CONTROL SYSTEM FOR MOVING BODY AND INFORMATION PROCESSING METHOD

Abstract

The present invention suppresses the frequency of motion path interference. This control system for moving bodies comprises: a storage unit that assigns and stores multiple path segments traversed by a moving body and weight values ​​indicating the motion costs of the path segments; a weight setting unit that separately sets weight values ​​for the directions of travel of at least some of the multiple path segments; and a path setting unit that sets a motion path from a motion start position of the moving body to a destination based on the weight values ​​of the directions of travel of the path segments.

Description

Technical field

[0001] The present disclosure relates to a control system for moving bodies and an information processing method. State of the art

[0002] A control system for setting a motion route for a moving body, in order to move the moving body along the motion route, is known. For example, PTL 1 discloses a technology in which a motion route for a transport vehicle (moving body) is generated by searching for the shortest route in order to move the transport vehicle along the motion route. PTL 1 discloses that an interference avoidance process is carried out as follows: If there is a possibility that the transport vehicles will interfere with each other, the movement of the transport vehicle with a higher priority is prioritized, and the transport vehicle with a lower priority is made ready. List of citations from patent literature

[0003] [PTL 1] Japanese unexamined patent application publication no. 2016-170580 Summary of the invention: Technical problem

[0004] As in PTL 1, if the shortest route to a destination is always used for the motion path, motion in both directions occurs on overlapping paths, and the frequency of interference increases. When interference occurs, the moving body must be ready before an interference point or must temporarily retract outwards from a route. Therefore, in some cases, the processing efficiency of work performed by the moving body may decrease. In this description, the term "interference" means that some of the motion paths of different moving bodies intersect or overlap, causing a possibility of collision or the like.

[0005] The present disclosure was made in view of the circumstances described above, and one purpose of the present disclosure is to provide a control system for moving bodies and an information processing method that can suppress a frequency of interference of movement routes. Solution to the problem

[0006] A control system for moving bodies according to the present disclosure comprises a storage unit that stores, in conjunction with each other, several route segments traversed by a moving body and weight values ​​indicating the movement costs of the route segments, a weight setting unit that individually sets the weight values ​​for each direction of travel of the route segments for at least some of the several route segments, and a route setting unit that sets a movement route from a movement start position to a destination of the moving body based on the weight values ​​for each direction of travel of the several route segments.

[0007] A control system for moving bodies according to the present disclosure comprises a storage unit that stores, in conjunction with each other, several route segments traversed by a moving body and weight values ​​indicating the movement costs of the route segments, a route setting unit that sets a movement route from a movement start position to a destination of the moving body based on the weight values ​​of the several route segments, and a weight setting unit that sets the weight values ​​of the route segments based on the movement route set in the past.

[0008] An information processing method according to the present disclosure comprises a step of acquiring weight values ​​that are individually set for each direction of passage of route segments for at least some of several of the route segments that a moving body passes through, and a step of setting a movement route from a movement start position to a destination of the moving body based on the weight values ​​for each direction of passage of the several route segments.

[0009] An information processing method according to the present disclosure comprises a step of recording several route segments traversed by a moving body and weight values ​​indicating the movement costs of the route segments, a step of setting a movement route from a movement start position to a destination of the moving body based on the weight values ​​of the several route segments, and a step of setting the weight values ​​of the route segments based on the movement route set in the past. Advantageous effects of the invention

[0010] According to the present disclosure, it is possible to suppress the frequency of interference between movement routes. Brief description of the drawings Fig. Figure 1 is a schematic diagram of a control system for moving bodies according to a first embodiment. Fig. Figure 2 is a schematic diagram of a system configuration of the control system for moving bodies. Fig. Figure 3 is a schematic diagram of a configuration of a moving body. Fig. Figure 4 is a schematic block diagram of a control device for the moving body. Fig. Figure 5 is a schematic block diagram of an administrative device. Fig. Figure 6 is a schematic block diagram of an information processing device. Fig. Figure 7 is a diagram showing an example of order information. Fig. Figure 8 is a schematic diagram showing an example of weighting multiple route segments. Fig. Figure 9 is a flowchart showing an example of a weighting process for each route segment, performed by a weight setting unit according to the first embodiment. Fig. Figure 10 is a flowchart showing an example of a route setting process performed by a route setting unit according to the present embodiment. Fig. Figure 11 is a schematic diagram showing an example of route setting according to a comparison example. Fig. Figure 12 is a schematic diagram showing an example of route setting according to the first embodiment. Fig. Figure 13 is a diagram showing an example of operational recording data according to a second embodiment and an example of weight setting information based on the operational recording data. Fig. Figure 14 is a flowchart showing a weighting process (first example) performed by a weight setting unit according to the second embodiment. Fig. Figure 15 is a diagram describing a method for setting a weight value according to a second example of the second embodiment. Fig. Figure 16 is a diagram showing an example of the movement route. Fig. Figure 17 is a flowchart showing an example of a weighting process (second example) performed by the weight setting unit according to the second embodiment. Description of embodiments

[0011] Preferred embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. The present disclosure is not limited by the embodiments, and where several embodiments are provided, the present disclosure also includes a configuration in which the respective embodiments are combined. [First embodiment](motion control system)

[0012] Fig. Figure 1 is a schematic diagram of a control system for moving bodies according to a first embodiment. As in Fig. As shown in Figure 1, a control system 1 for moving bodies according to the first embodiment is a system that controls a moving body 10. The control system 1 for moving bodies includes an administration device 12 and an information processing device 14. The control system 1 for moving bodies is provided in a facility 200 and controls a movement of the moving body 10 belonging to the facility 200. For example, the facility 200 is a facility where logistics management is carried out, such as a warehouse, but can be any facility that operates the moving body 10. In the control system 1 for moving bodies, the moving body 10 is an unmanned transport device that transports an object P located in a working area of ​​the facility 200.The work area is an area in which object P is installed or the moving body 10 is moved, and is, for example, a floor surface of the facility 200. In the first embodiment, object P transported by the moving body 10 is a transport object in which cargo is loaded onto a pallet. However, object P is not limited to the transport object in which cargo is loaded onto a pallet and can have any shape. For example, object P can be only the cargo, without providing the pallet. Furthermore, the moving body 10 is not limited to those that transport object P and can be a device that moves within the facility 200 for any reason. (Work area)

[0013] A work area is set up in the device 200. The work area is an area in which the moving body 10 performs predetermined work, such as loading. The work area comprises a first area AR1 and a second area AR2.

[0014] Below, a direction along a floor surface of the work area is referred to as the X-direction, and a direction along the floor surface that intersects the X-direction is referred to as the Y-direction. The Y-direction is a direction perpendicular to the X-direction. The X-direction and the Y-direction can be described as directions along a horizontal plane. For the X-direction and the Y-direction, a direction indicated by an arrow is defined as a + direction (or a + side), and a direction opposite to the + direction is defined as a - direction (or a - side). Furthermore, a direction perpendicular to the X-direction and the Y-direction, and more specifically a direction towards a top surface in a vertical direction, is referred to as the Z-direction.Furthermore, unless otherwise specified, the term "position" refers to a position (coordinate) in a coordinate system on a two-dimensional plane in the workspace.

[0015] The first area AR1, for example, is an area in which object P loaded onto a transport vehicle or object P unloaded from the transport vehicle is arranged. Several arrangement positions for positioning object P are set in the first area AR1. Fig. Figure 1 shows 15 arrangement positions from e17 to e31 as an example. Depending on the situation of the facility 200, the object P may be arranged at arrangement positions e17 to e31, or it may not be arranged at arrangement positions e17 to e31. In the example in Fig. 1. The arrangement positions e17 to e31 are set such that five rows of the arrangement positions are aligned in the Y direction and three rows of the arrangement positions are aligned in the X direction. The orientation and the number of arrangement positions can be determined in any way.

[0016] Furthermore, in the first area AR1, a loading position c1 for loading the moving body 10, ready positions h1 and h2 of the moving body 10 and the like are set.

[0017] The second area AR2 is a storage area for storing object P. A shelf 5, on which object P can be installed, is located in the second area AR2, and arrangement positions e1 to e16 are set for the respective shelves 5. In the example in Fig. The shelves 5, extending along the X-direction, are arranged in two rows in the X-direction and in four rows in the Y-direction. Two arrangement positions are set in one shelf 5.

[0018] A passage R, which the moving body 10 can traverse, is predefined in the work area. The passage R is a route virtually set in an XY coordinate space for controlling the moving body 10. The passage R can be marked (travel line, address marker, or the like) that can be detected by the moving body 10, or it can be configured so that the moving body 10 can travel along the passage R without a marker. The passage R is set to connect at least each of the arrangement positions e1 to e31, the loading position c1, and each of the ready positions h1 and h2. The passage R is set to avoid any installation object, such as the shelf 5, or any obstacle in the work area.The passage R can be set not only to a route that linearly connects the arrangement positions and the like, but also to a route that bypasses the installation object, such as shelf 5 (route to pass one side in a +Y direction of the arrangement positions e1 to e4 or the like).

[0019] The passage R is subdivided into several route segments Rp, which the moving body 10 traverses. Any method for setting the route segment Rp, such as the number of subdivisions of the passage R (number of route segments Rp) or a shape of the route segment Rp, can be used. In the first embodiment, the route segment Rp is defined as a segment in which the passage R is subdivided at substantially constant intervals. That is, the passage R is subdivided by a linear section (section) connecting a branch point, a corner, and each working position (arrangement position, loading position, or ready position), and each linear section is defined as the route segment Rp. Furthermore, the route segment Rp can be defined as a path connecting waypoints set at multiple positions (coordinates) within the work area.The waypoints do not necessarily have to be set at every constant interval. (System configuration)

[0020] Fig. Figure 2 is a schematic diagram of a system configuration of the control system 1 for moving bodies. Fig. Figure 2 shows an example in which two information processing devices 14 are provided. The management device 12 is connected to each of the information processing devices 14 in such a way that it can communicate with them. The management device 12 outputs order information 70 (see Figure 2). Fig. 7), which contain multiple work orders, to each information processing device 14. The work order is information that defines the content of transport work for each of the movement bodies 10. Each of the information processing devices 14 is connected to each of several of the movement bodies 10 under management in such a way that it can communicate with them. Each of the information processing devices 14 performs operational planning so that a group of work orders defined in the order information 70 can be executed efficiently. Operational planning includes planning a movement route MV (MV1 and MV2, see Fig. 12) of the motion body 10 from a motion start position to a destination designated in the work order. Operational planning includes determining a planned start time for each job based on the priority of the work order and the planned time required for the job. The work order contains motion work and loading work as work units, and the loading work includes loading and unloading. Each motion body 10 performs the work defined in the work order based on the motion route MV or the work instruction received from the information processing device 14 that manages the motion body 10. (Moving body)

[0021] Fig. Figure 3 is a schematic diagram of a configuration of the moving body 10. The moving body 10 is a device that can move automatically and transport the object P. Furthermore, in the first embodiment, the moving body 10 is a so-called automated guided vehicle (AGV) or an automated guided forklift (AGF). The in Fig. The moving body 10 shown in Figure 3 is the AGF, that is, a forklift truck that transports object P. However, the moving body 10 is not limited to the forklift truck that transports object P and can be any device that can move automatically.

[0022] As in Fig. As shown in Figure 3, the moving body 10 comprises a vehicle body 20, wheels 20A, spreader legs 21, a mast 22, a fork 24, a sensor 26A, and a control device 28. The spreader legs 21 are a pair of wave-shaped elements located in an end section of the vehicle body 20 in a front-to-back direction and projecting from the vehicle body 20. The wheels 20A are located at each end of the spreader legs 21 and the vehicle body 20. That is, although a total of three wheels 20A are provided, their positions and number can be determined arbitrarily. The mast 22 is movably attached to the spreader legs 21 and moves in the front-to-back direction of the vehicle body 20. The mast 22 extends in an up-and-down direction (here the Z-direction) that is perpendicular to the front-to-back direction. The fork 24 is attached to the mast 22 to be movable in the Z-direction.The fork 24 can also be movable relative to the mast 22 in a transverse direction (direction intersecting the up-down and front-back directions) of the vehicle body 20. The fork 24 includes a pair of claws 24A and 24B. The claws 24A and 24B extend from the mast 22 toward a forward direction of the vehicle body 20. Claw 24A and claw 24B are arranged such that they are separated from each other in the transverse direction of the mast 22. Hereinafter, in the front-back 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.

[0023] The sensor 26A detects at least one position and one orientation of the object located around the vehicle body 20. The sensor 26A can detect at least one position of the object relative to the moving body 10 and one orientation of the object relative to the moving body 10. In the first embodiment, the sensor 26A is provided at each end of the spreader legs 21 in the front direction and on one side in the rear direction of the vehicle body 20. However, the position at which the sensor 26A is provided is not limited to this, and the sensor 26A can be provided at any position, and the number of sensors 26A provided can be determined in any way.

[0024] Sensor 26A, for example, is a sensor that emits laser light. Sensor 26A emits the laser light while scanning in one direction (here, the transverse direction) and detects the position and orientation of the object from the reflected light of the emitted laser light. That is, sensor 26A can be a so-called two-dimensional (2D) LiDAR (light detection and ranging) sensor. However, sensor 26A is not limited to the sensor described above and can be a sensor that detects the object P using any method. For example, sensor 26A can be a so-called three-dimensional (3D) LiDAR sensor that scans in multiple directions, a so-called one-dimensional (1D) LiDAR sensor that does not scan, or a camera.

[0025] The control device 28 is a device that controls the moving body 10. Fig. Figure 4 is a schematic block diagram of the control device 28 of the moving body 10. The control device 28 is a computer and contains, as shown in Fig. Figure 4 shows a communication unit 100, a storage unit 102, and a control unit 104. The communication unit 100 is a module used by the control unit 104 to communicate with an external device, such as the information processing device 14, and may, for example, include an antenna. In the first embodiment, one communication method of the communication unit 100 is wireless communication, and any communication method can be used. The storage unit 102 is a memory that stores various types of information, such as calculation contents of the control unit 104 and programs, and includes, for example, at least one input from a main memory device, such as RAM or ROM, and one input from an external storage device, such as an HDD.

[0026] The control unit 104 is a computing device and contains, for example, a computing circuit such as a CPU. The control unit 104 includes a route acquisition unit 110, a motion control unit 112, and an information transmission unit 114. The control unit 104 reads and executes a program (software) from the memory unit 102. In this way, the route acquisition unit 110, the motion control unit 112, and the information transmission unit 114 are implemented to execute processes. The control unit 104 can execute the processes using a single CPU, or it can contain multiple CPUs to execute the processes using them. Furthermore, at least part of the route acquisition unit 110, the motion control unit 112, and the information transmission unit 114 can be implemented by a hardware circuit.Furthermore, a program stored in the storage unit 102 for the control unit 104 can be stored on a recording medium readable by the control device 28.

[0027] The route acquisition unit 110 acquires information about a route (motion route MV) along which the moving body 10 moves, the motion control unit 112 controls a motion mechanism, such as a drive unit or steering of the moving body 10, to control the movement of the moving body 10, and the information transmission unit 114 transmits information about moving bodies, which indicates a position of the moving body 10, to an external device, such as the information processing device 14. (Administrative device)

[0028] Fig. Figure 5 is a schematic block diagram of the management device 12. The management device 12 is a system that manages logistics in the facility 200. Although in the first embodiment the management device 12 is a warehouse control system (WCS) or a warehouse management system (WMS), the management device 12 can be any system, not limited to the WCS and the WMS. For example, the management device 12 can be a back-end system, such as another production management system. The location of the management device 12 can be determined in any way. The management device 12 can be located within the facility 200 or it can be located at a separate location from the facility 200 to manage the facility 200 from that separate location.The administrative device 12 is a computer and contains, as in . Fig. 5 shown, 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, and may, for example, contain an antenna. In the first embodiment, one communication method of the communication unit 30 is wireless communication, but any communication method can be used.

[0030] The memory unit 32 is a memory that stores various types of information, such as calculation contents of the control unit 34 and programs, and contains, for example, at least one from a main memory device, such as RAM or ROM, and an external storage device, such as an HDD. The memory unit 32 stores several route segments Rp, which the moving body 10 traverses, and weight values ​​W, which indicate the movement costs of the route segments Rp, in conjunction with each other.

[0031] The control unit 34 is a computing device and contains, for example, a computing circuit such as a CPU. The control unit 34 includes a work order setting unit 40 and a weight setting unit 42. The control unit 34 reads and executes a program (software) from the memory unit 32. In this way, the work order setting unit 40 is implemented to execute a process. The control unit 34 can execute the process using one CPU or it can contain several CPUs to execute the process using them. Furthermore, at least part of the work order setting unit 40 can be implemented by a hardware circuit. Additionally, a program stored in the memory unit 32 for the control unit 34 can be stored on a recording medium readable by the management device 12.

[0032] The work order setting unit 40 sets a work order for the motion body 10 for each object P. The work order setting unit 40 then instructs the communication unit 30 to transmit the set work order. The contents of the work order are described below.

[0033] The weight setting unit 42 sets the weight value W (see Fig. 8) for each of the multiple route segments Rp stored in memory unit 32. Setting the weight value W is described later.

[0034] The management device 12 can also perform a process other than setting a target position and weighting. For example, in addition to the moving body 10 provided in the device 200, the management device 12 can also specify information for controlling a mechanism (for example, an elevator or a door). (Information processing device)

[0035] Fig. Figure 6 is a schematic block diagram of the information processing device 14. The information processing device 14 is a device that processes information relating to the motion of the moving body 10 or the like. For example, the information processing device 14 is a fleet control system (FCS), but without being limited to this, the information processing device 14 can be any device that processes information relating to the motion of the moving body 10. The information processing device 14 is a computer and contains, as shown in Fig. Figure 6 shows a communication unit 50, a storage unit 52, and a control unit 54. The communication unit 50 is a module used to enable the control unit 54 to communicate with an external device, such as the management device 12 and the motion body 10, and may, for example, include an antenna. In the first embodiment, the communication method of the communication unit 50 is wireless communication, but any communication method can be assumed.

[0036] The memory unit 52 is a memory that stores various types of information, such as calculation contents of the control unit 54 and programs, and contains, for example, at least one from a main memory device, such as RAM and ROM, and an external storage device, such as an HDD. The memory unit 52 stores weight setting information in which the several route segments Rp and weight values ​​W are mapped to each other and which are set by the management device 12.

[0037] The control unit 54 is a computing device and contains, for example, a computing circuit such as a CPU. The control unit 54 includes a sensor unit 60, a routing unit 62, and a processing unit 64. The control unit 54 reads and executes a program (software) from the memory unit 52. In this way, the sensor unit 60 and the routing unit 62 are implemented to execute processes. The control unit 54 can execute the processes using a single CPU, or it can contain multiple CPUs to execute the processes using multiple CPUs. Furthermore, at least part of the sensor unit 60 and the routing unit 62 can be implemented by a hardware circuit. Additionally, a program stored in the memory unit 52 for the control unit 54 can be stored on a recording medium readable by the information processing device 14.

[0038] The acquisition unit 60 acquires the work order transmitted by the management device 12. The acquisition unit 60 acquires the weight setting information transmitted by the management device 12. The acquisition unit 60 acquires the information about moving bodies transmitted by the moving body 10. The route setting unit 62 creates transport instruction information for moving body 10 based on the work order. The transport instruction information includes the movement route MV from the movement start position to the destination of moving body 10 and a start time for the movement. The route setting unit 62 sets the movement route MV corresponding to each work order based on the work order and the weight setting information.The processing unit 64 transmits a work instruction to each of the moving bodies 10 under management via the communication unit 50 on the basis of the transport instruction information set by the route setting unit 62.

[0039] In the first embodiment, the management device 12 and the information processing device 14 are separate devices, but can be an integrated device. That is, the management device 12 can have at least some functions of the information processing device 14, and the information processing device 14 can have at least some functions of the management device 12. (Order information)

[0040] Fig. Figure 7 is a diagram showing an example of order information 70. Each work order defined in order information 70 is set for each object P.

[0041] As in Fig. As shown in Figure 7, the work order contains an order ID, information about a loading position and an unloading position, a priority of the work, and a motion body ID of the motion body 10 to which the work is assigned. The loading position is the location where loading is performed on the motion body 10. The unloading position is the location where unloading is performed on the motion body 10. For example, the work for an order ID of 101 defines that the motion body 10 with a motion body ID of 1 performs loading at layout position e17 and unloading at layout position e14. The work order setting unit 40 creates the order information 70, which contains a group of work orders, by collecting multiple work orders for each motion body ID managed by the information processing device 14.The work order setting unit 40 causes the communication unit 30 to transmit the order information 70 to the corresponding information processing device 14. (Weighting)

[0042] Fig. Figure 8 is a schematic diagram showing an example of weighting the multiple route segments Rp. For the sake of simplicity, an example is described here where two weight values ​​W, a "small weight" and a "large weight," are set. In an example in Fig. Section 8 shows that the weight value W of the route segment Rp is represented by two types of arrows, which are shown in an explanation. The weight value W is not limited to these two types, and either value can be used. In practice, each weight value W is individual numerical information, and even if the same "small weight" is set, the specific numerical values ​​to be set may differ.

[0043] In the example in Fig. In the first embodiment, the passage R in the work area is divided into a total of 59 route sections Rp. The weight setting unit 42 individually sets the weight value W for each direction of passage of the route section Rp for at least some of the multiple route sections Rp. Fig. Figure 8 shows an example where the weight value W is set individually for each direction of travel for all 59 route segments Rp. Because the weight value W is shown for each direction of travel, an arrow (weight value W) in one direction and an arrow (weight value W) in the opposite direction are shown individually for each route segment Rp. At a point where the weight value W in one direction and the weight value W in the other direction are the same, it is possible that the weight value W in each of the route segments Rp is not set for every direction of travel.

[0044] A method for setting the weight value W by the weight setting unit 42 is not limited to a specific procedure. For example, the weight setting unit 42 sets the weight value W of each route segment Rp by using typical (virtual) job information 70 in the facility 200 or job information 70 that has been executed in the past, through an optimized simulation. For example, the weight setting unit 42 can optimize the weight value W by using machine learning or reinforcement learning based on a setting record of the weight value W and record information about interference occurrences in the past (implementation of interference avoidance).The weight setting unit 42 can calculate the weight value W according to a preset calculation algorithm and can set the weight value W according to an operator input. As shown in . Fig. As shown in Figure 8, the weight setting unit 42 records a set of weight values ​​W, which are set for all of the route sections Rp, in the memory unit 32 as weight setting information. (Generation of transport instruction information)

[0045] As in Fig. As shown in Figure 6, the communication unit 50 of the information processing device 14 receives the order information 70 and the weight setting information transmitted by the management device 12. The acquisition unit 60 acquires the received order information 70 and the received weight setting information. The route setting unit 62 generates transport instruction information about the work of the moving body 10 based on the content of the work order and the weight value W corresponding to each route segment Rp, for each work order contained in the order information 70 (see Figure 6). Fig. 7).

[0046] The route setting unit 62 sets the movement route MV (see Fig. 12) from the loading position to the unloading position of the moving body 10 based on the weight values ​​W (see Fig. 8) for each direction of passage of the multiple route segments Rp. The movement route MV is information that specifies the route segment Rp of the movement body 10 that passes from the movement start position to the destination. If the movement body 10 performs the first work order, the movement start position is a starting position of the movement body 10. If the movement body 10 performs the second and subsequent work orders, the movement start position is an unloading position of the immediately preceding work order. The route setting unit 62 performs route planning by setting the loading position or the unloading position as the destination. For example, the route setting unit 62 sets the movement route MV by searching for the shortest route. Searching for the shortest route is a route setting procedure for obtaining a route with minimum movement costs from the routes from the movement start position to the destination.In the first embodiment, the movement costs are represented by the weight value W. Therefore, the route setting unit 62 uses a route where the sum of the weight values ​​W of the route segments traversed by the moving body 10 from the movement start position to the destination is minimized, as the movement route MV.

[0047] Subsequently, the route setting unit 62 determines a planned start time for each work order based on the priority of each work order and the planned required time for loading at the loading and unloading positions. In this way, the route setting unit 62 generates transport instruction information that includes the movement route MV and the planned start time for each work order. One set of transport instruction information for each work order forms an operating plan for each movement body 10 in the facility 200.

[0048] The processing unit 64 instructs the motion body 10 to perform the work when the motion body 10, with an ID designated in the work order, meets a work start condition and the scheduled start time of the work has elapsed. For example, the work start condition refers to a case in which the motion body 10 is operating normally and the previously (immediately preceding) assigned work order has been completed normally. (Operation of moving bodies)

[0049] The moving body 10 performs the work in accordance with the set transport instruction information. As in Fig. As shown in Figure 4, the motion control unit 112 of the moving body 10 controls the movement of the moving body 10 based on the transport instruction information.

[0050] Furthermore, when the moving body 10 reaches the loading position, the motion control unit 112 instructs the sensor 26A to detect the position and orientation of object P and sets a route to approach object P based on this detection result. In this way, the moving body 10 loads (picks up) object P in accordance with the set route and holds a pallet of object P with a pair of claws 24A and 24B (see Fig. 3).

[0051] After picking up object P, the motion control unit 112 controls the movement of the moving body 10 to move towards the unloading position. Preferably, the route acquisition unit 110 sets a second route (global path) based on a first route (layout path), which is the movement route MV of the transport instruction information transmitted by the information processing device 14. In this case, the route acquisition unit 110 sets the route based on the first route and information about the vehicle specifications of the moving body 10. For example, the vehicle specifications provide details that influence the route along which the moving body 10 moves, such as a size or a minimum turning radius of the moving body 10.

[0052] The motion control unit 112 sequentially identifies position information of the moving body 10 in order to move the moving body 10 so that it follows the set route (second route). A method for acquiring the position information of the moving body 10 is used in any manner. For example, in the first embodiment, a detection body (not shown) is provided in the device 200, and the motion control unit 112 acquires information about the position and orientation of the moving body 10 based on detection by the detection body. In particular, the moving body 10 emits laser light in the direction of the detection body and receives reflected light from the laser light from the detection body to detect the position and orientation of the moving body 10 in the device 200.The method for acquiring information about the position and orientation of the moving body 10 is not limited to the method that uses the detection body, and, for example, simultaneous localization and mapping (SLAM) can be used. (Operation of motion control system)

[0053] Fig. Figure 9 is a flowchart showing an example of a weighting process for each route segment Rp by the weight setting unit 42 according to the first embodiment. As in Fig. 9 shown, recorded at the administrative device 12 (see Fig. 5) The weight setting unit 42 receives information about each route segment Rp that forms passage R from the memory unit 32 (step S10). The weight setting unit 42 sets the weight value W for each detected route segment Rp (step S11). In this case, the weight setting unit 42 sets the weight value W individually for each direction of passage of the route segment Rp for at least some of the multiple route segments Rp (see Fig. 8) The weight setting unit 42 stores the weight setting information, in which the route segment Rp and the weight value W of the route segment Rp are assigned to each other, in the storage unit 32 and transmits the weight setting information to the information processing device 14 via the communication unit 30 (step S12).

[0054] Fig. Figure 10 is a flowchart showing an example of a setting process for the movement route MV by the route setting unit 62 according to the first embodiment. As shown in Fig. 10 shown, recorded in the information processing device 14 (see Fig. 6) The data acquisition unit 60 receives the order information 70 from the management device 12 via the communication unit 50 (step S20). The data acquisition unit 60 receives the information about the route segment Rp and the weight setting information from the management device 12 via the communication unit 50 (step S21). In this way, the data acquisition unit 60 receives the weight value W (see Fig. 8), which is individually set for each direction of travel of the route segment Rp. Each of the steps S20 and S21 can be performed earlier. The route setting unit 62 sets the movement route MV based on the order information 70, the information about the route segment Rp, and the weight setting information (step S22). That is, the route setting unit 62 sets the movement route MV from the movement start position to the destination of the movement body 10, for example, by finding the shortest route in accordance with the weight value W for each direction of travel of the multiple route segments Rp. In addition, the route setting unit 62 generates transport instruction information that includes the movement route MV and the planned start time for each work order contained in the order information 70.Based on the transport instruction information, the processing unit 64 instructs the communication unit 50 to transmit an instruction to start work to the corresponding motion body 10 for each work order (step S23). (Example of weight setting)

[0055] Next, an example of weight setting in the first embodiment is described. As described above, in the shortest route search, it is more likely that the route segment Rp will be used for the movement route MV of the moving body 10 because the weight value W set in the route segment Rp is smaller. Because the weight value W set in the route segment Rp is larger, it is less likely that the route segment Rp will be used for the movement route MV of the moving body 10.

[0056] Therefore, in the first embodiment, the weight value W is set for each direction of travel with respect to the route segment Rp. In this way, a direction in which the moving body 10 must preferably pass can be set. That is, in each route segment Rp, the weight value W in the direction (one direction) in which the moving body 10 must preferably pass is set to be small, or the weight value W in the direction (other direction) opposite to the direction in which the moving body 10 must preferably pass is set to be large. As a result, a movement route MV that passes the route segment Rp in one direction is easily created.In other words, since the weight value W is set for each direction of travel, a frequency of travel in one direction and a frequency of travel in the other direction can be freely adjusted in the specific route section Rp of each moving body 10.

[0057] The setting of the weight value W for each direction of passage is determined with reference to Fig. 8 described. In the example in Fig. 8 The weight setting unit 42 sets the weight values ​​W with respect to a series of successive route segments Rp such that the moving body 10 is more likely to pass in one direction and less likely to pass in the opposite direction. Specifically, the weight setting unit 42 performs the weighting at a series of route segments Rp that extend such that they intersect several work positions. Here, the work position is a position coordinate set as a loading or unloading position of the work order and is a concept that includes the arrangement positions e1 to e31, the loading position c1, and the ready positions h1 and h2.The weight adjustment unit 42 performs the weighting on a series of route sections Rp that are located on a boundary between the first area AR1 and the second area AR2.

[0058] In Fig. Section 8 describes areas 72A, 72B and 72C as examples of a series (several) route sections Rp.

[0059] Areas 72A and 72B are a group of continuous route segments Rp that pass in the X-direction between the racks 5, which face each other in the Y-direction. Therefore, areas 72A and 72B are areas that intersect multiple work positions. Area 72A intersects arrangement positions e1 to e8. Area 72B intersects arrangement positions e9 to e16. Therefore, areas 72A and 72B are likely to cause interference, as each of the moving bodies 10 enters and exits areas 72A and 72B very frequently. In the example in Fig. In areas 72A and 72B, the weight value W in the +X direction is smaller than the weight value W in the -X direction. Therefore, when setting up a route, it is likely that a route passing through areas 72A and 72B in the +X direction (one direction) will be used, and it is less likely that a route passing through areas 72A and 72B in the -X direction (other direction) will be used.

[0060] Area 72C is a group of route segments Rp that are continuous in the X direction and are located at the boundary between a first area AR1, where object P departs and arrives (or is loaded or waits), and a second area AR2, where object P is stored. Area 72C corresponds to a connecting path between the first area AR1 and the second area AR2. Most work orders involve movement between the positions (arrangement positions e17 to e31) belonging to the first area AR1 and the positions (arrangement positions e1 to e16) belonging to the second area AR2. Therefore, area 72C is likely to cause interference, as each moving body passes through area 72C more frequently. Within area 72C, the weight value W in the -X direction is smaller than the weight value W in the +X direction.Therefore, when setting up the route, it is likely that a route passing through area 72C in the -X direction (one direction) will be used, and it is less likely that a route passing through area 72C in the +X direction (other direction) will be used.

[0061] The direction in which the moving body 10 is likely to pass through areas 72A and 72B (the direction likely used for the motion route MV) and the direction in which the moving body 10 is likely to pass through area 72C are opposite directions. Therefore, in the example in Fig. 8 A ring-shaped route in a single direction, in which the moving body 10 moves forward in the +X direction in area 72A and area 72B and moves forward in the -X direction in area 72C, is likely used for the movement route MV. Consequently, when each of the moving bodies 10 enters or leaves the arrangement positions e1 to e16 of the respective shelves 5, the moving bodies 10 move forward more frequently in the +X direction in areas 72A and 72B. When each of the moving bodies 10 moves from the second area AR2 to the first area AR1 or from the first area AR1 to the second area AR2, the moving bodies 10 move forward more frequently in the -X direction in area 72C.

[0062] Next, a process performed by setting the weight value W is described with reference to a comparative example. For the sake of simplicity, the movement route from the starting position to the loading position is omitted, and only the movement route from the loading position to the unloading position is described. It is conceivable that two work orders are executed by two movement bodies 10-1 and 10-2. It is assumed that movement body 10-1 is designated for the first work order, while the loading position is arrangement position e14 and the unloading position is arrangement position e17. It is assumed that movement body 10-2 is designated for the second work order, while the loading position is arrangement position e22 and the unloading position is arrangement position e13. (Route setting according to comparison example)

[0063] Fig. Figure 11 is a schematic diagram showing an example of route setting according to a comparison example. The comparison example shows an example of route setting when weighting is not performed for each direction of travel. When weighting is not performed for each direction of travel, the weight value W is essentially the length of the route segment Rp, that is, a movement distance. As a result of the shortest route search, a movement route connecting the loading and unloading positions by the shortest distance is used. Therefore, for the first work order, a movement route MVA is set on one side in the -X direction, passing through route segments Rp1, Rp2, Rp3, Rp4, and Rp5 from the arrangement position e14. For the second work order, a movement route MVB is set on the other side in the -X direction, passing through route segments Rp7, Rp6, Rp4, Rp3, and Rp2 from the arrangement position e22.Since the movement routes MVA and MVB are routes on which the movement bodies 10-1 and 10-2 advance in both directions in the route sections Rp2, Rp3 and Rp4, the movement bodies 10-1 and 10-2 interfere with each other.

[0064] In this case, interference avoidance control is implemented by prioritizing the high-priority job (for example, the first job) and causing the low-priority job (the second job) to perform interference avoidance. For example, interference avoidance control might cause moving body 10-2 to stand ready in route segment Rp6 in front of an interference point until moving body 10-1 passes by, or it might temporarily move moving body 10-2 back to a retreat position outside the interference point. When interference avoidance control is implemented, even if the shortest route is selected, there is a possibility that the processing efficiency of moving bodies 10-1 and 10-2 may decrease due to the time loss caused by interference avoidance.In the present specification, a decrease in processing efficiency means that the number of work orders processed per predetermined time decreases. (Route setting according to the first embodiment)

[0065] Fig. Figure 12 is a schematic diagram showing an example of route setting according to the first embodiment. In the first embodiment, the route setting unit 62 performs the shortest route search by using the weight setting information for each direction of travel, which is specified in Fig. 8 are shown, in a case of the work order that is similar to that of the comparison example. Consequently, in Fig. The 12 movement routes MV1 and MV2 are set. That is, for the first work order, movement route MV1 is set on the side in the +X direction, passing route segments Rp11, Rp12, Rp13, Rp14, Rp15, Rp16, Rp6, and Rp5, from arrangement position e14 by reflecting the weight setting of area 72B and area 72C. For the second work order, movement route MV2 is set on the side in the -X direction, passing route segments Rp7, Rp6, Rp4, Rp3, and Rp2, from arrangement position e22. In this example, movement route MV2 is the same route as movement route MVB in Fig. 11. In the case of Fig. 12. Motion routes MV1 and MV2 overlap only in a portion of route segment Rp6. If transit times in route segment Rp6 differ between motion body 10-1 and motion body 10-2, interference avoidance is unnecessary, and even if transit times do overlap, the overlap is minimal. Therefore, the time loss caused by interference avoidance is small. Consequently, the frequency of interference is reduced. As a result, even if the individual motion route MV (motion route MV1) is not the shortest distance in terms of motion distance, it is possible to improve the processing efficiency of all work orders.

[0066] In the first embodiment, it should be noted that the weight value W is set for each direction of travel for route segment Rp, and route segment Rp is not set as a one-way route. If a particular route segment Rp is set as a one-way route, in a case where the moving body 10 cannot pass through another route segment Rp, and in some cases where only one route exists in which the moving body 10 moves in route segment Rp in a reverse direction compared to the one-way route, the movement route MV cannot be generated. In contrast, in the first embodiment, the weight value W is set for each direction of travel.Therefore, even in a case where the route cannot be generated unless the moving body 10 moves in the reverse direction in the route segment Rp (that is, the moving body 10 passes in a direction where the weight value W is large), the motion route MV can only be generated by increasing the total sum of the weight values ​​W. That is, in the first embodiment, high redundancy is achieved by allowing a route to be set where interference can occur if there is no other possibility, while reducing the frequency of interference. (Modification example)

[0067] In the first embodiment, the description was made under the assumption that all the moving bodies 10 are of the same type. If the moving bodies 10 are mixed with different types, the weight value W can be set for each type of moving body 10. For example, the type of moving body 10 is based on its external dimensions, and in particular on a difference in its width. For example, with moving bodies 10 of the first type having a small width, two moving bodies 10 of the first type can pass each other within a range of the width R of the passage, but with moving bodies 10 of the second type having a large width, one moving body 10 cannot pass another moving body 10.In this case, the weighting for each direction of passage can only be applied to moving bodies 10 of the second type. [Second embodiment]

[0068] Next, a second embodiment is described. In this second embodiment, a method for setting the weight value W is described that differs from the method for setting the weight value W for each direction of passage. In this second embodiment, elements with configurations common to those of the first embodiment are omitted from the description.

[0069] In the second embodiment, the control system 1 for moving bodies comprises the storage unit 32 (see Fig. 5), which stores the multiple route segments Rp that the moving body 10 passes through and the weight value W, which indicates the movement costs of the route segments Rp, in conjunction with each other, the route setting unit 62 (see Fig. 6), which sets the movement route MV from the movement start position to the target of the moving body 10 on the basis of the weight values ​​W of the several route segments Rp, and the weight setting unit 42 (see Fig. 5), which sets the weight value W of the route segment Rp. In the second embodiment, a weight value W can be set for each movement route MV, regardless of the direction of travel.

[0070] In the second embodiment, the weight setting unit 42 sets the weight value W of the route segment Rp based on the previously set movement route MV. A first example and a second example are described as illustrating the method for setting the weight value W by the weight setting unit 42. (First examples)

[0071] In a first example, the weight setting unit 42 adjusts the weight values ​​W so that it is less likely that the moving body 10 will pass through the route section Rp, which has a large number of passages. That is, the management device 12 stores past operational recording data 80 (see Fig. 13) in storage unit 32. The operational recording data 80 contains the number of passages of the movement body 10 in each route segment Rp. The number of passages of the movement body 10 corresponds to the number of times the movement route MV has been used in the past at the route setting unit 62. That is, the operational recording data 80 is statistical information about the movement route MV set in the past.

[0072] Fig. Figure 13 is a diagram showing an example of the operating record data 80 according to the second embodiment and an example of the weight setting information 82 based on the operating record data 80. Fig. Figure 13 shows the operational recording data 80 and the weight setting information 82 in a bar graph form for simplification. In the operational recording data 80, a horizontal axis represents the route segment Rp, and a vertical axis represents the number of passes of the moving body 10. In the weight setting information 82, the horizontal axis represents the route segment Rp, and the vertical axis represents the weight value W. With respect to the horizontal axis, the multiple route segments Rp contained in the pass R are individually assigned identification numbers, and the arrangement in order of the identification numbers of the route segments Rp is shown. For example, an element on the far left side of the horizontal axis indicates the weight value W, which corresponds to the number of passes in the route segment Rp with an identification number i = 1. Fig. Figure 8 shows an example where passage R is divided into 59 route segments Rp, and Fig. Figure 13 shows 10 route segments Rp from i = 1 to 10.

[0073] The weight setting unit 42 increases the weight value W when the number of cycles increases and decreases the weight value W when the number of cycles decreases. For example, in Fig. Since the number of passes through route segments Rp with identification numbers i = 4, 5, 6, and 7 is large, weight setting unit 42 sets the weight values ​​W of route segments Rp to a relatively large value. Since the number of passes through route segments Rp with identification numbers i = 1, 2, 3, 8, 9, and 10 is small, weight setting unit 42 sets the weight values ​​W of route segments Rp to be small. The smallest weight value W is set for route segment Rp with i = 9, which has the fewest passes.

[0074] In this way, a relatively large weight value W is set for the route segment Rp with a high passage frequency in the past operational records. Consequently, in the shortest route search performed by the route setting unit 62, it is less likely that the route segment Rp with a large weight value W will be used for the movement route MV of the movement body 10. Conversely, as a result of setting a relatively small weight value W for the route segment Rp with a low passage frequency, it is likely that the route segment Rp with a small weight value W will be used for the movement route MV of the movement body 10.

[0075] Therefore, if there is a route by which the moving body 10 can reach a destination (loading position or unloading position) without passing through the route segment Rp, which has a high passage frequency, it is likely that a route bypassing the route segment Rp, which has a high passage frequency, will be used for the movement route MV of the moving body 10. Thus, the passage frequencies of the respective route segments Rp are balanced, and the occurrence frequency of interference for the movement route MV is reduced.

[0076] Fig. Figure 14 is a flowchart showing a weighting process (first example) performed by the weight setting unit 42 according to the second embodiment. In the first example, as a prerequisite for a defined period, the motion route MV is set using the pre-set weight setting information 82, and the work of the moving body 10 is performed based on the set motion route MV. As a result, the operating recording data 80 are accumulated and recorded in the storage unit 32. When the operating recording data 80 are recorded, as shown in Figure 14, the following occurs: Fig. Figure 10 shows the control system 1 for moving body through each process from step S20 of capturing the order information 70, step S21 of capturing the information about the route segment Rp and the weight value W, step S22 of setting the movement route MV in accordance with the weight value W and step S23 of instructing the moving body 10 to start the work.

[0077] As in Fig. As shown in Figure 14, the weight setting unit 42 of the management device 12 acquires the information about each route segment Rp that forms passage R from the storage unit 32 (step S30). The weight setting unit 42 acquires the operational recording data 80 for each route segment Rp from the storage unit 32 (step S31). Steps S30 and S31 can be performed in any order.

[0078] The weight setting unit 42 sets the weight value W for each detected route segment Rp based on the operational recording data 80 (step S32). In this case, the weight setting unit 42 adjusts the weight values ​​W so that it is less likely that the moving body 10 (the weight value W is increased) will pass through the route segment Rp, which has a larger number of passages. The weight setting unit 42 records the weight setting information 82, in which the route segment Rp and the weight value W of the route segment Rp are assigned to each other, in the storage unit 32. The weight setting unit 42 transmits the weight setting information 82 to the information processing device 14 via the communication unit 30.In this way, the acquisition unit 60 of the information processing device 14 acquires the weight setting information 82 and records the weight setting information 82 in the storage unit 52.

[0079] Then, as in Fig. As shown in 10, the route setting unit 62 sets the movement route MV based on the newly set weight setting information 82.

[0080] In the first example, the weight setting unit 42 can regularly update the weight setting information 82 stored in the memory unit 32. That is, after the weight value W has been set, the weight setting unit 42 can update the weight setting information 82 by repeating steps S30 to S32 when a fixed period of time has elapsed and the operating recording data 80 obtained through the set weight value W has accumulated. (Second example)

[0081] A second example is a procedure for setting the weight values ​​W in the order information 70, which contains a group of work orders, so that it is less likely that the moving body 10 will pass through the route segment Rp, which runs along the previously set movement route MV.

[0082] Fig. Figure 15 is a diagram describing the procedure for setting the weight value W according to the second example of the second embodiment.

[0083] In the second example, the route setting unit 62 sets the movement route MV preferentially in descending order of priority in the order information 70. Fig. The 15 respective work orders contained in the order information 70 are aligned and shown in order of priority. Here, priority is represented by a natural number equal to or greater than 1, with a smaller value indicating a higher priority. That is, "priority = 1" has the highest priority. Therefore, the route setting unit 62 sets the movement route MV in order of the work order with the lower priority value.

[0084] The weight setting unit 42 adjusts the weight values ​​W so that it is less likely that the moving body 10 will pass through the route segment Rp that runs along the previously set movement route MV in the order information 70. That is, the weight setting unit 42 increases the weight value W of the route segment Rp that runs along the previously set movement route MV from its current value, or decreases the weight value W of a route segment Rp other than the one that runs along the previously set movement route MV from its current value.

[0085] In this way, if the route setting unit 62 sets the movement route MV for the next work order with a lower priority, the route setting unit 62 performs the shortest route search based on the new weight setting information that has been adjusted by the weight setting unit 42.

[0086] For example, in Fig. 15. Assuming that the in Fig. The movement route shown in section 16, MV3, is set to priority 1 for the work order. Fig. Figure 16 is a diagram showing an example of the movement route. The movement route MV3 passes through route segments Rp11, Rp12, Rp13, Rp14, Rp15, Rp16, Rp6, and Rp5 from the arrangement position e14. In this case, the weight adjustment unit 42 creates the weight adjustment information 82, where the weight value W of each of the route segments Rp11, Rp12, Rp13, Rp14, Rp15, Rp16, Rp6, and Rp5 is relatively increased with respect to the other route segments Rp. For the work order of priority = 2 in Fig. 15 The route setting unit 62 creates the movement route MV based on the new weight setting information 82 (weight setting information 82 that was set in the past based on the movement route MV3 (priority = 1)).

[0087] Similarly, when the movement route MV is set for the work order with priority = 2, the weight setting unit 42 updates the weight setting information 82, where the weight value W of the route segment Rp through which the movement route MV passes is relatively increased. The route setting unit 62 then creates the movement route MV for the work order with priority = 3 based on the updated weight setting information 82.

[0088] In this way, in the second example, the weight value W of each route segment Rp is updated and set in accordance with the recording of the movement route MV, which is set for each work order that forms a job information 70. It is less likely that the route segment Rp previously used for movement route MV will be used for the movement route MV of the subsequent work order. Therefore, the passage frequencies of the respective route segments Rp are balanced, and interference of the movement route MV is suppressed.

[0089] In the second example, the weight setting unit 42 can perform a process of resetting (resetting) the weight value W, which has been adjusted based on the previously set movement route MV, to an initial value after a fixed period of time. For example, the weight setting unit 42 can reset an adjustment amount of the weight value W through the movement route MV when the movement body 10 passes through the movement route MV used to adjust the weight value W, or when the work order corresponding to the movement route MV is completed. Furthermore, the weight setting unit 42 can, for example, reset the weight values ​​W of all route segments Rp set (adjusted) by the job information 70 to the initial value at a time when the entire group of work orders contained in the job information 70 is completed.The initial value of the weight W can be a fixed value or a value determined based on past operational records, as described in the first example above. This eliminates the possibility that the throughput frequency of the route segment Rp is fixed.

[0090] Fig. Figure 17 is a flowchart showing an example of a weighting process (second example) performed by the weight setting unit 42 according to the second embodiment. As shown in Fig.As shown in Figure 17, the information processing device 14's acquisition unit 60 retrieves the order information 70, containing the group of work orders, from the management device 12 (step S40). The acquisition unit 60 then retrieves the information about the route segment Rp and the weight value W at a current time (weight setting information 82) from the management device 12 (step S41). The route setting unit 62 selects an unassigned order with the highest priority from the order information 70 (step S42). The unassigned order is a work order for which the movement route MV is not set.Next, the route setting unit 62 sets the movement route MV, for example, by searching for the shortest route in accordance with the weight value W of the weight setting information 82 with respect to the selected unset order (step S43), and generates transport instruction information. The route setting unit 62 transmits the information about the set movement route MV to the management device 12 via the communication unit 50. In this way, the weight setting unit 42 receives the information about the movement route MV, which is transmitted by the information processing device 14 via the communication unit 30.

[0091] The weight adjustment unit 42 adjusts (adjusts) the weight values ​​W based on the acquired information about the movement route MV so that the weight value W of the route segment Rp, through which the moving body 10 passes along the movement route MV, is relatively increased, and creates (updates) the weight adjustment information 82 (step S44).

[0092] The route setting unit 62 determines whether all unset orders in order information 70 are fully set or not (step S45). If the unset order exists, the process returns to step S41, the latest weight value W (weight setting information 82) is recorded, and steps S42 to S44 are performed. Therefore, the weight setting information 82 is updated each time the movement route MV is set for the unset order. If the unset order does not exist, the processing unit 64 transmits an instruction to start work to the movement body 10 via the communication unit 50 based on the transport instruction information (step S46).

[0093] When adjusting the weight value W according to the second example, only some of the movement routes MV of the order information 70 can be considered. For example, only the movement route MV of the work order with an odd or even priority can be considered.

[0094] As described above, according to a first aspect of the present disclosure, the control system 1 for moving bodies is provided, comprising the storage unit 32, which stores in conjunction with each other the multiple route segments Rp that the moving body 10 passes through and the weight values ​​W that indicate the movement costs of the route segments Rp, the weight setting unit 42, which sets the weight values ​​W individually for each direction of passage of the route segments Rp for at least some of the multiple route segments Rp, and the route setting unit 62, which sets the movement route MV (MV1 and MV2) from the movement start position to the destination of the moving body 10 based on the weight values ​​W for each direction of passage of the multiple route segments Rp.

[0095] According to this configuration, since the weight value W is set for each direction of travel with respect to the route segment Rp, a direction in which the moving body 10 must preferably pass can be set. Consequently, the movement route MV, which passes the route segment Rp in a specific direction, is created relatively easily. In this way, even if the shortest route search is performed by the route setting unit 62, the frequency of setting the movement route MV, which passes the same route segment Rp in both directions, is reduced. As a result, the frequency of interference with the movement route MV can be suppressed.

[0096] According to a second aspect of the present disclosure, in the control system 1 for moving bodies according to the first aspect, the weight setting unit 42 sets the weight values ​​W for a series of successive route segments Rp such that it is more likely that the moving body 10 will pass through in one direction and less likely that it will pass through in the opposite direction. In this way, for the working position located in an intermediate segment of a series of route segments Rp, a route for the moving body 10 to move forward in one direction and reach the working position is preferentially set, and the frequency of setting the route for the moving body 10 to move forward in the opposite direction and reach the working position is reduced. As a result, interference of the movement route MV can be effectively suppressed.

[0097] According to a third aspect of the present disclosure, the control system 1 for moving bodies is provided, comprising the storage unit 32, which stores in conjunction the multiple route segments Rp that the moving body 10 passes through and the weight values ​​W that indicate the movement costs of the route segments Rp, the route setting unit 62, which sets the movement route MV from the movement start position to the destination of the moving body 10 based on the weight values ​​W of the multiple route segments Rp, and the weight setting unit 42, which sets the weight values ​​W of the route segments Rp based on the movement route MV set in the past.

[0098] According to this configuration, the weight value W in each route segment Rp, that is, the ease of adoption into the movement route MV, can be set based on a record of adoptions in the movement route MV set in the past. Therefore, for example, if there is a route segment Rp that is likely to cause interference from the movement route MV set in the past, the weight value W is set so that it is relatively less likely that route segment Rp will be used. In this way, the passage frequency of the route segment Rp that is likely to cause interference (that is, the usage frequency for movement route MV) can be reduced, and the other route segments Rp can be used easily. In this way, the occurrence frequency of interference from movement route MV can be suppressed.

[0099] According to a fourth aspect of the present disclosure, in the control system 1 for moving bodies according to the third aspect, the weight setting unit 42 adjusts the weight values ​​W such that it is less likely that the moving body 10 will pass through the route segment Rp, which has a large number of passages. In this way, if there is a route segment Rp that has a high passage frequency of the moving body 10 and is likely to cause interference, a configuration can be used from the past passage recording in which it is less likely that the route segment Rp will be used for the movement route MV. As a result, the passage frequencies of the respective route segments Rp are balanced. Therefore, the occurrence frequency of interference for the movement route MV can be suppressed.

[0100] According to a fifth aspect of the present disclosure, in the control system 1 for moving bodies according to the third or fourth aspect, the storage unit 32 stores the order information 70, which contains a group of work orders in which the loading and unloading positions of the moving body 10 and the priority are defined. The route setting unit 62 preferentially sets the movement route MV in descending order of priority in the order information 70. The weight setting unit 42 sets the weight values ​​W in the order information 70 such that it is less likely that the moving body 10 will pass through the route segment Rp, which runs along the previously set movement route MV.In this way, it is less likely that the route segment Rp previously used for movement route MV will be used as the movement route MV of the subsequent work order, in accordance with the movement route MV record set for each work order that forms a job information 70. Consequently, when each work order forming job information 70 is executed, the passage frequencies of the respective route segments Rp are balanced. Therefore, the frequency of movement route MV interference can be suppressed.

[0101] According to a sixth aspect of the present disclosure, the information processing procedure is provided, which includes step S21 of acquiring the weight values ​​W, which are individually set for each direction of passage of the route segments Rp for at least some of the multiple route segments Rp that the moving body 10 passes through, and step S22 of setting the movement route MV from the movement start position to the destination of the moving body 10 on the basis of the weight values ​​W for each direction of passage of the multiple route segments Rp.

[0102] According to this configuration, since the weight value W is set for each direction of travel with respect to route segment Rp, a direction in which the moving body 10 must preferably pass can be set. Consequently, the movement route MV, which passes route segment Rp in a specific direction, is created relatively easily. In this way, even if the shortest route search is performed by the route setting unit 62, the frequency of setting the movement route MV, which passes the same route segment Rp in both directions, is reduced. As a result, the frequency of interference between movement routes MV (MV1 and MV2) can be suppressed.

[0103] According to a seventh aspect of the present disclosure, the information processing procedure is provided, which includes steps (S21 and S41) of recording the multiple route segments Rp that the moving body 10 passes through and the weight value W that indicates the movement costs of the route segments Rp, steps (S22 and S43) of setting the movement route MV from the movement start position to the destination of the moving body 10 based on the weight values ​​W of the multiple route segments Rp, and steps (S32 and S44) of setting the weight values ​​W of the route segments Rp based on the movement route MV set in the past.

[0104] According to this configuration, the weight value W can be set in each route segment Rp, that is, the ease of adoption into the movement route MV, based on a record of adoptions in the movement route MV set in the past. Therefore, for example, if there is a route segment Rp that is likely to cause interference from the movement route MV set in the past, the weight value W is set so that it is relatively less likely that route segment Rp will be used. In this way, the throughput frequency (frequency of use for the movement route MV) of the route segment Rp that is likely to cause interference can be reduced, and the other route segments Rp can be used easily. In this way, the occurrence frequency of interference from the movement route MV can be suppressed.

[0105] Although the embodiments of the present disclosure have been described above, the embodiments are not limited by the details of those embodiments. Furthermore, the configuration elements described above include those that a person skilled in the art can readily deduce, those that are essentially the same, and those that exhibit a so-called area of ​​similarity. Moreover, the configuration elements described above can be suitably combined with one another. In addition, various omissions, substitutions, or modifications of the configuration elements can be made within the scope that does not deviate from the concept of the embodiments described above. Reference symbol list 1 Control system for moving bodies 5 shelves 10 moving bodies 12 Administrative device 14 Information processing device 20 Vehicle body 20A wheel 21 Splay leg 22 masts 24A, 24B Claw 24 Fork 26A Sensor 28 Control device 30, 50, 100 communication unit 32, 52, 102 storage unit 34, 54, 104 Control unit 40 work order setting unit 42 Weight setting unit 60 recording units 62 Route setting unit 64 processing units 70 Order Information 72A, 72B, 72C area 80 operational recording data 82 Weight setting information 200 facilities AR1 first area AR2 second area c1 Charging position h1, h2 ready position MV, MV1, MV2, MV3, MVA, MVB movement route P Object R passage Rp, Rp1 to Rp7, Rp11 to Rp16 route section e1 to e31 Arrangement position W weight value 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 2016-170580

[0003]

Claims

[1] Control system for moving bodies, comprising: a storage unit that stores multiple route segments traversed by a moving body and weight values ​​that indicate the movement costs of the route segments in conjunction with each other; a weight setting unit that individually sets the weight values ​​for each direction of travel of the route sections for at least some of the multiple route sections; and A route setting unit that sets a movement route from a movement start position to a destination of the moving body based on the weight values ​​for each direction of passage of the multiple route segments. [2] Control system for moving body according to claim 1, wherein the weight setting unit for a series of successive route segments sets the weight values ​​such that it is likely that the moving body will pass in one direction and it is less likely that it will pass in the other direction which is opposite to one direction. [3] Control system for moving bodies, comprising: a storage unit that stores multiple route segments traversed by a moving body and weight values ​​that indicate the movement costs of the route segments in conjunction with each other; a route setting unit that sets a movement route from a movement start position to a destination of the moving body based on the weight values ​​of the multiple route segments; and a weight setting unit that sets the weight values ​​of the route segments based on the movement route set in the past. [4] Control system for moving body according to claim 3, wherein the weight setting unit sets the weight values ​​so that it is less likely that the moving body will pass through the route section which has a large number of passages. [5] Control system for moving bodies according to claim 3, wherein the storage unit stores order information containing a group of work orders, where a loading position and an unloading position of the moving body and a priority are defined, The route setting unit sets the movement route preferably in descending order of priority in the order information, and The weight setting unit adjusts the weight values ​​in the job information so that it is less likely that the moving body will pass through the route segment that follows the previously set movement route. [6] Information processing techniques, comprehensive: a step of capturing weight values ​​that are individually set for each direction of passage of route segments for at least some of several of the route segments that a moving body passes through; and a step of setting a movement route from a movement start position to a destination of the moving body based on the weight values ​​for each direction of passage of the multiple route segments. [7] Information processing techniques, comprehensive: a step of recording multiple route segments that a moving body passes through, and weight values ​​that indicate the movement costs of the route segments; a step of setting a movement route from a movement start position to a destination of the moving body based on the weight values ​​of the multiple route segments; and a step of setting the weight values ​​of the route segments based on the movement route set in the past.

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