unit area 1,100 motion control system 10 Mobile Object 12 Administrative device 14 Information processing device 20 Vehicle body 20A wheel 21 Spreader legs 22 masts 23 Support element 24 Fork 24A, 24B Claw 25 First sensor 26, 26F, 26R Second Sensor 27 Inertia measuring device 28 Control device 30, 40, 60 communication unit 32, 42, 62 storage unit 34, 44, 64 control unit 36 Work definition unit 50 work content recording units 52 Mobile object selection unit 54 Path setting unit 70 path recording unit 72 Motion control unit 74 Detection control unit 76 Fork control unit A0 Target position B, C, H1, H2 Position P Object R0 Reference section R1, R2, R3, R4, R5 path W facility X direction AR area AR1, AR2 arrangement area TR Passage R1a, R1b, R1c, R1d track QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2023-167210

[0003]

Claims

[1] Method for controlling a mobile object that moves automatically, the method comprising: Detect, by means of a sensor provided in the mobile object, an object to be detected in a direction in which the mobile object returns to a passage running along an arrangement area in which an object can be arranged when the mobile object passes through the passage, enters the arrangement area from the passage to carry out cargo handling, and then returns to the passage; and Setting a route in the pass based on a detection result. [2] Method according to claim 1, wherein an opposing arrangement surface in which the object can be arranged, is provided at a position perpendicular to the arrangement surface, wherein the passage between the arrangement surfaces is arranged, The detection process involves determining whether the object protrudes from the opposite mounting surface towards the passageway, and The setting includes setting a direction of movement of the mobile object passing through the passage and a turning path of the mobile object based on the result of the detection. [3] Method according to claim 2, wherein the setting includes setting a route as a travel route which minimizes the movement time of the mobile object to a target position after cargo handling. [4] Method according to claim 2, wherein The turning track of the mobile object comprises a first turning track in which the mobile object rotates while advancing, and a second turning track in which the mobile object rotates without changing the position of a point of the mobile object representative of the body, and This includes setting the turning track of the mobile object to the first turning track or the second turning track based on the result of the detection. [5] Method according to claim 1, wherein the detection includes detecting the object to be detected based on the result of the detection and a position of the object to be detected that was previously recorded. [6] Mobile object that moves automatically, the mobile object comprising: a sensor configured to detect an object in a direction in which the mobile object returns to a passage running along an arrangement area in which an object can be arranged when the mobile object passes through the passage, enters the arrangement area from the passage to perform cargo handling, and then returns to the passage; and a control unit configured to set a travel distance in the passage based on a detection result from the sensor. [7] Computer-readable storage medium on which a computer program for controlling an automatically moving mobile object is stored, wherein the computer program causes a computer to perform the following: Detect, by means of a sensor provided in the mobile object, an object to be detected in a direction in which the mobile object returns to a passage running along an arrangement area in which an object can be arranged when the mobile object passes through the passage, enters the arrangement area from the passage to carry out cargo handling, and then returns to the passage; and Setting a route in the pass based on a detection result.

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