Control system for controlling autonomous traveling vehicle

Abstract

To provide a control system that enables an autonomous traveling vehicle to perform a desired task more easily than before.SOLUTION: A control system 10A includes: a main control unit 11 capable of communicating with an autonomous traveling vehicle AMR1; and a local control unit 20 capable of communicating with the main control unit 11. The main control unit 11 is configured to: transmit, to the autonomous traveling vehicle AMR1, a movement command regarding movement to a destination N1; transmit, to the local control unit 20 an arrival notification when the autonomous traveling vehicle AMR1 arrives at the destination N1 and establish a communication path for mutual communication between the local control unit 20 and the autonomous traveling vehicle AMR1; and discard the communication path when receiving an end notification transmitted by the local control unit 20. The local control unit 20 is configured to: start predetermined processing when receiving the arrival notification; and transmit, to the main control unit 11, an end notification when the processing is completed.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a control system for controlling an autonomous vehicle to perform a task such as transporting luggage. [Background technology]

[0002] Conventionally, attempts have been made in various fields to reduce the labor and improve the efficiency of various tasks by using autonomous vehicles called AMR (Autonomous Mobile Robot), AGV (Automatic Guided Vehicle), etc. For example, Patent Document 1 proposes a warehouse system equipped with a control device, multiple autonomous vehicles, and multiple picking robots. In this system, the control device is configured to cause one of the autonomous vehicles to transport a mobile shelf storing multiple packages to the vicinity of one of the picking robots based on information obtained by communication with a higher-level server, and to cause the picking robot to pick up packages from the mobile shelf based on the information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6961774 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional system, the control device controls multiple autonomous vehicles and multiple picking robots. In other words, the control performed by the control device is complex and diverse. For this reason, the conventional system requires the advanced skills of an expert to make the autonomous vehicles and picking robots perform desired tasks. In addition, the conventional system is prone to human error when changing settings to make the autonomous vehicles and picking robots perform tasks different from what they have done before.

[0005] The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a control system that can cause an autonomous vehicle to perform a desired task more easily than ever before. [Means for solving the problem]

[0006] In order to solve the above problem, the control system of the present invention is a system for controlling a plurality of autonomous vehicles, comprising a main control unit capable of communicating with the autonomous vehicles, and a plurality of local control units capable of communicating with the main control unit, wherein the main control unit is configured to transmit a movement command to one autonomous vehicle included in the plurality of autonomous vehicles regarding movement to a destination, and when the one autonomous vehicle arrives at the destination, transmit an arrival notification to one of the plurality of local control units corresponding to the destination and establish a communication path for mutual communication between the one local control unit and the one autonomous vehicle, and upon receiving an end notification transmitted by the one local control unit, transmit a movement command to the one autonomous vehicle regarding movement to a next destination and discard the communication path, wherein the one local control unit is configured to start a predetermined process when it receives the arrival notification, and transmit the end notification to the main control unit when the process is ended, and further wherein the one local control unit is capable of communicating with the one autonomous vehicle only while the communication path is established.

[0007] The main control unit may be configured to detect that the one autonomous vehicle has arrived at the destination based on current location information transmitted by the one autonomous vehicle.

[0008] The main control unit may be configured to store a correspondence table indicating a correspondence between the destination and location information regarding the location of the local control unit corresponding to the destination, and to utilize the location information of one of the local control units when communicating with the one of the local control units.

[0009] The location information may be, for example, a domain name, a fully qualified domain name, or an IP address.

[0010] It is preferable that the main control unit is configured to check whether the arrival notification is possible before transmitting the arrival notification to one of the local control units, and to initiate a predetermined error processing if the check results in an indication that the transmission is not possible.

[0011] It is preferable that, when the plurality of local control units include a first local control unit and a second local control unit corresponding to the destination, and the priority of the first local control unit is higher than the priority of the second local control unit, the main control unit is configured to perform a first confirmation as to whether it is possible to send the arrival notification to the first local control unit, and if the result of the first confirmation is that it is possible, send the arrival notification to the first local control unit, and if it is not possible, perform a second confirmation as to whether it is possible to send the arrival notification to the second local control unit, and if the result of the second confirmation is that it is possible, send the arrival notification to the second local control unit.

[0012] In addition, in the above case, it is preferable that the main control unit is configured to execute a predetermined error processing when the result of the first check and the result of the second check are both impossible, and to execute a predetermined alert processing different from the error processing when the result of the first check is impossible and the result of the second check is possible. Effect of the Invention

[0013] According to the present invention, it is possible to provide a control system that can cause an autonomous vehicle to perform a desired task more easily than ever before. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic diagram showing a configuration of a control system and its peripherals according to a first embodiment of the present invention. [Diagram 2] 2 is a diagram showing a correspondence table used in the control system shown in FIG. 1. [Diagram 3]2 is a flow chart showing an example of the operation of the control system shown in FIG. 1. [Figure 4] FIG. 11 is a schematic diagram showing the configuration of a control system and its peripherals according to a second embodiment of the present invention. [Diagram 5] 5 is a diagram showing a correspondence table used in the control system shown in FIG. 4. [Figure 6] FIG. 5 is a flow chart showing a characteristic part of the operation of the control system shown in FIG. [Figure 7] FIG. 11 is a schematic diagram showing the configuration of a control system and its peripherals according to a third embodiment of the present invention. [Figure 8] 8 is a flow chart showing an example of the operation of the control system shown in FIG. 7. [Figure 9] FIG. 11 is a schematic diagram showing the configuration of a control system and its peripherals according to a fourth embodiment of the present invention. [Figure 10] 10 is a flow chart showing an example of the operation of the control system shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, several embodiments of a control system according to the present invention will be described with reference to the accompanying drawings.

[0016] [First Example] A control system 10A according to a first embodiment of the present invention is shown in Fig. 1. The control system 10A is for controlling two autonomous vehicles (a first autonomous vehicle AMR1 and a second autonomous vehicle AMR2) in a work area including a first controlled device D1 installed near a first destination N1 and a second controlled device D2 installed near a second destination N2, and includes, as shown in Fig. 1, a main control unit 11 capable of wireless communication with the autonomous vehicles AMR1 and AMR2, two local control units (a first local control unit 20 and a second local control unit 21) capable of communication with the main control unit 11, and a user interface unit 12 associated with the main control unit 11.

[0017] The main control unit 11 is configured as a physical server configured (programmed) to perform desired processing. In this embodiment, the main control unit 11 is installed in a location that has a panoramic view of the work area where the autonomous vehicles AMR1 and AMR2 perform their work.

[0018] The first local control unit 20 is composed of a physical server configured (programmed) to perform a desired process. In this embodiment, the first local control unit 20 is installed near the first controlled device D1, and can transmit a command to the first controlled device D1 to start the first controlled device D1 and receive a notification from the first controlled device D1 regarding the operating status, etc. In other words, the first local control unit 20 can control the first controlled device D1. Since the first local control unit 20 controls the first controlled device D1 installed near the first destination N1, it can be said that the first local control unit 20 corresponds to the first destination N1.

[0019] The second local control unit 21 is composed of a physical server configured (programmed) to perform a desired process. In this embodiment, the second local control unit 21 is installed near the second controlled device D2, and can transmit a command to the second controlled device D2 to start the second controlled device D2 and receive a notification from the second controlled device D2 regarding the operating status, etc. That is, the second local control unit 21 can control the second controlled device D2. Since the second local control unit 21 controls the second controlled device D2 installed near the second destination N2, it can be said that the second local control unit 21 corresponds to the second destination N2.

[0020] The user interface unit 12 is composed of an input device that can be operated by the user U and a display device that can be viewed by the user U. In this embodiment, the user interface unit 12 is composed of a keyboard and a display connected to the main control unit 11.

[0021] The first autonomous vehicle AMR1 includes a low-back box-shaped main body, a plurality of wheels provided on the main body, a robot arm (not shown) provided on the main body, and a drive unit (not shown) for driving the wheels. The first autonomous vehicle AMR1 also includes one or more types of radar for grasping the surrounding situation, a memory storing map information of the work area, a calculation processing unit for identifying the current position of the vehicle in the work area by comparing the surrounding situation grasped by the radar with the map information stored in the memory, and a communication unit for communicating with the main control unit 11. When the communication unit receives a movement command for moving to a specific position in the work area, the drive unit drives the wheels so that the current position coincides with that position. At this time, the communication unit transmits current position information regarding the current position to the main control unit 11 at a predetermined frequency.

[0022] The second autonomous vehicle AMR2 has a similar configuration to the first autonomous vehicle AMR1.

[0023] The first controlled device D1 is composed of an elevator that transports luggage vertically. In this embodiment, the elevator transports luggage from the next higher floor to the floor where the work area is located. The elevator performs this transport under the control of the first local control unit 20.

[0024] The second controlled device D2 is composed of a conveyor that transports luggage laterally. In this embodiment, the conveyor transports luggage to another location within the floor where the work area is located. The conveyor performs this transport under the control of the second local control unit 21.

[0025] The main control unit 11 stores a correspondence table indicating the correspondence between the first destination N1 and location information (fully qualified domain name: N1.node.xxx.jp in this embodiment) regarding the location of the local control unit corresponding to the destination N1 (see FIG. 2). The main control unit 11 uses this location information when communicating with the local control unit corresponding to the first destination N1. Note that N1.node.xxx.jp indicates the location of the first local control unit 20.

[0026] The correspondence table also indicates location information (in this embodiment, fully qualified domain name: N2.node.xxx.jp) regarding the location of the local control unit corresponding to the second destination N2. The main control unit 11 uses this location information when communicating with the local control unit corresponding to the second destination N2. Note that N2.node.xxx.jp indicates the location of the second local control unit 21.

[0027] Next, with reference to Figure 3, the operation of control system 10A when using first autonomous vehicle AMR1 to transport luggage carried by first controlled device D1 (elevator) to second controlled device D2 (conveyor) will be described in detail.

[0028] First step: The main control unit 11 transmits a movement command to the first autonomous vehicle AMR1 to move to the first destination N1. The movement command includes the coordinates (X1, Y1) of the first destination N1, with a specific position in the working area set as the origin (0, 0).

[0029] Second step: The first autonomous vehicle AMR1 receives a movement command.

[0030] Third step: The first autonomous vehicle AMR1 moves toward the coordinates (X1, Y1). More specifically, the drive unit controls the wheels so that the distance from the coordinates (X1, Y1) to the current position becomes shorter. While moving toward the coordinates (X1, Y1), the first autonomous vehicle AMR1 continues to transmit current position information to the main control unit 11 at a frequency of about once per second.

[0031] Fourth step: The first autonomous vehicle AMR1 that has arrived at the coordinates (X1, Y1) stops moving. The first autonomous vehicle AMR1 detects that it has arrived at the coordinates (X1, Y1) based on the fact that the distance from the coordinates (X1, Y1) to the current position has become zero or is less than a predetermined threshold. The arrival of the first autonomous vehicle AMR1 at the coordinates (X1, Y1), in other words, the arrival of the first autonomous vehicle AMR1 at the first destination N1, is also detected by main control unit 11. This arrival detection is performed based on the current position information that is continuously transmitted from the first autonomous vehicle AMR1.

[0032] Fifth step: The main control unit 11 identifies the location (fully qualified domain name: N1.node.xxx.jp) of the local control unit corresponding to the first destination N1. This identification is performed based on the correspondence table.

[0033] Sixth step: Main control unit 11 establishes a communication path for mutual communication between first autonomous vehicle AMR1 and a local control unit corresponding to first destination N1.

[0034] Seventh step: The main control unit 11 transmits an arrival notification to the local control unit based on the fully qualified domain name identified in the fifth step. That is, the main control unit 11 transmits an arrival notification to the first local control unit 20, which is the local control unit corresponding to the first destination N1.

[0035] Eighth step: The first local control unit 20 receives the arrival notification.

[0036] Ninth step: The first local control unit 20 starts the first controlled device D1 (elevator), so that the elevator transports luggage from the floor one level above to the floor where the work area is located.

[0037] Tenth step: The first local control unit 20 transmits the load-taking command via the established communication path. Since the first autonomous vehicle AMR1 is connected to the first local control unit 20 via the communication path, the load-taking command is ultimately transmitted to the first autonomous vehicle AMR1. Note that the first local control unit 20 may transmit the load-taking command when a predetermined time has elapsed since the start of the first controlled device D1, or may transmit the load-taking command when the first local control unit 20 receives a transport completion notification transmitted by the first controlled device D1.

[0038] Eleventh step: The first autonomous vehicle AMR1 receives the pickup command.

[0039] Twelfth step: The first autonomous vehicle AMR1 receives the package from the first controlled device D1 using the robotic arm.

[0040] Thirteenth step: The first autonomous vehicle AMR1 transmits a cargo pickup completion notification via the established communication path. Since the first autonomous vehicle AMR1 is connected to the first local control unit 20 via the communication path, the cargo pickup completion notification is ultimately transmitted to the first local control unit 20.

[0041] Fourteenth step: The first local control unit 20 receives the pickup completion notification.

[0042] Fifteenth step: First local control unit 20 transmits a completion notification to main control unit 11. This completion notification means that all the processes that first local control unit 20 should perform after receiving the arrival notification (in this operation example, the processes of the ninth step, the tenth step, and the fourteenth step) have been completed.

[0043] Sixteenth step: The main control unit 11 receives the end notification.

[0044] Seventeenth step: Main control unit 11 discards the communication path established in the sixth step. As a result, first local control unit 20 is no longer able to communicate with first autonomous vehicle AMR1. The same is true vice versa.

[0045] 18th step: Main control unit 11 transmits a movement command to first autonomous vehicle AMR1 to move to second destination N2. The movement command includes the coordinates (X2, Y2) of second destination N2, with a specific position in the working area as the origin (0, 0).

[0046] 19th step: The first autonomous vehicle AMR1 receives a movement command.

[0047] Twenty-first step: The first autonomous vehicle AMR1 moves toward the coordinates (X2, Y2). More specifically, the drive unit controls the wheels so that the distance from the coordinates (X2, Y2) to the current position becomes shorter. Even while moving toward the coordinates (X2, Y2), the first autonomous vehicle AMR1 continues to transmit current position information to main control unit 11 at a frequency of about once per second.

[0048] Twenty-first step: The first autonomous vehicle AMR1, having arrived at the coordinates (X2, Y2), stops moving. The first autonomous vehicle AMR1 detects that it has arrived at the coordinates (X2, Y2) based on the fact that the distance from the coordinates (X2, Y2) to the current position has become zero or is less than a predetermined threshold. The arrival of the first autonomous vehicle AMR1 at the coordinates (X2, Y2), in other words, the arrival of the first autonomous vehicle AMR1 at the second destination N2, is also detected by main control unit 11. This arrival detection is performed based on the current position information that is continuously transmitted from the first autonomous vehicle AMR1.

[0049] Twenty-second step: The main control unit 11 identifies the location (fully qualified domain name: N2.node.xxx.jp) of the local control unit corresponding to the second destination N2. This identification is performed based on the correspondence table.

[0050] Twenty-third step: main control unit 11 establishes a communication path for mutual communication between first autonomous vehicle AMR1 and a local control unit corresponding to second destination N2.

[0051] Step 24: The main control unit 11 transmits an arrival notification to the local control unit based on the fully qualified domain name identified in step 22. That is, the main control unit 11 transmits an arrival notification to the second local control unit 21, which is the local control unit corresponding to the second destination N2.

[0052] Twenty-fifth step: second local control unit 21 receives the arrival notification.

[0053] Twenty-sixth step: The second local control unit 21 starts the second controlled device D2 (conveyor). This makes the conveyor ready to transport the package to another location within the floor on which the work area is located.

[0054] Twenty-seventh step: second local control unit 21 transmits the load-putting command via the established communication path. Since it is first autonomous vehicle AMR1 that is connected to second local control unit 21 via the communication path, the load-putting command is ultimately transmitted to first autonomous vehicle AMR1.

[0055] 28th step: The first autonomous vehicle AMR1 receives the load placement command.

[0056] After that, first autonomous vehicle AMR1 places the baggage conveyed from first controlled device D1 (elevator) on second controlled device D2 (conveyor) and transmits a baggage placement completion notification. Then, second local control unit 21, which receives this, transmits an end notification to main control unit 11.

[0057] In this way, in the control system 10A according to the present embodiment, the main control unit 11 controls the movement of the autonomous vehicles AMR1, AMR2 to the destinations N1, N2, and the local control units 20, 21 control the corresponding controlled devices D1, D2 and the operation of the autonomous vehicles AMR1, AMR2 that have arrived at the destinations N1, N2. That is, in the control system 10A according to the present embodiment, the role of the main control unit 11 and the role of the local control units 20, 21 are clearly separated, and as a result, the control itself that the main control unit 11 should perform and the control itself that the local control units 20, 21 should perform are simple. Therefore, according to the control system 10A according to the present embodiment, even if a person does not have the advanced skills of a skilled person, it is possible to make the main control unit 11 and the local control units 20, 21 perform the desired control, and ultimately make the autonomous vehicles AMR1, AMR2 perform the desired work.

[0058] [Second Example] Fig. 4 shows a control system 10B according to a second embodiment of the present invention. Control system 10B differs from control system 10A in that it further includes a third local control unit 22 (a total of three local control units), that main control unit 11 stores the correspondence table shown in Fig. 5, and that main control unit 11 executes predetermined alert processing and error processing, but is otherwise common to control system 10A.

[0059] The third local control unit 22 is composed of a physical server configured (programmed) to perform a desired process. In this embodiment, the third local control unit 22 is installed near the first controlled device D1, and can transmit a command to the first controlled device D1 to start the first controlled device D1 and receive a notification from the first controlled device D1 regarding the operating status, etc. That is, the third local control unit 22 can control the first controlled device D1. The third local control unit 22 controls the first controlled device D1 installed near the first destination N1 like the first local control unit 20, and therefore can be said to correspond to the first destination N1.

[0060] The correspondence table shows the correspondence between the first destination N1 and location information (fully qualified domain names: N1.node.xxx.jp, N1.sec.node.xxx.jp in this embodiment) regarding the locations of the two local control units (the first local control unit 20 and the third local control unit 22) corresponding to the destination N1. The main control unit 11 uses this location information when communicating with the local control unit corresponding to the first destination N1. Note that N1.node.xxx.jp indicates the location of the first local control unit 20, and N1.sec.node.xxx.jp indicates the location of the third local control unit 22.

[0061] The correspondence table also shows the priority of two pieces of location information related to the first destination N1. In this embodiment, the priority of N1.node.xxx.jp is the first, and the priority of N1.sec.node.xxx.jp is the second. Therefore, when communicating with the local control unit corresponding to the first destination N1, the main control unit 11 preferentially uses N1.node.xxx.jp.

[0062] The correspondence table also indicates location information (in this embodiment, fully qualified domain name: N2.node.xxx.jp) regarding the location of the local control unit corresponding to the second destination N2. The main control unit 11 uses this location information when communicating with the local control unit corresponding to the second destination N2. Note that N2.node.xxx.jp indicates the location of the second local control unit 21.

[0063] Next, with reference to Figure 6, the operation of the main control unit 11 from the time when the first autonomous vehicle AMR1 arrives at the first destination N1 to the time when it sends an arrival notification to one of the local control units corresponding to the first destination N1 (in this embodiment, the first local control unit 20 or the third local control unit 22) will be described in detail.

[0064] First step: The main control unit 11 detects that the first autonomous vehicle AMR1 has arrived at the first destination N1. This detection is performed based on the current location information that is continuously transmitted from the first autonomous vehicle AMR1. This step corresponds to the fourth step in the first embodiment.

[0065] Second step: The main control unit 11 identifies the location of the local control unit corresponding to the first destination N1 (fully qualified domain name: N1.node.xxx.jp (first priority), N1.sec.node.xxx.jp (second priority)). This identification is performed based on the correspondence table.

[0066] Third step: The main control unit 11 checks whether communication is possible using N1.node.xxx.jp, which is the location information with the first priority, i.e., whether communication with the first local control unit 20 is possible. If the check result is "possible," the process proceeds to the fourth step, and if the check result is "not possible," the process proceeds to the sixth step. The main control unit 11 can check whether communication with the other party is possible based on the presence or absence of a response to a packet sent to the other party.

[0067] Fourth step: Main control unit 11 establishes a communication path for mutual communication between first autonomous vehicle AMR1 and the local control unit with the first priority that corresponds to first destination N1.

[0068] Fifth step: The main control unit 11 transmits an arrival notification to the local control unit based on the fully qualified domain name with the highest priority identified in the second step. That is, the main control unit 11 transmits an arrival notification to the first local control unit 20. This step corresponds to the seventh step in the first embodiment.

[0069] Sixth step: Main control unit 11 checks whether communication is possible using N1.sec.node.xxx.jp, which is the location information with the second highest priority, i.e., whether communication is possible with third local control unit 22. If the check result is "possible," the process proceeds to the seventh step, and if the check result is "not possible," the process proceeds to the tenth step.

[0070] Seventh step: Main control unit 11 establishes a communication path for mutual communication between first autonomous vehicle AMR1 and the local control unit with second priority that corresponds to first destination N1.

[0071] Eighth step: The main control unit 11 executes a predetermined alert process. The alert process is intended to inform the user U that communication with the first-priority local control unit is "unavailable." In this embodiment, the main control unit 11 performs the alert process by displaying a predetermined alert message on a display constituting the user interface unit 12. This allows the user U to take the necessary repair measures.

[0072] Ninth step: The main controller 11 transmits an arrival notification to the local controller based on the fully qualified domain name with the second highest priority identified in the second step. That is, the main controller 11 transmits an arrival notification to the third local controller 22. This step corresponds to the seventh step in the first embodiment.

[0073] Tenth step: The main control unit 11 executes a predetermined error process. The error process is intended to inform the user U that communication with the first-priority local control unit and communication with the second-priority local control unit were "unavailable," i.e., communication with all local control units corresponding to the first destination N1 was "unavailable." In this embodiment, the main control unit 11 displays a predetermined error message, different from an alert message, on a display constituting the user interface unit 12 as the error process. This allows the user U to take the necessary corrective measures.

[0074] It can be said that the control system 10B according to this embodiment has higher redundancy and is more resistant to failures than the control system 10A.

[0075] [Third Example] 7 shows a control system 10C according to a third embodiment of the present invention. The control system 10C is for controlling two autonomous vehicles (a first autonomous vehicle AMR1 and a second autonomous vehicle AMR2) in a working area including a third controlled device D3 installed near a first destination N1 and a second controlled device D2 installed near a second destination N2. The control system 10C differs from the control system 10A in that it includes a fourth local control unit 23 instead of the first local control unit 20, but is common to the control system 10A in other respects.

[0076] The fourth local control unit 23 is composed of a physical server configured (programmed) to perform a desired process. In this embodiment, the fourth local control unit 23 is installed near the third controlled device D3, and can transmit a command to the third controlled device D3 to start the third controlled device D3 and receive a notification regarding the operation status from the third controlled device D3. That is, the fourth local control unit 23 can control the third controlled device D3. Since the fourth local control unit 23 controls the third controlled device D3 installed near the first destination N1, it can be said that it corresponds to the first destination N1.

[0077] The third controlled device D3 is composed of a shutter installed between the first destination N1 and the second destination N2. The shutter restricts the movement of the autonomous vehicles AMR1, AMR2 between the first destination N1 and the second destination N2. The autonomous vehicles AMR1, AMR2 can move between the first destination N1 and the second destination N2 only when the shutter is opened under the control of the fourth local control unit 23.

[0078] Next, with reference to Figure 8, the operation of the fourth local control unit 23, which is the only local control unit corresponding to the first destination N1, from when it receives an arrival notification to when it sends an end notification will be described in detail.

[0079] First step: The fourth local control unit 23 receives the arrival notification. This step corresponds to the eighth step in the first embodiment.

[0080] Second step: The fourth local control unit 23 activates the third controlled device D3 (shutter), which opens the shutter and enables movement between the first destination N1 and the second destination N2.

[0081] Third step: The fourth local control unit 23 transmits a completion notification to the main control unit 11. This completion notification means that all the processes (the process of the second step in this operation example) that the fourth local control unit 23 should perform after receiving the arrival notification have been completed. The fourth local control unit 23 may transmit this notification when a predetermined time has elapsed since the start of the third controlled device D3, or may transmit this notification when it receives the release completion notification transmitted by the third controlled device D3. This step corresponds to the 15th step in the first embodiment.

[0082] The first local control unit 20 in the first embodiment communicated with the autonomous vehicle AMR1 via a communication path established by the main control unit 11, but the fourth local control unit 23 in the present embodiment, as described above, does not communicate via the communication path established by the main control unit 11.

[0083] [Fourth Example] 9 shows a control system 10D according to a fourth embodiment of the present invention. The control system 10D is for controlling two autonomous vehicles (a first autonomous vehicle AMR1 and a second autonomous vehicle AMR2) in a working area including a fourth controlled device D4 installed near a first destination N1 and a second controlled device D2 installed near a second destination N2. The control system 10D differs from the control system 10A in that it includes a fifth local control unit 24 instead of the first local control unit 20, but is common to the control system 10A in other respects.

[0084] The fifth local control unit 24 is composed of a physical server configured (programmed) to perform a desired process. In this embodiment, the fifth local control unit 24 is installed near the fourth controlled device D4, and can transmit a command to start the fourth controlled device D4 to the fourth controlled device D4 and receive a notification regarding the operating status from the fourth controlled device D4. That is, the fifth local control unit 24 can control the fourth controlled device D4. Since the fifth local control unit 24 controls the fourth controlled device D4 installed near the first destination N1, it can be said that it corresponds to the first destination N1.

[0085] The fourth controlled device D4 is composed of a traffic sensor installed near the shared passage between the first destination N1 and the second destination N2. The shared passage is a passage through which autonomous vehicles (hereinafter, referred to as "other vehicles") that are not under the control of the control system 10D may pass. The traffic sensor detects whether or not there are other vehicles traveling on the shared passage and other vehicles about to enter the shared passage, and outputs the result.

[0086] Next, with reference to FIG. 10, the operation of the fifth local control unit 24, which is the only local control unit corresponding to the first destination N1, from when it receives an arrival notification to when it sends an end notification will be described in detail.

[0087] First step: The fifth local control unit 24 receives the arrival notification. This step corresponds to the eighth step in the first embodiment.

[0088] Second step: The fifth local control unit 24 refers to the output of the fourth controlled device D4 (passage sensor) to confirm that no other vehicle is present.

[0089] Third step: The fifth local control unit 24 transmits a completion notification to the main control unit 11. This completion notification means that all the processes (the process of the second step in this operation example) that the fifth local control unit 24 should perform after receiving the arrival notification have been completed. If the output of the fourth controlled device D4 indicates the presence of another vehicle, the fifth local control unit 24 waits for the output of the fourth controlled device D4 to change to one indicating the absence of the other vehicle before transmitting the completion notification. This step corresponds to the 15th step in the first embodiment.

[0090] The first local control unit 20 in the first embodiment communicated with the autonomous vehicle AMR1 via a communication path established by the main control unit 11, but the fifth local control unit 24 in the present embodiment, as described above, does not communicate via the communication path established by the main control unit 11.

[0091] According to the control system 10D of this embodiment, it is possible to prevent the autonomous vehicles AMR1, AMR2 traveling from the first destination N1 to the second destination N2 from colliding with other vehicles when passing through a shared passage.

[0092] [Variations] Although several embodiments of the control system according to the present invention have been described above, the configuration of the present invention is not limited to these.

[0093] For example, a control system according to the present invention may be used to control one or more autonomous vehicles in a work area that includes one or more destinations (controlled devices).

[0094] The control system according to the present invention may also include one or more local control devices corresponding to each of the destinations. For example, the control system according to the present invention may include three local control units corresponding to the first destination, one local control unit corresponding to the second destination, and five local control units corresponding to the third destination.

[0095] In addition, all or part of the main control unit and one or more local control units constituting the control system according to the present invention may be virtual servers operating on common hardware. However, it is preferable that the main control unit and the local control units are separated in terms of hardware. This is because it becomes easier to identify the cause of a failure and to perform recovery.

[0096] Furthermore, the main control unit constituting the control system according to the present invention may be installed in any location as long as it is capable of communicating with the autonomous vehicle and the local control units. For example, the main control unit may be installed as a physical server in a building separate from the work area, or may exist on the cloud as a virtual server.

[0097] Furthermore, one or more local control units constituting the control system according to the present invention may be installed in any location as long as they can communicate with the main control unit and the controlled device. For example, the local control unit may be installed as a physical server in a building separate from the work area, or may exist on the cloud as a virtual server.

[0098] Furthermore, the user interface unit constituting the control system according to the present invention may be a tablet terminal or the like owned by the user.

[0099] In addition, the alert processing and error processing executed by the main control unit constituting the control system according to the present invention may be a sound output to the user, or a combination of a displayed message and a sound.

[0100] The correspondence table stored in the main control unit may be configured to specify a domain name or an IP address as location information. [Explanation of symbols]

[0101] 10A, 10B, 10C, 10D Control system 11 Main control unit 12 User Interface Section 20 1st Local Control Section 21 Second Local Control Section 22 Third Local Control Section 23 4th Local Control Section 24 5th Local Control Section AMR1 First Autonomous Vehicle AMR2 2nd autonomous vehicle D1 1st controlled device D2 Second controlled device D3 Third controlled device D4 4th controlled device

Claims

1. 1. A control system for controlling a plurality of autonomous vehicles, comprising: A main control unit capable of communicating with the autonomous vehicle; A plurality of local control units capable of communicating with the main control unit; Equipped with the main control unit is configured to transmit a movement command to one of the plurality of autonomous vehicles regarding movement to a destination, and when the one autonomous vehicle arrives at the destination, transmit an arrival notification to one of the plurality of local control units corresponding to the destination and establish a communication path for mutual communication between the one local control unit and the one autonomous vehicle, and when an end notification transmitted by the one local control unit is received, transmit a movement command to the one autonomous vehicle regarding movement to a next destination and discard the communication path; the one local control unit is configured to start a predetermined process when receiving the arrival notification, and to transmit the end notification to the main control unit when the process is ended; Further, the one local control unit can communicate with the one autonomous vehicle only while the communication path is established. A control system comprising:

2. The main control unit is configured to detect that the one autonomous vehicle has arrived at the destination based on current location information transmitted by the one autonomous vehicle.

2. The control system of claim 1.

3. The main control unit is configured to store a correspondence table indicating a correspondence relationship between the destination and location information regarding the location of the local control unit corresponding to the destination, and to use the location information of the one local control unit when communicating with the one local control unit.

3. The control system according to claim 1 or 2.

4. The location information is a domain name, a fully qualified domain name, or an IP address.

4. The control system of claim 3.

5. The main control unit is configured to check whether the arrival notification can be sent before sending the arrival notification to the one local control unit, and to start a predetermined error process when the result of the check shows that the arrival notification cannot be sent.

3. The control system according to claim 1 or 2.

6. a first local control unit and a second local control unit corresponding to the destination are included in the plurality of local control units; The first local control unit has a higher priority than the second local control unit.

3. The control system according to claim 1 or 2.

7. The main control unit is configured to perform a first confirmation as to whether or not it is possible to transmit the arrival notification to the first local control unit, and if the result of the first confirmation indicates that it is possible, transmit the arrival notification to the first local control unit, and if the result of the first confirmation indicates that it is not possible, perform a second confirmation as to whether or not it is possible to transmit the arrival notification to the second local control unit, and if the result of the second confirmation indicates that it is possible, transmit the arrival notification to the second local control unit.

7. The control system of claim 6.

8. The main control unit is configured to execute a predetermined error process when both the first check and the second check result are impossible, and to execute a predetermined alert process different from the error process when the first check result is impossible and the second check result is possible.

8. The control system of claim 7.

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