ROUTE SETTING PROCEDURES, PROGRAM AND MOVING BODY

Abstract

The object of the present invention is to move suitably along a set reference route. A route setting method comprises a step of acquiring information about a reference route, which is a route along which a moving body moves; a step of determining whether the moving body is positioned on the reference route or not; and a step of setting a return route, which is a route to reach a merge position on the reference route in a case where the moving body is not positioned on the reference route.

Description

Technical area

[0001] The present disclosure relates to a route setting method, a program, and a moving body. State of the art

[0002] A technique for setting a movement route of a moving body that moves automatically is known. For example, PTL 1 describes that two isosceles triangles connecting a starting position and a target position are generated, and a curved trajectory along equal sides of the isosceles triangles is set as a movement route of a moving body. Citation listPatent literature

[0003] [PTL 1] Japanese Patent No. 7027206 Summary of the inventionTechnical problem

[0004] In some cases, a reference route, which is a route along which the moving body must move, is set for the moving body, and the moving body is required to move appropriately along the set reference route.

[0005] The present disclosure has been made to solve the problem described above, and an object of the present disclosure is to provide a route setting method, a program, and a moving body that enable appropriate movement along a set reference route. Solution to the problem

[0006] A route setting method according to the present disclosure includes a step of acquiring information about a reference route, which is a route along which a moving body moves, a step of determining whether or not the moving body is positioned on the reference route, and a step of setting a return route, which is a route for reaching a merging position on the reference route, in a case where the moving body is not positioned on the reference route.

[0007] A program according to the present disclosure causes a computer to perform a step of acquiring information about a reference route, which is a route along which a moving body moves, a step of determining whether or not the moving body is positioned on the reference route, and a step of setting a return route, which is a route for reaching a merging position on the reference route, in a case where the moving body is not positioned on the reference route.

[0008] A moving body according to the present disclosure is a moving body that moves automatically, the moving body comprising a reference route acquisition unit that acquires information about a reference route that is a route for moving, and a return route acquisition unit that acquires a return route that is a route for reaching a merging position on the reference route in a case where the moving body is not positioned on the reference route. Advantageous effects of the invention

[0009] According to the present disclosure, it is possible to move appropriately along a set reference route. Brief description of the drawings Fig. 1 is a schematic diagram of a motion control system according to the present embodiment. Fig. Figure 2 is a schematic diagram of a configuration of a moving body. Fig. 3 is a schematic block diagram of a management device. Fig. 4 is a schematic block diagram of an information processing apparatus. Fig. 5 is a schematic block diagram of a moving body control device. Fig. 6 is a schematic diagram for describing a return route. Fig. Figure 7 is a schematic diagram describing the return route. Fig. Figure 8 is a schematic diagram describing the return route. Fig. Figure 9 is a schematic diagram describing the return route. Fig. 10 is a flowchart showing a processing flow for setting the return route. Fig. 11 is a schematic diagram for describing a setting of an arc route according to a second embodiment. Fig. 12 is a schematic diagram showing an example of a case where the return route is set based on an approach route. Fig. 13 is a schematic diagram showing an example of a case where multiple reference routes are set. Fig. 14 is a schematic block diagram of an information processing apparatus according to a fifth embodiment. Fig. Figure 15 is a schematic diagram showing an example of a prohibited area. Description of embodiments

[0010] Hereinafter, a preferred embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. The present disclosure is not limited to this embodiment. Moreover, in a case where there are multiple embodiments, the present disclosure also includes configurations obtained by combining each embodiment. (First Embodiment)(Motion Control System)

[0011] Fig. 1 is a schematic diagram of a motion control system according to the present embodiment. As shown in Fig. 1, a motion control system 1 according to the present embodiment includes a moving body 10, a management device 12, and an information processing device 14. The motion control system 1 is a system that controls a motion of the moving body 10 belonging to a facility W. The facility W is, for example, a facility involved in physical distribution management, such as a warehouse. In the motion control system 1, the moving body 10 picks up and transports a target object Q located in an area AR of the facility W. The area AR is, for example, a floor surface of the facility W and is an area in which the target object Q is installed or the moving body 10 moves. The target object Q is an object to be transported, on which cargo is loaded on a pallet in the present embodiment.However, the target object Q is not limited to a target object onto which the cargo is loaded on the pallet and can be in any form. For example, the target object Q can be just the cargo without the pallet.

[0012] Hereinafter, a direction along the area A is referred to as an X direction, and a direction along the area A that crosses an X direction is referred to as a Y direction. In the present embodiment, the Y direction is a direction perpendicular to the X direction. The X direction and the Y direction may be referred to as directions along a horizontal plane. Furthermore, a direction perpendicular to the X direction and the Y direction, more specifically, a direction toward a top side in a vertical direction, is referred to as a Z direction. Furthermore, in the present embodiment, a "position" refers to a position (coordinates) in a coordinate system (coordinate system of the area AR) on a two-dimensional plane in the area AR unless otherwise specified.In addition, unless otherwise specified, a "posture" of the moving body 10 or the like is a direction of the moving body 10 or the like in the coordinate system of the AR area and indicates a yaw angle (rotation angle) of the moving body 10 when the X direction is set to 0° when viewed from the Z direction. (Waypoint)

[0013] The moving body 10 acquires information about a reference route P, which is a route along which it is to move, and moves along the reference route P. In the area AR, a waypoint WP is set for each position (coordinates), and the reference route P is set to connect the waypoints WP. That is, a route connecting the waypoints WP that the moving body 10 is to pass is the reference route P. The waypoint WP is set according to a layout of the facility W. (moving body)

[0014] Fig. 2 is a schematic diagram of a configuration of the moving body. The moving body 10 is a device that can move automatically and that can transport the target object Q. Moreover, in the present embodiment, the moving body 10 is a forklift, and more specifically, it is a so-called automated guided vehicle (AGV) or an automated guided forklift (AGF). However, the moving body 10 is not limited to a forklift that transports the target object Q and can be any device that can move automatically.

[0015] As in Fig. As shown in Fig. 2, the moving body 10 includes a vehicle body 20, wheels 20A, struts 21, a mast 22, a fork 24, a sensor 26A, and a control device 28. The struts 21 are a pair of wave-shaped members provided at an end portion of the vehicle body 20 in a front-rear direction and protruding from the vehicle body 20. The wheels 20A are provided at a tip of each of the struts 21 and on the vehicle body 20. That is, although a total of three wheels 20A are provided, the positions and the number of wheels 20A may be optional. The mast 22 is attached to the spreader leg 21 so as to be movable and moves in the front-to-rear direction of the vehicle body 20. The mast 22 extends in an up-down direction (here, a Z direction) perpendicular to the front-to-rear direction. The fork 24 is attached to the mast 22 so as to be movable in the Z direction.The fork 24 is movable in a transverse direction (a direction crossing the up-down direction and the front-rear direction) of the vehicle body 20 with respect to the mast 22. The fork 24 has a pair of lugs 24A and 24B. The lugs 24A and 24B extend from the mast 22 toward a front direction of the vehicle body 20. The lug 24A and the lug 24B are arranged away from each other in a transverse direction of the mast 22. Hereinafter, in the front-rear direction, a direction on a side where the fork 24 is provided in the moving body 10 is referred to as a front direction, and a direction on a side where the fork 24 is not provided is referred to as a rear direction.

[0016] The sensor 26A detects at least one of a position and a posture of an object present around the vehicle body 20. It can also be said that the sensor 26A detects at least one of the position of the object with respect to the moving body 10 and the posture of the object with respect to the moving body 10. In the present embodiment, the sensor 26A is provided at the tip of each strut 21 in the front direction and on one side of the rear direction of the vehicle body 20. However, a position where the sensor 26A is provided is not limited to this, and the sensor 26A may be provided at any position, and the number of sensors 26A provided may be optional.

[0017] The sensor 26A is, for example, a sensor that emits laser light. The sensor 26A emits laser light while scanning in one direction (here, a transverse direction) and detects the position and direction of the object from reflected light of the emitted laser light. That is, the sensor 26A may also be referred to as a so-called two-dimensional (2D) light detection and ranging (LiDAR). However, the sensor 26A is not limited to the above and may be a sensor that detects the object via any method. For example, it may be a so-called three-dimensional (3D) LiDAR that scans in multiple directions, a so-called one-dimensional (1D) LiDAR that does not scan, or a camera.

[0018] The control device 28 controls the movement of the moving body 10. The control device 28 is described below. (Management device)

[0019] Fig. 3 is a schematic block diagram of the management device. The management device 12 is a system that manages the physical distribution in the facility W. Although in the present embodiment, the management device 12 is a warehouse control system (WCS) or a warehouse management system (WMS), the management device 12 is not limited to the WCS and the WMS and may be any system, and may, for example, be a back-end system such as other production management systems. A position where the management device 12 is provided is optional, and the management device 12 may be provided in the facility W or may be provided at a position away from the facility W to manage the facility W from there. The management device 12 is a computer and includes, as shown in Fig. 3, a communication unit 30, a storage unit 32 and a control unit 34.

[0020] The communication unit 30 is a module used for the control unit 34 and communicates with an external device such as the information processing device 14, and may include, for example, a Wi-Fi (registered trademark) module, an antenna, or the like. A communication method via the communication unit 30 is wireless communication in the present embodiment, but the communication method may be optional. The storage unit 32 is a memory that stores various types of information such as arithmetic contents of the control unit 34 and programs, and includes, for example, at least one of a main storage device such as a random-access memory (RAM) or a read-only memory (ROM), and an external storage device such as a hard disk drive (HDD).

[0021] The control unit 34 is a computing device and includes, for example, a computing circuit such as a central processing unit (CPU). The control unit 34 includes a movement destination information setting unit 40. The control unit 34 reads a program (software) from the storage unit 32 and executes the program to realize the movement destination information setting unit 40, and performs processing thereof. The control unit 34 may execute the processing with one CPU or may include a plurality of the CPUs and may execute the processing with the plurality of CPUs. Furthermore, the movement destination information setting unit 40 may be realized by a hardware circuit. Furthermore, a program for the control unit 34 stored in the storage unit 32 may be stored on a recording medium readable by the management device 12.

[0022] The movement target information setting unit 40 sets movement target information indicating a movement target of the moving body 10. The setting of the movement target information will be described later.

[0023] The management device 12 may perform processing other than setting the movement destination information. For example, the management device 12 may set information for controlling a mechanism (e.g., an elevator, a door, or the like) in addition to the moving body 10 provided in the facility W. (information processing device)

[0024] Fig. 4 is a schematic block diagram of the information processing device. The information processing device 14 is a device provided in the facility W and processes information related to the movement of the moving body 10 or the like. The information processing device 14 is, for example, a fleet control system (FCS), but is not limited thereto and may be any device that processes information related to the movement of the moving body 10. The information processing device 14 is a computer and includes, as shown in Fig. 4, a communication unit 50, a storage unit 52, and a control unit 54. The communication unit 50 is a module used for the control unit 54 and communicates with an external device such as the management device 12 or the moving body 10, and may include, for example, an antenna, a Wi-Fi module, or the like. A communication method via the communication unit 50 is wireless communication in the present embodiment, but the communication method may be optional. The storage unit 52 is a memory that stores various types of information such as arithmetic contents of the control unit 54 and programs, and includes, for example, at least one of a main storage device such as a RAM or a ROM and an external storage device such as an HDD.

[0025] The control unit 54 is a computing device and includes, for example, a computing circuit such as a CPU. The control unit 54 includes a reference route setting unit 60. The control unit 54 reads a program (software) from the storage unit 52 and executes the program to realize the reference route setting unit 60, and performs processing thereof. The control unit 54 may execute processing with one CPU or may include a plurality of the CPUs and may execute processing with the plurality of CPUs. Furthermore, the reference route setting unit 60 may be realized by a hardware circuit. Furthermore, a program for the control unit 54 stored in the storage unit 52 may be stored on a recording medium readable by the information processing device 14.

[0026] The reference route setting unit 60 sets the reference route P of the moving body 10. A setting method of the reference route P is described below.

[0027] In the present embodiment, the management device 12 and the information processing device 14 are separate devices, but may be integrated into one device. That is, the management device 12 may have at least some functions of the information processing device 14, and the information processing device 14 may have at least some functions of the management device 12. (Control device of a moving body)

[0028] Next, the control device 28 of the moving body 10 will be described. Fig. Figure 5 is a schematic block diagram of the moving body control device. The control device 28 is a device that controls the moving body 10. The control device 28 is a computer and includes, as shown in Fig. 5, a communication unit 70, a storage unit 72, and a control unit 74. The communication unit 70 is a module used for the control unit 74 and communicates with an external device such as the information processing device 14, and may include, for example, an antenna, a Wi-Fi module, or the like. A communication method via the communication unit 70 is wireless communication in the present embodiment, but the communication method may be optional. The storage unit 72 is a memory that stores various types of information such as arithmetic contents of the control unit 74 and programs, and includes, for example, at least one of a main storage device such as a RAM or a ROM, and an external storage device such as an HDD.

[0029] The control unit 74 is a computing device and includes, for example, a computing circuit such as a CPU. The control unit 74 includes a reference route acquisition unit 80, a self-position acquisition unit 82, a return route acquisition unit 84, and a movement control unit 86. The control unit 74 reads a program (software) from the storage unit 72 and executes the program to realize the reference route acquisition unit 80, the self-position acquisition unit 82, the return route acquisition unit 84, and the movement control unit 86, and performs processing thereof. The control unit 74 may execute processing with one CPU or may include multiple CPUs and execute processing with the multiple CPUs.Furthermore, at least some of the reference route acquisition unit 80, the self-position acquisition unit 82, the return route acquisition unit 84, and the movement control unit 86 may be implemented by a hardware circuit. Furthermore, a program for the control unit 74 stored in the storage unit 72 may be stored on a recording medium readable by the control device 28.

[0030] The reference route acquisition unit 80 acquires the information about the reference route P. The self-position acquisition unit 82 acquires position information of the moving body 10. The return route acquisition unit 84 determines whether the moving body 10 is positioned on the reference route P or not, and in a case where the moving body 10 is not positioned on the reference route P, the return route acquisition unit 84 acquires a return route PA for returning to the reference route P. The motion control unit 86 controls a moving mechanism of the moving body 10, such as a drive unit or steering, to control the movement of the moving body 10. Specific processing contents thereof will be described later. (Processing of motion control system)

[0031] Processing contents of the motion control system 1 are described below. (Setting information about movement target)

[0032] The movement destination information setting unit 40 of the management device 12 sets the movement destination information indicating the movement destination of the moving body 10. The movement destination information setting unit 40 may designate a position (coordinates) of the movement destination itself as the movement destination information. Furthermore, an identifier is assigned to each of the waypoints WP, and the movement destination information setting unit 40 may designate an identifier of the waypoint WP corresponding to the movement destination as the movement destination information. The movement destination information setting unit 40 may set the movement destination information via any method.For example, the movement destination information setting unit 40 may acquire order information indicating the target object Q to be transported, a transport source, and a transport destination, and set the movement destination information based on the order information. The movement destination information setting unit 40 transmits the set movement destination information to the information processing device 14 via the communication unit 30. (Setting of reference route)

[0033] The reference route setting unit 60 of the information processing device 14 sets the reference route P of the moving body 10. In the present embodiment, the reference route setting unit 60 sets the reference route P based on the information about the movement destination. The reference route setting unit 60 sets a route passing each waypoint WP from a movement source to the movement destination as the reference route P. A position of the movement source can be optionally set, and for example, the waypoint WP closest to a current position of the moving body 10 can be set as the movement source. For simplicity of description, the reference route P is shown in Fig. 1, a rectilinear trajectory connecting the waypoints WP. However, the reference route P is not limited to the rectilinear trajectory and may be a trajectory including, for example, a straight line and a curved line. In this case, the reference route setting unit 60 sets, for example, the route passing each waypoint WP from an initial position to the movement destination as the reference route P based on the movement destination information and map information of the facility W. Furthermore, the reference route setting unit 60 may, for example, set the reference route P based on information about a vehicle specification of the moving body 10 in addition to the movement destination information and the map information of the facility W.The vehicle specification information is, for example, a specification that affects a route along which the moving body 10 can move, such as a size or a minimum turning radius of the moving body 10.

[0034] The reference route setting unit 60 transmits information about the set reference route P to the moving body 10. For example, the reference route setting unit 60 may transmit position information of each position on a trajectory of the reference route P to the moving body 10 as the information about the reference route P. (Recording reference route)

[0035] The reference route acquisition unit 80 of the moving body 10 acquires the information about the reference route P set by the information processing device 14. (Return route)

[0036] Fig. Figure 6 is a schematic diagram for describing the return route. The moving body 10 moves along the reference route P, but may, for example, as shown in Fig. 6, be positioned at a position deviating from the reference route P. Various cases are assumed where the moving body 10 is positioned at the position deviating from the reference route P. Examples thereof include a case where the moving body 10 is waiting for loading or the like at a position deviating from the waypoint WP, or a case where the moving body 10 has picked up the target object Q at the position deviating from the waypoint WP. In a case where the moving body 10 is positioned at the position deviating from the reference route P in this way, there is a possibility that the moving body 10 cannot move appropriately along the reference route P.Meanwhile, in the present embodiment, in a case where the moving body 10 is positioned at the location deviating from the reference route P, the return route PA is set to return the moving body 10 to the reference route P. In this way, the moving body 10 can return to the reference route P through the return route PA. Therefore, according to the present embodiment, it is possible to properly move along the reference route. Setting of the return route PA will be specifically described below. (Detecting position information from a moving body)

[0037] The self-position detection unit 82 of the moving body 10 detects current position information of the moving body 10. Although a detection method of the position information of the moving body 10 is optional, for example, in the present embodiment, a detection body (not shown) is provided in the device W, and the self-position detection unit 82 detects information about a position and posture of the moving body 10 based on detection of the detection body. Specifically, the moving body 10 emits laser light toward the detection body and receives reflected light of the laser light by the detection body to detect the position and posture of the moving body 10 in the device W.A detection method of the information on the position and posture of the moving body 10 is not limited to the method using the detection body, and, for example, a method using simultaneous localization and mapping (SLAM) may be used. (Determining whether a moving body is on the reference route or not)

[0038] The return route detection unit 84 of the moving body 10 determines whether the moving body 10 is positioned on the reference route P or not based on the information about the reference route P and the position information of the moving body 10. For example, in a case where the current position of the moving body 10 is on the reference route P, the return route detection unit 84 may determine that the moving body 10 is positioned on the reference route P, and may determine that the moving body 10 is not positioned on the reference route P in a case where the current position of the moving body 10 is not on the reference route P.In this case, the current position of the moving body 10 on the reference route P is not limited to the current position of the moving body 10 overlapping with the reference route P, and may indicate that the current position of the moving body 10 is within a predetermined distance range from the reference route P. The same may apply to other descriptions below.

[0039] The return route acquisition unit 84 does not acquire the return route PA in a case where the return route acquisition unit 84 determines that the moving body 10 is positioned on the reference route P. On the other hand, the return route acquisition unit 84 acquires the return route PA in a case where the return route acquisition unit 84 determines that the moving body 10 is not positioned on the reference route P. In the present embodiment, the return route acquisition unit 84 sets the return route PA based on the information about the reference route P in a case where the return route acquisition unit 84 determines that the moving body 10 is not positioned on the reference route P. A setting method of the return route PA will be described below. (Setting return route)

[0040] The return route acquisition unit 84 sets a route for reaching a merging position A on the reference route P as the return route PA. Specifically, the return route acquisition unit 84 selects the merging position A on the reference route P based on the information about the reference route P. The return route acquisition unit 84 sets a route along which the moving body 10 moving along the return route PA reaches the merging position A from the current position without interfering with an obstacle as the return route PA. Further, the return route acquisition unit 84 sets the return route PA so that a traveling direction of the moving body 10 when the moving body 10 moves along the return route PA and reaches the merging position A coincides with a traveling direction of the reference route P at the merging position A.That is, in an example of . Fig. 6, since the traveling direction of the reference route P at the merging position A is opposite to the Y direction, the return route detecting unit 84 sets the return route PA, which is a trajectory on which the posture of the moving body 10, when the moving body 10 reaches the merging position A, faces the direction opposite to the Y direction.

[0041] The return route acquisition unit 84 may select any position on the reference route P as the merging position A. For example, the return route acquisition unit 84 may select the waypoint WP passing the reference route P as the merging position A.

[0042] Fig. 7 is a schematic diagram for describing the return route. The return route acquisition unit 84 can set any trajectory for reaching the merging position A as the return route PA. However, in the present embodiment, a route including at least one of a linear route PA2 and an arc route PA1 for reaching the merging position A is set as the return route PA. The linear route PA2 is a linear route approaching the merging position A (reference route P), and the arc route PA1 is an arc-shaped route approaching the merging position A (reference route P).

[0043] For example, as in Fig. 7, the return route acquisition unit 84 sets a route passing through an arc of a circle CR having a radius (turning radius) R with a center position A2 as a center as the arc route PA1. Specifically, the return route acquisition unit 84 sets a circle in contact with a straight line L passing through a reference position A1 of the moving body 10 and extending along a front-rear direction of the moving body 10, and a linear section P1 passing through the merging position A of the reference route P, as the circle CR. The section P1 refers to a linear section passing through the merging position A on the reference route P. The return route acquisition unit 84 sets a section of the arc of the circle CR from the reference position A1 to a contact point A3 between the arc of the circle CR and the section P1 as the arc route PA1.Since the straight line L and the section P1 are determined by the position of the moving body 10 or the reference route P, the circle CR, in other words the center position A2 and the radius R, can be uniquely set.

[0044] In an example in Fig. 7, the reference position A1 is the current position of the moving body 10. Therefore, the return route detection unit 84 sets a section from the current position of the moving body 10 to the contact point A3 as the arc route PA1. Moreover, in the example of Fig. 7, since the contact point A3 does not overlap with the merging position A, the return route detecting unit 84 sets a linear route from the contact point A3 to the merging position A as the linear route PA2. That is, in the example of Fig. 7, the return route acquisition unit 84 sets a route including the arc route PA1 from the current position of the moving body 10 to the contact point A3 and the linear route PA2 from the contact point A3 to the merging position A as the return route PA. Meanwhile, for example, in a case where the contact point A3 overlaps with the merging position A, the return route acquisition unit 84 may set the arc route PA1 from the current position of the moving body 10 to the merging position A (contact point A3) as the return route PA.

[0045] In addition, in the example of Fig. 7, the arc route PA1 is set with the current position of the moving body 10 as a starting point. However, the return route acquisition unit 84 may set the linear route PA2 with the current position of the moving body 10 as the starting point and set the arc route PA1 connected to the linear route PA2. In this case, for example, the return route acquisition unit 84 sets a linear route in a direction approaching the reference route P by the straight line L from the current position of the moving body 10 as the linear route PA2. The return route acquisition unit 84 sets a route for reaching the contact point A3 from the reference position A1 along the arc of the circle CR with an end point of the linear route PA2 as the reference position A1 as the arc route PA1.

[0046] Fig. 8 and Fig. 9 are schematic diagrams for describing the return route. Here, in a case where the return route PA is set to include at least one of the linear route PA2 and the arc route PA1, the moving body 10 may interfere with an obstacle T while moving along the return route PA. Therefore, on the return route PA including at least one of the linear route PA2 and the arc route PA1, in a case where the moving body 10 interferes with the obstacle T, the return route acquisition unit 84 preferentially sets the return route PA to include a turnaround route PA0. That is, the return route acquisition unit 84 preferentially sets a route including the turnaround route PA0 and at least one of the linear route PA2 and the arc route PA1, and on which the moving body 10 does not interfere with the obstacle T, as a return route PA.The turnaround route PA0 is a route that connects to at least one of the linear route PA2 and the arc route PA1 and that is away from the junction position A (reference route P). A specific description is given below.

[0047] As in Fig. 8, the return route acquisition unit 84 sets a linear route away from the merging position A (reference route P) as the turning route PA0 in a case where the moving body 10 faces a traveling direction side in the section P1 of the reference route P. A fact that the moving body 10 faces the traveling direction side in the section P1 of the reference route P means that a direction approaching the reference route P along the straight line L faces the traveling direction side in the section P1 of the reference route P. That is, in an example of step S1 in Fig. 8, a traveling direction in the section P1 of the reference route P is opposite to the Y direction, and a vector component on a Y axis in the direction approaching the reference route P along the straight line L is in the direction opposite to the Y direction. Therefore, it can be said that the moving body 10 faces the traveling direction side in the section P1 of the reference route P. In this case, as in step S2 in Fig. 8, the return route acquisition unit 84 sets a linear route in a direction away from the merging position A (reference route P) along the straight line L from the current position (reference position A1) of the moving body 10 as the turnaround route PA0. In this case, the return route acquisition unit 84 sets, for example, a position of the contact point A3 and sets the turnaround route PA0 on which the arc route PA1 can reach the set contact point A3. That is, when the position of the contact point A3 is determined, in addition to the radius R and the center position A2 of the arc route PA1, an end point position of the turnaround route PA0 is also uniquely determined. Therefore, the return route acquisition unit 84 can set the turnaround route PA0 based on the set position of the contact point A3.The return route acquisition unit 84 sets at least one of the linear route PA2 and the arc route PA1 from the end point position of the turnaround route PA0 via the same method as the above description, and sets the at least one of the linear route PA2 and the arc route PA1 as the return route PA. In an example in FIG. Fig. 8 is a route on which the arc route PA1 and the linear route PA2 are arranged in this order from the end point position of the linear turnaround route PA0 is set as the return route PA.

[0048] As in Fig. 9, the return route acquisition unit 84 sets an arcuate route away from the merging position A (reference route P) as the turning route PA0 in a case where the moving body 10 faces a side opposite to the traveling direction in the section P1 of the reference route P. That is, in an example of step S3 in Fig. 9 is the vector component on the Y-axis in the direction approaching the reference route P along the straight line L in the Y direction. Therefore, it can be said that the moving body 10 faces the side opposite to the traveling direction in the section P1 of the reference route P. In this case, the return route acquisition unit 84 sets an arc-shaped route from the current position (reference position A1) of the moving body 10 to a predetermined end point position, which is away from the merging position A (reference route P), and on which the direction of the moving body 10 faces the traveling direction side at an end point position in the section P1 of the reference route P, as the turnaround route PA0. In this case, a radius (turning radius), a center position of an arc, and the coordinates of the end point position on the turnaround route PA0 can be appropriately set.In the present embodiment, for example, the return route acquisition unit 84 sets the position of the contact point A3 and sets the turnaround route PA0 on which the arc route PA1 can reach the set contact point A3. That is, when the position of the contact point A3 is determined, in addition to the radius R and the center position A2 of the arc route PA1, an end point position of the turnaround route PA0 is also uniquely determined. Therefore, the return route acquisition unit 84 can set the turnaround route PA0 based on the set position of the contact point A3. The return route acquisition unit 84 sets at least one of the linear route PA2 and the arc route PA1 from the end point position of the turnaround route PA0 via the same method as the above description and sets the at least one of the linear route PA2 and the arc route PA1 as the return route PA. In the example in FIG. Fig. 8 is a route on which the arc route PA1 and the linear route PA2 are arranged in this order from the end point position of the arc-shaped turnaround route PA0 is set as the return route PA.

[0049] In the above description, the return route acquisition unit 84 sets the return route PA including the turnaround route PA0 in a case where the interference with the obstacle T occurs on the return route PA (return route PA not including the turnaround route PA0) including at least one of the linear route PA2 and the arc route PA1. However, a condition for setting the return route PA including the turnaround route PA0 is not limited to this. For example, the return route acquisition unit 84 may set the return route PA including the turnaround route PA0 in a case where the return route acquisition unit 84 determines that it is not possible to move along the return route PA not including the turnaround route PA0. A reference for determining that it is not possible to move along the return route PA not including the turnaround route PA0 may be optional.For example, if the radius R of the arc route PA1 is smaller than a preset threshold (for example, a minimum turning radius within which the moving body 10 can move), movement may be determined to be impossible. (Mitigation of return route)

[0050] The return route acquisition unit 84 may mitigate the return route PA set as described above. Mitigation refers to processing of reducing a shift in the direction of a trajectory of the return route PA, in other words, processing of reducing a degree of change in a steering angle of the moving body 10 in a case where the moving body 10 moves along the return route PA. For example, the return route acquisition unit 84 may convert at least a portion of the return route PA into a Bezier curve to mitigate the return route PA. The return route acquisition unit 84 mitigates the return route PA under a condition that a starting point position is maintained at the current position of the moving body 10 and an end point position is maintained at the merging position A.By mitigating the return route PA in this way, the degree of change in the steering angle of the moving body 10 can be reduced, and a load or the like on the wheels can be reduced. (Selection of merge position from several candidate positions)

[0051] In the present embodiment, the return route acquisition unit 84 selects the merging position A from a plurality of candidate positions on the reference route P and sets the return route PA to the selected merging position. The candidate position may be any position on the reference route P. For example, when a linear section including the waypoint WP (in the example of Fig. 6, when a waypoint WP1) on the reference route P closest to the current position of the moving body 10 passes among the reference routes P when the section P1 is set, the return route acquisition unit 84 can set the waypoint WP on the section P1 as the candidate position. That is, it can be said that the return route acquisition unit 84 can select the merging position A from the section P1, which is a linear section closest to the moving body 10, without selecting the merging position A from a section P2 that crosses the section P1.

[0052] More specifically, the return route acquisition unit 84 sets a candidate route to the candidate position for each candidate position. The return route acquisition unit 84 selects the return route PA from each of the candidate routes. In other words, it can be said that the return route acquisition unit 84 selects the candidate position used to set the candidate route selected as the return route PA as the merging position A. A setting method of a candidate route is the same as the setting method of the return route PA described above, except that the candidate position is treated as the merging position A.

[0053] The return route detection unit 84 determines, for each candidate route, whether interference with the obstacle T occurs when the moving body 10 moves along the candidate route, and selects a candidate route that does not interfere with the obstacle T as the return route PA. Here, the obstacle T is an object installed in the facility W in advance, and refers to an object that can be recognized in advance from, for example, the map information. The return route detection unit 84 determines whether interference with the obstacle T occurs when the moving body 10 moves along the candidate route, based on a position of the obstacle T shown in the map information and a position of the candidate route.For example, the return route detection unit 84 may determine that interference with the obstacle T occurs when the moving body 10 moves along the candidate route, in a case where the position of the obstacle T shown in the map information is within a predetermined distance range from the candidate route, and may determine that interference with the obstacle T does not occur when the moving body 10 moves along the candidate route, in a case where the position of the obstacle T is outside the predetermined distance range from the candidate route. Here, a predetermined distance may optionally be set from a vehicle width of the moving body 10, for example.Moreover, the determination of whether the interference occurs or not can be made by using the same method as in other descriptions of the present embodiment.

[0054] In a case where there are multiple candidate routes that do not interfere with the obstacle T, the return route acquisition unit 84 may select any one candidate route among the multiple candidate routes that do not interfere with the obstacle T as the return route PA. For example, the return route acquisition unit 84 may select a candidate route in which a turning radius (radius R) of the arc route PA1 is maximum from the multiple candidate routes that do not interfere with the obstacle T as the return route PA.

[0055] Furthermore, in the present embodiment, the return route acquisition unit 84 sets a route (a route not including the turnaround route PA0) that includes at least one of the linear route PA2 and the arc route PA1 as the candidate route. In a case where there is no candidate route that does not interfere with the obstacle T among the candidate routes not including the turnaround route PA0, the return route acquisition unit 84 sets the candidate route for each candidate position to include the turnaround route PA0. That is, in this case, the return route acquisition unit 84 sets a candidate route that includes the turnaround route PA0 and at least one of the linear route PA2 and the arc route PA1 for each candidate position.The return route detecting unit 84 determines, for each candidate route including the turning route PA0, whether the interference with the obstacle T occurs in a case where the moving body 10 moves along the candidate route, and selects the candidate route that does not interfere with the obstacle T as the return route PA.

[0056] Even in a case where there are multiple candidate routes that do not interfere with the obstacle T among the candidate routes including the turnaround route PA0, any candidate route among the multiple candidate routes may be selected as the return route PA. For example, the return route acquisition unit 84 may select a candidate route, in which a turning radius (radius R) of the arc route PA1 is maximum, from among the multiple candidate routes that do not interfere with the obstacle T as the return route PA. Meanwhile, in a case where there is no candidate route that does not interfere with the obstacle T among the candidate routes including the turnaround route PA0, the candidate route may be set again by making a trajectory of the turnaround route PA0 different, and the setting of the candidate route may be repeated until there is a candidate route that does not interfere with the obstacle T.For example, in this case, the return route detecting unit 84 may set the position of the contact point A3 to a different position to make the trajectory of the turning route PA0 different. (movement of a moving body)

[0057] The movement control unit 86 of the moving body 10 moves the moving body 10 along the reference route P in a case where the current position of the moving body 10 is on the reference route P. On the other hand, in a case where the current position of the moving body 10 is not on the reference route P, the movement control unit 86 moves the moving body 10 along the return route PA set by the return route acquisition unit 84, and in a case where the moving body 10 reaches the merging position A, the movement control unit 86 switches a route to the reference route P and moves the moving body 10 along the reference route P.The moving body 10 moves on the return route PA or on the reference route P by sequentially detecting the position and posture of the moving body 10 via the self-position detecting unit 82. (processing flow)

[0058] A processing flow for setting the return route PA described above is described. Fig. Figure 10 is a flowchart showing a processing flow for setting the return route. As shown in Fig. 10, the moving body 10 acquires the information about the reference route P via the reference route acquisition unit 80 (step S10), and determines, via the return route acquisition unit 84, based on the information about the reference route P and the current position of the moving body 10, whether the moving body 10 is positioned on the reference route P or not (step S12). In a case where the moving body 10 is positioned on the reference route P (step S12: Yes), processing ends without setting the return route PA, and the moving body 10 moves along the reference route P.If the moving body 10 is not positioned on the reference route P (step S12: No), the return route acquisition unit 84 extracts the candidate position on the reference route P (step S14) and sets a candidate route for reaching the candidate position without including the turnaround route PA0 (step S16). After that, if the setting of the candidate route not including the turnaround route PA0 is not completed for all candidate positions (step S18: No), the processing returns to step S16, and the candidate route for another candidate position is set.On the other hand, in a case where the setting of the candidate route that does not include the turnaround route PA0 is completed for all candidate positions (step S18: Yes), the return route acquisition unit 84 determines whether or not there is a candidate route that does not interfere with the obstacle T among the candidate routes that do not include the turnaround route PA0 (step S20). In a case where there is a candidate route that does not interfere with the obstacle T (step S20: Yes), the candidate route that does not interfere with the obstacle T is set as the return route PA (step S22).

[0059] Meanwhile, in a case where there is no candidate route that does not interfere with the obstacle T among the candidate routes that do not include the turnaround route PA0 (step S20: No), the return route acquisition unit 84 sets a candidate route that includes the turnaround route PA0 and is used to reach the candidate position (step S24). Thereafter, if the setting of the candidate route that includes the turnaround route PA0 is not completed for all candidate positions (step S26: No), the processing returns to step S24, and the candidate route for another candidate position is set.On the other hand, in a case where the setting of the candidate route including the turnaround route PA0 is completed for all candidate positions (step S26: Yes), the return route acquisition unit 84 determines whether or not there is a candidate route that does not interfere with the obstacle T among the candidate routes including the turnaround route PA0 (step S28). In a case where there is a candidate route that does not interfere with the obstacle T (step S28: Yes), the candidate route that does not interfere with the obstacle T is set as the return route PA (step S22). In a case where there is no candidate route that does not interfere with the obstacle T, the processing returns to step S24, and the candidate route is set again by making an arc trajectory of the turnaround route PA0 (for example, at least one of the turning radius, the center position, and the end point position) different. (Effects)

[0060] As described above, according to the present embodiment, the moving body 10 sets the return route PA to the merging position A on the reference route P in a case where the moving body 10 is not positioned on the reference route P. Therefore, the moving body 10 can reach the merging position A through the return route PA, and thus the moving body 10 can appropriately move from the merging position A along the reference route P. Furthermore, in the present embodiment, the return route PA is set so as not to interfere with the obstacle T. Therefore, it is possible to return to the reference route P without interfering with the obstacle T. Moreover, in the present embodiment, the return route PA is selected from among the plurality of candidate routes.Therefore, a suitable return route PA can be selected for returning to the reference route P, and it is possible to move appropriately along the reference route P.

[0061] In the above description, the moving body 10 sets the return route PA via the return route acquisition unit 84. However, the entity that sets the return route PA is not limited to the moving body 10. For example, the return route PA may be set by the information processing device 14. In this case, the information processing device 14 acquires information about the current position of the moving body 10 from the moving body 10, determines whether the moving body 10 is positioned on the reference route P or not, and sets the return route PA to the merging position A in a case where the moving body 10 is not positioned on the reference route P. In this case, the moving body 10 acquires information about the return route PA set by the information processing device 14 from the information processing device 14. (Second embodiment)

[0062] Next, a second embodiment will be described. The second embodiment differs from the first embodiment in that the arc route PA1 of the return route PA is set by a binary search. In the second embodiment, descriptions of parts with a configuration common to the first embodiment will not be repeated.

[0063] Fig. 11 is a schematic diagram for describing a setting of a curved route according to the second embodiment. In the first embodiment, the curved route PA1 is set by using the circle CR in contact with the straight line L and the section P1. Therefore, the center position A2 and the radius R of the circle CR are uniquely set. Meanwhile, the return route acquisition unit 84 according to the second embodiment sets the radius R (turning radius) of the curved route PA1 via the binary search, in which a preset minimum turning radius R min is set as a minimum value and a pre-set maximum turning radius R maxis set as a maximum value. That is, the return route detection unit 84 searches via the binary search for a circle (radius and center position) in which a radius is maximum, among circles in which an arc passes the reference position A1 and a position on the section P1 in which a radius is equal to or larger than the minimum turning radius R min and is equal to or less than the maximum turning radius R max and which do not interfere with the obstacle T, and sets the circle as the circle CR. The return route detection unit 84 sets a section of the arc of the circle CR from the reference position A1 to the position on the section P1 as the arc route PA1. The minimum turning radius R min and the maximum turning radius R max can be adjusted appropriately, and for example the minimum turning radius R min determined from vehicle body dimensions, and the maximum turning radius Rmax can be determined from the turning radius that is permitted when turning a curve.

[0064] An example of a setting method of the circle CR by using the binary search will be specifically described. For example, as in step S30 of Fig. 11, the return route detection unit 84, whether a circle passing the reference position A1 and the position on the section P1 and having a radius of the minimum turning radius R min can be set or not. If the circle can be determined, as shown in step S32, the return route detecting unit 84 determines whether a circle passing the reference position A1 and the position on the section P1 and having a radius of the maximum turning radius R maxcan be set or not. In a case where the circle passing the reference position A1 and the position on the section P1 and where the radius is the maximum turning radius R max can be set, the return route detection unit 84 sets the circle as the circle CR. Meanwhile, in a case where the circle passing the reference position A1 and the position on the section P1 and the radius of which is the maximum turning radius R max cannot be set, as shown in step S34, the return route detecting unit 84 determines whether a circle passing the reference position A1 and the position on the section P1 and having a radius of a value R mid1 which is a value between the minimum turning radius R min and the maximum turning radius R max(more preferably an average value thereof) can be set or not. In a case where the circle passing the reference position A1 and the position on the section P1 and where the radius is the value R mid1 can be set, as shown in step S36, the return route detecting unit 84 determines whether a circle passing the reference position A1 and the position on the section P1 and having a radius of a value R mid2 which is a value between the value R mid1 and the maximum turning radius R max (more preferably an average value thereof) can be set or not. On the other hand, in a case where the circle passing the reference position A1 and the position on the section P1 and where the radius is the value R mid1cannot be set, as shown in step S38, the return route detecting unit 84 determines whether a circle passing the reference position A1 and the position on the section P1 and having a radius of a value R mid3 which is a value between the minimum turning radius R min and the value R mid1 (more preferably, an average value thereof) can be set or not. The return route acquisition unit 84 repeats this processing to search for a circle having a radius that is maximum among circles passing the reference position A1 and the position on the section P1 and having a radius equal to or larger than the minimum turning radius R min and is equal to or less than the maximum turning radius R max is to search, sets the circle as the circle CR for setting the arc route PA1.

[0065] As described above, in the second embodiment, the circle CR is set by using binary search without uniquely determining the circle CR using the straight line L and the section P1. Therefore, the arc route PA1 can be set appropriately while reducing a computational burden. (Third embodiment)

[0066] Next, a third embodiment will be described. The third embodiment differs from the first embodiment in that the return route PA is set based on an approach route for approaching the target object Q in a case where the moving body 10 deviates from the reference route P because the moving body 10 has moved along the approach route. In the third embodiment, descriptions of parts with a configuration common to the first embodiment will not be repeated.

[0067] Fig. 12 is a schematic diagram showing an example of a case where the return route is set based on the approach route. As in step S40 of Fig. 12, the moving body 10 switches a route from the reference route P to an approach route PB, moves along the approach route PB, approaches the target object Q installed in an installation area AR1, and picks up the target object Q. Since the installation area AR1 is located at a position deviated from the reference route P, the moving body 10 moving along the approach route PB to pick up the target object Q is positioned at the location deviated from the reference route P. The installation area AR1 is an area set in advance as an area for arranging the target object Q. Moreover, the approach route PB is a route from the reference route P toward the target object Q and can be set by any method.For example, the approach route PB may be set in advance as a route from a position on the reference route P to the installation area AR1 based on position information of the reference route P and position information of the installation area AR1. Furthermore, the moving body 10 may, for example, set the approach route PB from the position on the reference route P to the target object Q based on a position and posture of the target object Q.In this case, the movement control unit 86 may cause a sensor (for example, the sensor 26A) provided in the moving body 10 to detect the position and posture of the target object Q, and set a route on which a predetermined position and posture (a position and posture at which the moving body 10 can pick up the target object Q) with respect to the detected position and posture of the target object Q are taken as the approach route PB.

[0068] In the third embodiment, the own position detection unit 82 of the moving body 10 detects the current position of the moving body 10, for example, at a position where the target object Q is picked up. The position where the target object Q is picked up deviates from the reference route P, and thus the return route detection unit 84 determines that the moving body 10 is not positioned on the reference route P. More specifically, the return route detection unit 84 also detects information indicating that movement along the approach route PB occurs and determines that deviation from the reference route P occurs due to the movement along the approach route PB. In this case, as in step S41 of Fig. 12, the return route acquisition unit 84 sets the return route PA to the merging position A based on the approach route PB. For example, the return route acquisition unit 84 may set a route that passes along the approach route PB and in which a traveling direction is opposite to that of the approach route PB as the return route PA. Furthermore, the return route acquisition unit 84 may soften the approach route and set a route that passes the approach route PB and in which a traveling direction is opposite to that of the approach route PB as the return route PA. The approach route PB may have a complicated trajectory to accommodate the target object Q. However, the return route PA for returning to the reference route P does not need to have a complicated trajectory. Therefore, the approach route PB is softened, so that the load on the wheels can be reduced.

[0069] As described above, in the third embodiment, the return route PA is set based on the approach route PB. A computational burden of the return route PA can be reduced by using the approach route PB set in advance, as in the third embodiment. (Fourth embodiment)

[0070] Next, a fourth embodiment will be described. The fourth embodiment differs from the first embodiment in that, in a case where a plurality of the reference routes P are set, the return route PA is set for each of the plurality of reference routes P, and the reference route P actually used is selected based on each return route PA. In the fourth embodiment, descriptions of parts having a configuration common to the first embodiment will not be repeated. The fourth embodiment can also be applied to the second embodiment and the third embodiment.

[0071] Fig. 13 is a schematic diagram showing an example of a case where multiple reference routes are set. In the fourth embodiment, the reference route setting unit 60 of the information processing device 14 sets the multiple reference routes P. In this case, for example, the reference route setting unit 60 may set the multiple reference routes P that have the same destination positions but different routes. For example, in an example of Fig. 13, the reference route setting unit 60 sets reference routes P1 and P2 that have the same destination positions but different routes. However, each of the reference routes P may have a different destination position, and the number of set reference routes P is not limited to two and may be three or more.

[0072] The reference route acquisition unit 80 of the moving body 10 acquires information about the plurality of reference routes P. A return route setting unit 84 determines, for each of the reference routes P, whether the moving body 10 is positioned on the reference route P or not. The return route setting unit 84 sets the return route PA for each of the reference routes P in a case where the moving body 10 is not positioned on each reference route P. That is, the return route setting unit 84 sets the return route PA for each reference route P. The setting method of the return route PA may be the same as that of the first embodiment.

[0073] The return route setting unit 84 selects the reference route P to be used for the movement of the moving body 10 from each of the reference routes P based on the return routes PA (return route PA for each reference route P). The return route setting unit 84 selects the return route PA set for the selected reference route P, and the moving body 10 moves along the selected return route PA and along the selected reference route P. In this case, for example, the moving body 10 may transmit information about the selected reference route P to the information processing device 14, and when the moving body 10 receives a command permitting movement along the reference route P from the information processing device 14, the moving body 10 may move along the selected return route PA and along the selected reference route P.

[0074] The return route setting unit 84 may select the reference route P from each of the reference routes P via any method. For example, the return route setting unit 84 may calculate the time required to reach the target position based on the reference route P and the return route PA set with respect to the reference route P, and may select the reference route P and the return route PA on which the time required to reach the target position is the shortest from the reference routes P and the return routes PA.

[0075] As described above, in the fourth embodiment, in a case where the plurality of reference routes P are set, the return route PA is set for each of the reference routes P, and the reference route P actually used is selected based on the return route PA. Therefore, according to the fourth embodiment, it is possible to move by using an appropriate reference route P. (Fifth embodiment)

[0076] Next, a fifth embodiment will be described. The fifth embodiment differs from the first embodiment in that, in a case where the return route PA is set, a periphery of the return route PA is set to a prohibited area in which movement of another moving body 10 is prohibited. In the fifth embodiment, descriptions of parts having a configuration common to the first embodiment will not be repeated. The fifth embodiment can also be applied to the second to fourth embodiments.

[0077] Fig. 14 is a schematic block diagram of an information processing apparatus according to a fifth embodiment, and Fig. Figure 15 is a schematic diagram showing an example of the forbidden area. As shown in Fig. As shown in Figure 14, the control unit 54 of the information processing device 14 according to the fifth embodiment includes a prohibited area setting unit 62 that sets the prohibited area. The prohibited area is an area in which movement (approach) of one moving body 10 is permitted, but movement (approach) of the other moving body 10 is not permitted, and may also be referred to as an exclusive area. In the fifth embodiment, in a case where the moving body 10 is not positioned on the reference route P, the prohibited area setting unit 62 sets an area around the return route PA set for the moving body 10 as a prohibited area AR3 that prohibits approaches from moving bodies 10 other than the moving body 10, as shown in Figure 14. Fig.15. The prohibited area setting unit 62 prohibits the other moving body 10 from approaching the prohibited area AR3 in a time period in which the moving body 10 is to move along the reference route P.

[0078] In the present embodiment, since the return route PA is set by the moving body 10, the prohibited area setting unit 62 cannot detect a position of the return route PA. Therefore, in the present embodiment, the prohibited area setting unit 62 acquires information indicating that the moving body 10 is not positioned on the reference route P from the moving body 10, and in a case where the prohibited area setting unit 62 acquires the information, the prohibited area setting unit 62 sets an area around the reference route P as the prohibited area AR3. For example, the prohibited area setting unit 62 sets an area within a range of a predetermined distance from the reference route P as the prohibited area AR3.Since the return route PA is set in a vicinity of the reference route P, it can be said that the forbidden area AR3 is set around the reference route P around the return route PA.

[0079] Meanwhile, the prohibited area setting unit 62 is not limited to setting the prohibited area AR3 based on the reference route P. For example, the prohibited area setting unit 62 may detect the current position of the moving body 10 (for example, a waiting position of the moving body 10) and set the prohibited area AR3 based on the current position of the moving body 10. In this case, the prohibited area setting unit 62 may set an area within a range of a predetermined distance from the current position of the moving body 10 as the prohibited area AR3. Furthermore, the prohibited area setting unit 62 may set the prohibited area AR3 based on a return area PA.For example, the forbidden area setting unit 62 may acquire the information about the return route PA from the moving body 10 and set an area within a range of a predetermined distance from the return route PA as the forbidden area AR3.

[0080] As described above, by setting the environment of the return route PA, which is not set in advance, as the forbidden area AR3, it is possible to prevent a deadlock or a collision with another moving body when the moving body 10 moves on the return route PA. (Effects)

[0081] A route setting method according to a first aspect of the present disclosure includes a step of acquiring information about a reference route P, which is a route along which a moving body 10 moves, a step of determining whether or not the moving body 10 is positioned on the reference route P, and a step of setting a return route PA, which is a route for reaching a merging position A on the reference route P, in a case where the moving body 10 is not positioned on the reference route P. According to the present disclosure, it is possible to reach the merging position A through the return route PA, and thus it is possible to appropriately move from the merging position A along the reference route P.

[0082] A route setting method according to a second aspect of the present disclosure is the route setting method according to the first aspect, wherein, in the step of setting the return route PA, the return route PA is set so that the moving body 10 moving along the return route PA does not interfere with an obstacle T. According to the present disclosure, it is possible to return to the reference route P without interfering with the obstacle T.

[0083] A route setting method according to a third aspect of the present disclosure is the route setting method according to the first aspect or the second aspect, wherein, in the step of setting the return route PA, the merging position A is selected from among a plurality of candidate positions on the reference route P, and the return route PA is set to the selected merging position A. According to the present disclosure, the merging position A is selected from among the plurality of candidate positions. Therefore, the appropriate return route PA for returning to the reference route P can be set, and it is possible to move appropriately along the reference route P.

[0084] A route setting method according to a fourth aspect of the present disclosure is the route setting method according to the third aspect, wherein, in the step of setting the return route PA, a candidate route to the candidate position is set for each of the candidate positions, and the return route PA is selected from a plurality of candidate routes. According to the present disclosure, the return route PA is selected from the plurality of candidate routes. Therefore, the appropriate return route PA for returning to the reference route P can be set, and it is possible to move appropriately along the reference route P.

[0085] A route setting method according to a fifth aspect of the present disclosure is the route setting method according to the fourth aspect, wherein, in the step of setting the return route PA, a route on which the moving body 10 moving along the candidate route does not interfere with an obstacle T is selected from among the plurality of candidate routes as the return route PA. According to the present disclosure, it is possible to return to the reference route P without interfering with the obstacle T.

[0086] A route setting method according to a sixth aspect of the present disclosure is the route setting method according to at least one of the first to fifth aspects, wherein, in the step of setting the return route PA, a route including at least one of a linear route PA2 having a linear shape approaching the merging position A and an arc route PA1 having an arc shape approaching the merging position A is set as the return route PA. According to the present disclosure, the return route PA can be appropriately set while reducing the amount of calculation.

[0087] A route setting method according to a seventh aspect of the present disclosure is the route setting method according to the sixth aspect, wherein, in the step of setting the return route PA, a route including a turnaround route PA0 away from the merging position A is set as the return route PA in a case where the moving body 10 interferes with an obstacle T on a route including at least one of the linear route PA2 and the arc route PA1. According to the present disclosure, the return route PA that does not interfere with the obstacle T can be set by setting the turnaround route PA0.

[0088] A route setting method according to an eighth aspect of the present disclosure is the route setting method according to the sixth aspect or the seventh aspect, wherein, in the step of setting the return route PA, a turning radius of the arc route PA1 is determined by a binary search in which a minimum turning radius R set in advance is min is set as a minimum value and a pre-set maximum turning radius R max is set as a maximum value. According to the present disclosure, the return route PA can be appropriately set while reducing the computational burden.

[0089] A route setting method according to a ninth aspect of the present disclosure is the route setting method according to at least one of the first to eighth aspects, wherein, in the step of setting the return route PA, the return route PA is set based on an approach route PB for approaching a target object Q in a case where the moving body 10 is not positioned on the reference route P because the moving body 10 has moved along the approach route PB from the reference route P. According to the present disclosure, since the return route PA is set using the approach route PB, the return route PA can be appropriately set while reducing the amount of calculation.

[0090] A route setting method according to a tenth aspect of the present disclosure is the route setting method according to at least one of the first to ninth aspects, wherein, in the step of acquiring information about the reference route P, information about a plurality of the reference routes P is acquired, and in the step of setting the return route PA, the return route PA for reaching the merging position A is set for each of the plurality of reference routes P, and the reference route P to be used for the movement of the moving body 10 is selected from the reference routes P based on each of the return routes PA. According to the present disclosure, the reference route P can be appropriately selected.

[0091] A route setting method according to an eleventh aspect of the present disclosure is the route setting method according to at least one of the first to tenth aspects, wherein the route setting method further includes a step of setting a periphery of the return route PA to a prohibited area AR3 in which movement of another moving body is prohibited while the moving body 10 is moving along the return route PA. According to the present disclosure, it is possible to prevent deadlock or collision with the other moving body when the moving body 10 is moving on the return route PA.

[0092] A program according to a twelfth aspect of the present disclosure causes a computer to perform a step of acquiring information about a reference route P, which is a route along which a moving body 10 moves, a step of determining whether or not the moving body 10 is positioned on the reference route P, and a step of setting a return route PA, which is a route for reaching a merging position A on the reference route P, in a case where the moving body 10 is not positioned on the reference route P. According to the present disclosure, it is possible to reach the merging position A through the return route PA, and thus it is possible to appropriately move from the merging position A along the reference route P.

[0093] A moving body 10 according to a thirteenth aspect of the present disclosure is a moving body that moves automatically, wherein the moving body 10 includes a reference route acquisition unit 80 that acquires information about a reference route P, which is a route for moving, and a return route acquisition unit 84 that acquires a return route PA, which is a route for reaching a merging position A on the reference route P, in a case where the moving body 10 is not positioned on the reference route P. According to the present disclosure, it is possible to reach the merging position A through the return route PA, and thus it is possible to move appropriately from the merging position A along the reference route P.

[0094] Although the embodiments of the present disclosure have been described above, the embodiments are not limited by the contents of the embodiments. Moreover, the above-described components include those that can be easily understood by those skilled in the art, those that are substantially the same, and those that are within a so-called equivalent range. Furthermore, the above-described components can be appropriately combined. Furthermore, various omissions, substitutions, or modifications of the above-described components can be made without departing from the concept of the above-described embodiments. List of reference symbols 10 moving bodies 12 Management device 14 Information processing device 80 Reference route acquisition unit 82 Recording unit for own position 84 Return route recording unit 86 Motion control unit A merging position P Reference route PA return route QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] JP 7027206

[0003]

Claims

[1] Route setting method, comprising: a step of acquiring information about a reference route, which is a route along which a moving body moves; a step of determining whether the moving body is positioned on the reference route or not; and a step of setting a return route, which is a route for reaching a merging position on the reference route, in a case where the moving body is not positioned on the reference route. [2] The route setting method according to claim 1, wherein in the step of setting the return route, the return route is set so that the moving body moving along the return route does not interfere with an obstacle. [3] The route setting method according to claim 1 or 2, wherein in the step of setting the return route, the merging position is selected from a plurality of candidate positions on the reference route and the return route is set to the selected merging position. [4] The route setting method according to claim 3, wherein in the step of setting the return route, a candidate route to the candidate position is set for each of the candidate positions, and the return route is selected from a plurality of the candidate routes. [5] The route setting method according to claim 4, wherein in the step of setting the return route, a route on which the moving body moving along the candidate route does not interfere with an obstacle is selected from the plurality of candidate routes as the return route. [6] The route setting method according to claim 1 or 2, wherein in the step of setting the return route, a route including at least one of a linear route having a linear shape approaching the merging position and an arc route having an arc shape approaching the merging position is set as the return route. [7] The route setting method according to claim 6, wherein in the step of setting the return route, a route including a turnaround route away from the merging position is set as the return route in a case where the moving body interferes with an obstacle on a route including at least one of the linear route and the arc route. [8] The route setting method according to claim 6, wherein in the step of setting the return route, a turning radius of the arc route is set by a binary search in which a minimum turning radius set in advance is set as a minimum value and a maximum turning radius set in advance is set as a maximum value. [9] The route setting method according to claim 1 or 2, wherein in the step of setting the return route, the return route is set based on an approach route for approaching a target object in a case where the moving body is not positioned on the reference route because the moving body has moved along the approach route from the reference route. [10] Route setting method according to claim 1 or 2, wherein the step of acquiring information about the reference route comprises acquiring information about a plurality of the reference routes, and in the step of setting the return route, the return route for reaching the merging position is set for each of the plurality of reference routes, and the reference route to be used for the movement of the moving body is selected from the reference routes based on each of the return routes. [11] The route setting method according to claim 1 or 2, further comprising: a step of setting a periphery of the return route to a prohibited area in which movement of another moving body is not permitted while the moving body is moving along the return route. [12] Program that causes a computer to execute: a step of acquiring information about a reference route, which is a route along which a moving body moves; a step of determining whether the moving body is positioned on the reference route or not; and a step of setting a return route, which is a route for reaching a merging position on the reference route, in a case where the moving body is not positioned on the reference route. [13] Moving body that moves automatically, comprising: a reference route acquisition unit that acquires information about a reference route, which is a route for moving; and a return route detecting unit that detects a return route, which is a route for reaching a merging position on the reference route, in a case where the moving body is not positioned on the reference route.

Images