Mobile body control system and mobile body control method

Abstract

To reduce the number of detection sensors of one mobile body while suppressing the possibility of contact with objects.SOLUTION: A mobile body 2 comprises a detection sensor 23 which detects the presence or absence of an object in a monitoring area surrounding the mobile body 2. A plurality of mobile bodies 2 include a first mobile body 2A assigned with a transporting task of an object to be transported by a control system 3. A sensor function determination unit 203 determines whether there is an undetectable area in the monitoring area of the detection sensor 23 equipped on the first mobile body 2A in a transportation state in which the first mobile body 2A transports the object to be transported. When the sensor function determination unit 203 determines that there is an undetectable area in the monitoring area, an output unit 301 of the control system 3 outputs a control command instructing one or more second mobile bodies 2B selected from one or more mobile bodies 2 other than the first mobile body 2A among the plurality of mobile bodies 2 to transport the object to be transported in cooperation with the first mobile body 2A.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a movement control system and a movement control method. More specifically, the present disclosure relates to a movement control system and a movement control method each including a plurality of moving bodies capable of transporting an object to be transported.

Background Art

[0002] Patent Document 1 discloses an obstacle detection sensor for an automated guided vehicle. This obstacle detection sensor includes a non-contact distance measuring device, a detection area registration means, a use pattern setting means, and a determination means. The distance measuring device measures the distance to a detected object for each predetermined angular range radially dividing the periphery of the automated guided vehicle. The detection area registration means registers a plurality of patterns of detection areas partitioned by lines connecting a plurality of designated boundary points. The use pattern setting means selects and sets a pattern to be used from among the patterns of the plurality of detection areas registered by the detection area registration means for each travel section of the automated guided vehicle. The determination means generates an output for obstacle detection when the distance to the detected object measured by the distance measuring device is within the detection area set for the current travel section.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When an automated guided vehicle connects and transports an object to be transported such as a carriage, a dead angle may occur in the detection area of the obstacle detection sensor mounted on the automated guided vehicle due to the object to be transported connected to the automated guided vehicle. If the number of obstacle sensors mounted on the automated guided vehicle is increased so that there is no dead angle in the detection area of the obstacle detection sensor, there is a problem that the number of parts increases and the manufacturing cost becomes high.

[0005] An object of the present disclosure is to provide a movement control system and a movement control method capable of suppressing the possibility of contact with an object while reducing the number of detection sensors provided in a single moving body.

Means for Solving the Problems

[0006] A movement control system according to an aspect of the present disclosure includes a plurality of moving bodies each capable of transporting an object to be transported, a control system that controls the transport work by the plurality of moving bodies, and a sensor function determination unit. Each of the plurality of moving bodies includes a detection sensor that detects the presence or absence of an object in a monitoring area around the moving body, and a movement control unit that controls the movement of the moving body based on the detection result of the detection sensor. The control system includes an output unit that outputs a control command regarding the transport work of the object to be transported to a moving body to be controlled among the plurality of moving bodies. The plurality of moving bodies includes a first moving body to which the transport work of the object to be transported is assigned by the control system. The sensor function determination unit determines whether or not there is a non-detectable area in the monitoring area of the detection sensor provided in the first moving body in a transport state in which the first moving body transports the object to be transported. When the sensor function determination unit determines that there is a non-detectable area in the monitoring area, the output unit of the control system outputs the control command to one or more second moving bodies selected from among the plurality of moving bodies other than the first moving body, instructing the second moving bodies to perform the transport work of the object to be transported in cooperation with the first moving body.

[0007] The moving body control method according to one aspect of the present disclosure is a moving body control method executed by a moving body control system. The moving body control system includes a plurality of moving bodies each capable of transporting an object to be transported, and a control system that controls the transport work by the plurality of moving bodies. Each of the plurality of moving bodies has a detection sensor that detects the presence or absence of an object in a surrounding monitoring area, and a movement control unit that controls movement based on the detection result of the detection sensor. The plurality of moving bodies includes a first moving body to which the transport work of the object to be transported is assigned. The moving body control method includes a control command output step. In the control command output step, when there is an undetected area in the monitoring area of the detection sensor provided in the first moving body in a transport state where the first moving body transports the object to be transported, one or more second moving bodies selected from among the plurality of moving bodies other than the first moving body are instructed to cooperate with the first moving body to perform the transport work of the object to be transported, and a control command is output.

Advantages of the Invention

[0008] According to the present disclosure, it is possible to provide a moving body control system and a moving body control method capable of suppressing the possibility of contact with an object while reducing the number of detection sensors provided in one moving body.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

MODE FOR CARRYING OUT THE INVENTION

[0010] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the drawings. In the embodiments described below, elements common to each other are denoted by the same reference numerals, and redundant descriptions of the common elements may be omitted. The following embodiments are merely one of various embodiments of the present disclosure. The embodiments can be variously modified according to design and the like as long as the object of the present disclosure can be achieved. Each drawing described in the present disclosure is a schematic drawing, and the ratio of the size and thickness of each component in each drawing does not necessarily reflect the actual dimensional ratio. Note that the arrows indicating the respective directions in the drawings are examples and are not intended to define the direction when the moving body 2 is used. Further, the arrows indicating the respective directions in the drawings are merely shown for explanation and do not accompany an entity.

[0011] (Embodiment) (1) Overview FIG. 1 is a schematic system configuration diagram of the movement control system 1 of the present embodiment.

[0012] The movement control system 1 includes a plurality of moving bodies 2 each capable of transporting an object to be transported 5 (see FIG. 6), a control system 3 that controls the transport operations by the plurality of moving bodies 2, and a sensor function determination unit 203.

[0013] Each of the plurality of moving bodies 2 includes a detection sensor 23 that detects the presence or absence of an object in a monitoring area around the moving body 2, and a movement control unit 202 that controls the movement of the moving body 2 based on the detection result of the detection sensor 23.

[0014] The control system 3 includes an output unit 301 that outputs a control command regarding the transport operation of the object to be transported 5 to the moving body 2 to be controlled among the plurality of moving bodies 2.

[0015] The plurality of moving bodies 2 includes a first moving body 2A to which the transport operation of the object to be transported 5 is assigned by the control system 3.

[0016] The sensor function determination unit 203 determines whether or not there is an undetected area in the monitoring area of the detection sensor 23 provided in the first moving body 2A in the transport state in which the first moving body 2A transports the object to be transported 5.

[0017] When the sensor function determination unit 203 determines that there is an undetected area in the monitoring area, the output unit 301 of the control system 3 outputs a control command to instruct one or more second moving bodies 2B selected from one or more moving bodies 2 other than the first moving body 2A among the plurality of moving bodies 2 to perform the transport operation of the object to be transported 5 in cooperation with the first moving body 2A.

[0018] Here, the mobile body 2 is, for example, an autonomous mobile robot (AMR) used for conveyance work in facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals, but it may also be an AGV (Automatic Guided Vehicle) or the like. The mobile body 2 moves, for example, by traveling on a moving surface G1 (see FIG. 6) with one or more wheels. The moving surface G1 is the surface on which the mobile body 2 moves. When the mobile body 2 moves inside a facility, the floor surface of the facility or the like becomes the moving surface G1, and when the mobile body 2 moves outdoors, the ground or the like becomes the moving surface G1.

[0019] Since the mobile body 2 is used for the conveyance work of articles, the object to be conveyed 5 on which the mobile body 2 performs the conveyance work is an article to be conveyed by the mobile body 2. Hereinafter, a case will be described as an example where the mobile body 2 is an automatic conveyance robot that conveys a component supply unit or the like that supplies electronic components or the like to a manufacturing apparatus in a factory where a manufacturing apparatus such as a component mounter that mounts electronic components on a circuit board is arranged. That is, in the present embodiment, a case where the object to be conveyed 5 is a component supply unit 5A (see FIGS. 9 and 10) conveyed by the mobile body 2 will be described as an example.

[0020] The detection sensor 23 is provided on the moving body 2 and detects the presence or absence of an object in the monitoring area around the moving body 2. The monitoring area may be a part of the range detectable by the detection sensor 23 (hereinafter sometimes referred to as the detection area), or may be the entire detection area of the detection sensor 23. That is, the "monitoring area" of the detection sensor 23 is at least a part of the detection area detectable by the detection sensor 23. Since the monitoring area is set in the coordinate system centered on the reference position of the moving body 2, when the moving body 2 moves, the range of the monitoring area in the real space also moves along with the movement of the moving body 2. In the present embodiment, the case where a part of the detection area of the detection sensor 23 is set as the monitoring area will be described as an example. The object to be detected by the detection sensor 23 may be an article placed on the moving surface G1, a stationary object such as a wall of a facility, or a moving object such as a person or an animal. The detection sensor 23 includes a ranging sensor such as LiDAR (Light Detection and Ranging), for example. LiDAR emits probing light such as near-infrared light, visible light, and ultraviolet light from the light emitting unit to the outside, and receives the reflected light by the object with the light receiving unit, thereby measuring the direction in which the object exists and the distance to the object. Note that the detection sensor 23 is not limited to LiDAR, and may be an ultrasonic sensor, a proximity sensor, or the like.

[0021] The sensor function determination unit 203 determines whether or not there is an undetected area in the conveyance state. Here, the "conveyance state" is, for example, a state in which the first moving body 2A and the object 5 to be conveyed are actually connected so that the first moving body 2A can convey the object 5 to be conveyed. Note that the "conveyance state" is not limited to a state in which the first moving body 2A and the object 5 to be conveyed are actually connected. The sensor function determination unit 203 may assume a state in which the first moving body 2A and the object 5 to be conveyed are connected based on known information such as the outer shapes and dimensions of the first moving body 2A and the object 5 to be conveyed, and the detection area of the detection sensor 23 provided in the first moving body 2A, and determine whether or not there is an undetected area in the conveyance state. Further, the "undetected area" is an area in the monitoring area of the detection sensor 23 where it is impossible to detect whether or not an object exists. The undetected area is, for example, an area where the presence or absence of an object can be detected in a non-conveyance state where the object 5 to be conveyed is not being conveyed, but the presence or absence of the object cannot be detected in the conveyance state. That is, the "undetected area" is a blind spot formed by the object 5 to be conveyed in the monitoring area.

[0022] According to the movement control system 1 of the present embodiment, the sensor function determination unit 203 determines whether or not there is an undetected area in the monitoring area of the detection sensor 23 provided in the first moving body 2A in the conveyance state. Then, when the sensor function determination unit 203 determines that there is an undetected area in the monitoring area, the output unit 301 of the control system 3 outputs a control command for instructing one or more second moving bodies 2B to perform a conveyance operation of the object 5 to be conveyed in cooperation with the first moving body 2A.

[0023] For example, when an object to be conveyed 5 exists between the detection sensor 23 provided in the first moving body 2A and a part of the detection area of the detection sensor 23, and a part of the detection area becomes a non-detectable area, the output unit 301 can output a control command to the second moving body 2B to cause the second moving body 2B to perform a conveyance operation in cooperation with the first moving body 2A. Therefore, when the first moving body 2A conveys the object to be conveyed 5, the presence or absence of an object in the surrounding monitoring area can be detected by the detection sensor 23 provided in the first moving body 2A and the detection sensor 23 provided in the second moving body 2B. Thus, the possibility of a non-detectable area where an object cannot be detected by any of the detection sensors 23 provided in the first moving body 2A and the detection sensors 23 provided in the second moving body 2B can be reduced, and a movement control system 1 capable of suppressing the possibility of contact with an object while reducing the number of detection sensors 23 provided in one moving body 2 can be realized.

[0024] (2) Details Hereinafter, the moving body 2 and the control system 3 included in the movement control system 1 according to the present embodiment will be described in detail with reference to FIGS. 1 to 10 and the like. In the following description, in the conveyance state where the moving body 2 conveys the object to be conveyed 5, the direction in which the moving body 2 advances together with the object to be conveyed 5 is defined as the front side, the opposite side as the rear side, and the front-back, left-right, and up-down directions are defined. In the examples of FIGS. 2 to 4, since the moving body 2 advances leftward in the drawing, the X-axis direction in FIGS. 2 to 4 is defined as the left-right direction, and the Y-axis direction is defined as the front-back direction (depth direction). Further, the positive direction of the X-axis direction is defined as the right side, and the positive direction of the Y-axis direction is defined as the front side. However, these directions are merely examples and are not intended to limit the direction during use of the moving body 2. Also, the arrows indicating the respective directions in the drawings are merely shown for explanation purposes and do not have a physical entity.

[0025] (2.1) Overall Configuration of Movement Control System As described above, the movement control system 1 includes the moving body 2 and the control system 3 (see FIG. 1).

[0026] The mobile body 2 and the control system 3 are configured to be able to communicate with each other. In the present disclosure, "able to communicate" means that information can be exchanged directly or indirectly via a communication network NT, a repeater 4, etc. by an appropriate communication method such as wired communication or wireless communication. In the present embodiment, the control system 3 and the mobile body 2 can communicate bidirectionally, and both the transmission of information from the control system 3 to the mobile body 2 and the transmission of information from the mobile body 2 to the control system 3 are possible. In FIG. 1, the number of mobile bodies 2 is one, but the mobile body control system 1 includes two or more mobile bodies 2. Each of the two or more mobile bodies 2 has the same configuration.

[0027] As shown in FIG. 9, the mobile body control system 1 of the present embodiment is used in a component mounting system 10 including a component mounter 7 that mounts electronic components on a circuit board.

[0028] The component mounter 7 has a component supply unit 5A that supplies components and a mounting main body 8 that includes a mounting head for mounting components on a substrate. In the present embodiment, the component supply unit 5A (see FIGS. 9 and 10) is the object to be transported 5 of the mobile body 2. The component supply unit 5A is used to supply components to the mounting main body 8 of the component mounter 7 installed in the factory. The component supply unit 5A is, for example, a tape supply unit that supplies a reel wound with a tape to which components are attached. Note that the component supply unit 5A may be a tray supply unit for supplying a tray on which components are placed, a batch exchange cart for collectively supplying a plurality of reels to which different types of components are attached, etc. Note that the object to be transported 5 is not limited to the component supply unit 5A, and may be a cart with a basket provided with a plurality of wheels (so-called roll box pallet).

[0029] In this embodiment, the moving body 2 conveys the object 5 to be conveyed, which is the component supply unit 5A, to the installation location of the mounting main body 8 of the component mounter 7. Thereby, it is possible to construct a component mounting system 10. The moving body 2 receives a control command from the control system 3, for example, and moves the component supply unit 5A (the object 5 to be conveyed) to the installation location of the mounting main body 8. When the moving body 2 moves the component supply unit 5A into the recess 81 provided on the front surface of the mounting main body 8, it becomes possible to supply components from the component supply unit 5A to the mounting main body 8.

[0030] (2.2) Moving body The moving body 2 is an automatic conveyance robot for conveying the object 5 to be conveyed. In the following description, it will be described assuming that the moving body 2 is a vehicle-type robot that conveys the object 5 to be conveyed by towing the object 5 while being connected to the object 5. Note that the moving body 2 may be a low-floor vehicle-type robot that supports the object 5 to be conveyed, for example, by diving under the object 5 to be conveyed and lifting the object 5.

[0031] In this embodiment, the control system 3 communicates with the moving body 2 via the communication network NT and the repeater 4 provided in the facility, and indirectly controls the movement of the moving body 2. In a state where the moving body 2 and the object 5 to be conveyed are connected, the moving body 2 can travel on the moving surface G1. Thereby, the moving body 2 can convey, for example, an object 5 placed at a certain location to another location by towing the object 5 with the moving body 2 or pushing and moving the object 5 with the moving body 2.

[0032] As shown in FIG. 1, the moving body 2 includes a processing unit 20, a communication unit 21, a storage unit 22, the above-described detection sensor 23, a traveling mechanism 24, and a connection unit 25. The moving body 2 also includes a main body 26 that houses the processing unit 20, the communication unit 21, the storage unit 22, the detection sensor 23, the traveling mechanism 24, the connection unit 25, and the like. Note that the moving body 2 is provided with a battery such as a lithium-ion battery or a nickel-metal hydride battery, for example, and operates using the electrical energy stored in the battery.

[0033] The main body 26 is formed in a box shape with a longer left - right dimension than the front - rear dimension. At the lower part of the main body 26, a pair of drive wheels 27 and a pair of auxiliary wheels 28 are provided. The pair of drive wheels 27 are arranged on both sides in the left - right direction at the lower part of the main body 26. The pair of auxiliary wheels 28 are arranged on both sides in the front - rear direction at the center in the left - right direction of the lower part of the main body 26. The pair of drive wheels 27 are individually driven, for example, by an electric motor. Each of the pair of auxiliary wheels 28 is a swivel wheel that can rotate in an arbitrary direction within a plane parallel to the moving surface G1 with respect to the direction of the rotation axis. Note that the object 5 to be conveyed by the moving body 2 also has four wheels 51 at the lower part of the main body 50. Each of the four wheels 51 is a swivel wheel that can rotate in an arbitrary direction within a plane parallel to the moving surface G1 with respect to the direction of the rotation axis. The moving body 2 moves on the moving surface G1 with the four wheels 51.

[0034] The communication unit 21 is configured to be able to communicate with other moving bodies 2 and the control system 3 respectively. The communication unit 21 communicates by wireless communication using radio waves as a medium. In this embodiment, one or more repeaters 4 for relaying the communication between the communication unit 21 of the moving body 2 and the control system 3 are installed in the area where the moving body 2 operates. The repeater 4 functions as a device (access point) for relaying the communication between the communication unit 21 of the moving body 2 and the control system 3. The repeater 4 communicates with the control system 3 via the communication network NT within the facility. Therefore, the communication unit 21 indirectly communicates with the control system 3 via any one of the one or more repeaters 4. The communication method of the communication unit 21 is a wireless communication method compliant with standards such as Wi - Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low - power wireless (specific low - power wireless) that does not require a license. The communication network NT may be, for example, a local communication network within the area where the moving body 2 operates or within the operating company of this area, or the Internet or the like.

[0035] The storage unit 22 includes memories such as, for example, RAM (Random Access Memory), ROM (Read-Only Memory), and EEPROM (Electrically Erasable Programmable Read-Only Memory). The storage unit 22 stores, for example, the programs executed by the processing unit 20. The storage unit 22 stores the map information of the moving surface G1. Further, the storage unit 22 stores the calculation results of the processing unit 20 and the like.

[0036] The detection sensor 23 includes a ranging sensor such as LiDAR as described above. In the example of FIG. 2, the detection sensor 23 includes a detection sensor 23A provided on the upper right side of the main body 26 and a detection sensor 23B provided on the upper left side of the main body 26. The two detection sensors 23A and 23B detect the presence or absence of an object in fan-shaped detection regions DA11 and DA12 centered on the installation positions of the detection sensors 23A and 23B, respectively. In the example of FIG. 2, the detection region DA11 of the detection sensor 23A provided on the right side of the main body 26 is set to a fan-shaped region with a central angle of, for example, 270 degrees excluding the non-detection region of the fan shape in the left rear. Further, the detection region DA12 of the detection sensor 23B provided on the left side of the main body 26 is set to a fan-shaped region with a central angle of, for example, 270 degrees excluding the non-detection region of the fan shape in the right front. Since the two detection sensors 23A and 23B are provided on the main body 26 so as to complement each other's non-detection regions, the presence or absence of an object can be detected in the entire circumferential direction of the main body 26 by the two detection sensors 23A and 23B. Here, the region combining the detection regions DA11 and DA12 of the two detection sensors 23A and 23B becomes the detection region DA1 of the detection sensor 23.

[0037] The traveling mechanism 24 can control the rotation and steering angle of each of the pair of drive wheels 27. The traveling mechanism 24 has, for example, an electric motor, and applies the driving force generated by the electric motor to each of the pair of drive wheels 27 via a gearbox, a belt, and the like. Note that the traveling mechanism 24 may be configured to directly apply a driving force to each of the pair of drive wheels 27, such as an in-wheel motor.

[0038] The connecting part 25 includes, for example, a gripping mechanism that can mechanically grip a connecting pin provided on the object 5 to be conveyed. The connecting part 25 is provided at the rear part of the main body 26. When the moving body 2 moves to a position where the connecting part 25 can grip the connecting pin of the object 5 to be conveyed, the moving body 2 and the object 5 to be conveyed are connected by the gripping mechanism of the connecting part 25 gripping the connecting pin of the object 5 to be conveyed. Note that a plurality of connecting pins are provided on the object 5 to be conveyed side by side in the left - right direction, and by the connecting part 25 gripping any one of the plurality of connecting pins, the position where the moving body 2 is connected to the object 5 to be conveyed can be adjusted in the left - right direction. Note that the connecting part 25 is not limited to having a gripping mechanism that mechanically grips the connecting pin of the object 5 to be conveyed. The connecting part 25 may be, for example, a structure that connects to the object 5 to be conveyed by adsorbing a magnetic body provided on the object 5 to be conveyed with the electromagnetic force generated by an electromagnet.

[0039] The processing unit 20 performs overall control of the moving body 2. The processing unit 20 is mainly composed of a computer system having one or more processors and a memory. The functions of the processing unit 20 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, may be provided through an electric communication line such as the Internet, or may be provided by being recorded in a non - temporary recording medium such as a memory card.

[0040] The processing unit 20 has the functions of the above - described movement control unit 202. Also, in the present embodiment, the moving body 2 is provided with a sensor function determination unit 203, and the processing unit 20 has the functions of the sensor function determination unit 203. Further, the processing unit 20 further has the functions of a position measurement unit 201 and a complement - request output unit 204. That is, in the present embodiment, each of the plurality of moving bodies 2 is provided with a sensor function determination unit 203 and a complement - request output unit 204. Note that the position measurement unit 201, the movement control unit 202, the sensor function determination unit 203, and the complement - request output unit 204 only indicate functions realized by the processing unit 20, and do not necessarily indicate a physical configuration.

[0041] The position measurement unit 201 measures the current position by, for example, comparing the distance to an object around the moving body 2 detected by the detection sensor 23 with the map information of the moving surface G1 held in the storage unit 22, and estimating the current position of the moving body 2.

[0042] The movement control unit 202 creates a movement route from the current position to the position of the conveyance destination of the object 5 to be conveyed based on the control command of the conveyance work received by the communication unit 31 from the control system 3 and the current position of the moving body 2 measured by the position measurement unit 201. Note that the control command from the control system 3 includes, for example, information regarding the position of the conveyance source where the object 5 to be conveyed exists and the position of the conveyance destination to convey the object 5, and the movement control unit 202 creates a movement route using this information. When the movement control unit 202 creates a movement route, it controls the traveling mechanism 24 so that the moving body 2 moves along the movement route, and moves the object 5 to be conveyed from the position of the conveyance source to the position of the conveyance destination together with the moving body 2. When the detection sensor 23 detects an object existing in the monitoring area while the moving body 2 is moving along the movement route, the movement control unit 202 may control the traveling mechanism 24 so that the moving body 2 moves along an avoidance course capable of avoiding a collision with the object.

[0043] The sensor function determination unit 203 determines, for example, whether there is an undetected area in the monitoring area based on the detection result of the detection sensor 23. When the moving body 2 and the object 5 to be conveyed are connected, in the direction of the object 5 as seen from the detection sensor 23, the probing light from the detection sensor 23 is reflected by the object 5 to be conveyed. Therefore, the detection sensor 23 can only detect the object 5 to be conveyed and cannot detect an object existing on the other side of the object 5 to be conveyed. The sensor function determination unit 203 determines that the area where the detection sensor 23 is detecting the object 5 to be conveyed connected to the moving body 2 is an undetected area. FIG. 3 is a plan view of the conveyance state in which the moving body 2 conveys the object 5 to be conveyed. The moving body 2 is connected to the central portion in the left-right direction at the front portion of the object 5 to be conveyed. In this conveyance state, a sector-shaped area including the position of the object 5 to be conveyed, sandwiched between two planes LN1 and LN2, becomes the undetected area ND1. The plane LN1 is a plane including the right detection sensor 23A and the right end of the front portion of the object 5 to be conveyed, and is a plane orthogonal to the moving surface G1. The plane LN2 is a plane including the left detection sensor 23B and the left end of the front portion of the object 5 to be conveyed, and is a plane orthogonal to the moving surface G1. Note that the sensor function determination unit 203 may determine, for example, an area in the direction of the object 5 to be conveyed as seen from the detection sensor 23 as the undetected area ND1 based on the positions of the detection sensors 23A and 23B, the detection areas DA11 and DA12, the shape and size of the object 5 to be conveyed, the connection position between the main body 26 of the moving body 2 and the object 5 to be conveyed, and the like.

[0044] Further, the movement control unit 202 sets, for example, based on the setting information from the control system 3, in the detection area DA1 of the detection sensor 23, an area where the moving body 2 or the object to be transported 5 can move within a predetermined time as a monitoring area. Then, when the detection sensor 23 detects an object existing in the monitoring area, the movement control unit 202 stops or decelerates the moving body 2 to avoid contact between the moving body 2 or the object to be transported 5 and the object existing in the monitoring area. For example, as shown in FIG. 3, the movement control unit 202 sets, as the monitoring area SA1, a range through which the moving body 2 and the object to be transported 5 pass when the moving body 2 and the object to be transported 5 move in the traveling direction (forward, right direction, left direction, right front, or left front, etc.) for a predetermined time. Note that the monitoring area SA1 can be appropriately changed according to the shape, size, etc. of the moving body 2 and the object to be transported 5. The monitoring area SA1 may be set, for example, around the entire circumference of the moving body 2 and the object to be transported 5. If the monitoring area SA1 is set around the entire circumference of the moving body 2 and the object to be transported 5, the presence or absence of an object approaching the moving body 2 and the object to be transported 5 from any direction can be detected.

[0045] Here, since the right side surface of the object to be transported 5 is located to the right of the right detection sensor 23A and the left side surface of the object to be transported 5 is located to the left of the left detection sensor 23B, there are non-detection areas ND1 in the area to the right of the right side surface of the object to be transported 5 and in the area to the left of the left side surface of the object to be transported 5, respectively. In this case, the sensor function determination unit 203 determines that there is a non-detection area ND1 in the monitoring area SA1.

[0046] Based on the determination result of the sensor function determination unit 203, the complement requirement output unit 204 determines whether or not it is necessary to complement the non-detection area ND1. When the sensor function determination unit 203 determines that there is a non-detection area ND1 in the monitoring area SA1, the complement requirement output unit 204 outputs a complement requirement for requesting the complement of the non-detection area ND1 to the control system 3. Note that the complement requirement output unit 204 causes the communication unit 21 to transmit the complement requirement to the control system 3.

[0047] After the completion request is sent, when the control system 3 outputs a completion instruction to another moving body 2 (the second moving body 2B), the second moving body 2B moves to the position of the object to be conveyed 5, and the detection sensor 23 of the second moving body 2B connects to the object to be conveyed 5 in a state where the presence or absence of an object can be detected in the non-detection area ND1 (see FIG. 3). Then, the first moving body 2A and the second moving body 2B cooperate to convey the object to be conveyed 5. FIG. 4 shows a state where the second moving body 2B is connected to the object to be conveyed 5 conveyed by the first moving body 2A. The second moving body 2B is connected to the rear part of the object to be conveyed 5 via a connecting portion 25. Note that the first moving body 2A is connected to the object to be conveyed 5 in a state where the detection sensor 23A is located on the right side of the right side surface of the object to be conveyed 5, and the detection sensor 23A can detect an object in the area on the right side of the right side surface of the object to be conveyed 5. Also, the second moving body 2B is connected to the object to be conveyed 5 in a state where the detection sensor 23A is located on the left side of the left side surface of the object to be conveyed 5, and the detection sensor 23A can detect an object in the area on the left side of the left side surface of the object to be conveyed 5. Therefore, with the two detection sensors 23A and 23B, the presence or absence of an object can be detected in the monitoring area SA1 set around the entire circumference of the first moving body 2A, the second moving body 2B, and the object to be conveyed 5.

[0048] Here, when the first moving body 2A and the second moving body 2B cooperate to convey the object to be conveyed 5, for example, the first moving body 2A becomes the master and the second moving body 2B becomes the slave. The movement control unit 202 of the first moving body 2A on the master side outputs a travel instruction from the communication unit 21 to the second moving body 2B on the slave side. The movement control unit 202 of the second moving body 2B on the slave side receives the travel instruction input from the movement control unit 202 of the first moving body 2A, controls the travel mechanism 24, and moves together with the first moving body 2A to perform the conveyance work of the object to be conveyed 5. Further, the processing unit 20 of the second moving body 2B causes the communication unit 21 to transmit the detection result of the detection sensor 23 provided in the second moving body 2B to the first moving body 2A. When the communication unit 21 of the first moving body 2A receives the detection result of the detection sensor 23 from the second moving body 2B, the movement control unit 202 determines the presence or absence of an object in the monitoring area SA1 based on the detection result of the detection sensor 23 of the first moving body 2A and the detection result of the detection sensor 23 of the second moving body 2B. Then, when the movement control unit 202 determines that an object exists in the monitoring area SA1 based on the detection result of the detection sensor 23 of the first moving body 2A and the detection result of the detection sensor 23 of the second moving body 2B, it controls the travel mechanism 24 to decelerate or stop the first moving body 2A, and causes the communication unit 21 to transmit a travel instruction to decelerate or stop the second moving body 2B to the second moving body 2B. At this time, the movement control unit 202 of the second moving body 2B receives the travel instruction received from the first moving body 2A and controls the travel mechanism 24 to decelerate or stop the second moving body 2B.

[0049] (2.3) Control System The control system 3 includes a processing unit 30, a communication unit 31, and a storage unit 32.

[0050] The communication unit 31 is configured to be able to communicate with the moving body 2 via the communication network NT and the repeater 4. The communication method of the communication unit 31 is, for example, a wired communication method, but it may also be a wireless communication method. The communication unit 31 communicates indirectly with the moving body 2 via the communication network NT and the repeater 4, but it may also communicate directly with the moving body 2.

[0051] The storage unit 32 includes memories such as, for example, RAM (Random Access Memory), ROM (Read-Only Memory), and EEPROM (Electrically Erasable Programmable Read-Only Memory). The storage unit 32 stores, for example, programs executed by the processing unit 30. Information regarding the shapes and sizes of a plurality of objects to be conveyed 5 is registered in advance in the storage unit 32. Also, conveyance plan information (for example, position information of the conveyance destination of the object to be conveyed 5, etc.) regarding the conveyance operations of a plurality of objects to be conveyed 5 is registered in the storage unit 32.

[0052] The processing unit 30 performs overall control of the control system 3. The processing unit 30 mainly comprises a computer system having one or more processors and a memory. The functions of the processing unit 30 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, may be provided through a telecommunication line such as the Internet, or may be provided by being recorded in a non-transitory recording medium such as a memory card. The processing unit 30 has, for example, the functions of the output unit 301 described above. Also, the processing unit 30 further has the functions of a monitoring area setting unit 302 and a determination unit 303. Note that the output unit 301, the monitoring area setting unit 302, and the determination unit 303 merely indicate functions realized by the processing unit 30, and do not necessarily indicate physical configurations.

[0053] The output unit 301 creates, for example, a control command for causing the controlled mobile body 2 among the plurality of mobile bodies 2 to perform the conveyance operation of the object to be conveyed 5 based on the conveyance plan information registered in the storage unit 32. Then, the output unit 301 causes this control command to be transmitted from the communication unit 31 to the controlled mobile body 2 via the communication network NT and the repeater 4.

[0054] When the communication unit 31 receives a complement request from the first mobile body 2A, the output unit 301 selects one or more second mobile bodies 2B from among the plurality of mobile bodies 2 other than the first mobile body 2A. Then, the output unit 301 outputs a control command from the communication unit 31 to the one or more second mobile bodies 2B, instructing them to perform the conveyance operation of the object to be conveyed 5 in cooperation with the first mobile body 2A. That is, when a complement request is input to the control system 3 from the first mobile body 2A, the output unit 301 performs a process of outputting a control command to one or more second mobile bodies 2B based on the complement request. More specifically, the output unit 301 instructs the one or more second mobile bodies 2B to perform the conveyance operation of the object to be conveyed 5 in cooperation with the first mobile body 2A in a state where the detection sensor 23 provided in the one or more second mobile bodies 2B can detect the presence or absence of an object in the non-detectable region ND1 of the first mobile body 2A. Here, the state where the detection sensor 23 provided in the one or more second mobile bodies 2B can detect the presence or absence of an object in the non-detectable region ND1 means a state in which the non-detectable region ND1 generated in the monitoring region SA1 is covered by the detection region of the detection sensor 23 provided in the one or more second mobile bodies 2B, thereby eliminating the non-detectable region ND1 existing in the monitoring region SA1.

[0055] In addition, it is preferable that the output unit 301 determines the number of the one or more second mobile bodies 2B based on at least one of the size and shape of the object to be conveyed 5 conveyed by the first mobile body 2A. Depending on the size or shape of the object to be conveyed 5, the detection sensor 23 of one second mobile body 2B may not be able to complement the non-detectable region ND1. Since the output unit 301 determines the number of the one or more second mobile bodies 2B based on at least one of the size and shape of the object to be conveyed 5 conveyed by the first mobile body 2A, the non-detectable region ND1 can be complemented by the detection sensors 23 of one or a plurality of second mobile bodies 2B.

[0056] The determination unit 303 determines whether it is necessary to change the monitoring area SA1. The determination unit 303 determines whether there is a change factor that requires changing the monitoring area SA1 in the transport path along which the mobile body 2 transports the object 5 to be transported. For example, if the width of the passage through which the mobile body 2 moves becomes narrow, and the distance between the mobile body 2 and the object 5 to be transported and the wall becomes short, and the wall enters the monitoring area SA1, the detection sensor 23 may erroneously detect the wall, so it is necessary to narrow the monitoring area SA1. Also, since the passage through which the mobile body 2 moves bends at a right angle, when the mobile body 2 travels in a curve, it is necessary to monitor the front in the direction of the curve, so it is necessary to change the range of the monitoring area SA1. Thus, when there is a change factor that requires changing the monitoring area SA1 in the transport path, the determination unit 303 determines that it is necessary to change the monitoring area SA1.

[0057] When the monitoring area setting unit 302 determines that the determination unit 303 determines that it is necessary to change the monitoring area SA1, the monitoring area setting unit 302 causes the communication unit 31 to send a change command for instructing the change of the monitoring area SA1 to the mobile body 2.

[0058] (2.4) Operation Explanation The operation of the movement control system 1 of the present embodiment will be described based on FIGS. 5 to 8 and the like. Note that the flowchart shown in FIG. 5 only shows an example of the operation when the first mobile body 2A performs the transport operation of the object 5 to be transported, and the order of the processes may be changed as appropriate, and the processes may be added or omitted as appropriate.

[0059] The processing unit 30 of the control system 3 creates, for example, a control command for transporting the object 5 to be transported based on the work plan of the transport operation, and causes the communication unit 31 to send this control command to the mobile body 2 (the first mobile body 2A) to be controlled. When the communication unit 21 of the first mobile body 2A receives the control command from the control system 3 (ST1), the movement control unit 202 controls the traveling mechanism 24 based on the control command, and moves the first mobile body 2A to the position of the transport source where the object 5 to be transported exists. When the first mobile body 2A arrives at the position of the transport source where the object 5 to be transported exists, the processing unit 20 controls the connecting unit 25 to connect the first mobile body 2A and the object 5 to be transported.

[0060] When the connection between the first moving body 2A and the object to be conveyed 5 is completed (ST2: Yes), the sensor function determination unit 203 of the first moving body 2A determines whether or not there is an undetected area ND1 in the monitoring area SA1 (ST3).

[0061] When there is an undetected area ND1 in the monitoring area SA1 (ST3: Yes), the complement request output unit 204 of the first moving body 2A causes the communication unit 21 to transmit a complement request to the control system 3 (ST4).

[0062] When the communication unit 31 of the control system 3 receives a complement request from the first moving body 2A, the output unit 301 of the control system 3 selects one or more second moving bodies 2B from one or more moving bodies 2 other than the first moving body 2A. Here, each of the plurality of moving bodies 2 can be assigned one work selected from a plurality of works including a conveying work. The plurality of works include a plurality of types of conveying works for conveying a plurality of types of objects to be conveyed respectively, a charging work for charging the moving body 2, and the like. Priorities are set for each of the plurality of works. For example, for each of the plurality of types of conveying works, the higher the priority of the object to be conveyed 5, the higher the priority is set. The output unit 301 of the control system 3 selects, from one or more moving bodies 2 other than the first moving body 2A, either a moving body 2 to which a work having a priority lower than a predetermined priority is assigned or a moving body 2 to which no work is assigned, as one or more second moving bodies 2B. Then, the output unit 301 of the control system 3 causes the communication unit 31 to output a control command instructing the one or more second moving bodies 2B to perform a conveying work of the object to be conveyed 5 in cooperation with the first moving body 2A. Therefore, the control system 3 can assign a work of performing a conveying work of the object to be conveyed 5 in cooperation with the first moving body 2A to either a moving body 2 to which a work having a priority lower than a predetermined priority is assigned or a moving body 2 to which no work is assigned. In addition, the moving body 2 to which a work having a predetermined priority or higher is assigned can continue the work as it is, and the possibility that a work having a predetermined priority or higher is delayed can be reduced. When a moving body 2 to which a work having a priority lower than a predetermined priority is assigned receives a control command to perform a conveying work of the object to be conveyed 5 in cooperation with the first moving body 2A, it may interrupt the current work and perform a conveying work of the object to be conveyed 5 in cooperation with the first moving body 2A.

[0063] When the communication unit 31 of the second moving body 2B receives a control command from the control system 3, the movement control unit 202 of the second moving body 2B controls the traveling mechanism 24 based on the control command from the control system 3, and moves the second moving body 2B to the position where the object 5 to be conveyed exists. When the second moving body 2B arrives at the position of the object 5 to be conveyed, communication is performed between the first moving body 2A and the second moving body 2B, and the processing unit 20 of the first moving body 2A adjusts the connection positions of the first moving body 2A and the second moving body 2B with the object 5 to be conveyed (ST5). The processing unit 20 of the first moving body 2A adjusts the connection positions of the first moving body 2A and the second moving body 2B with the object 5 to be conveyed so that the entire monitoring area SA1 can be covered by the detection area DA1 of the detection sensor 23 provided in the first moving body 2A and the detection area DB1 of the detection sensor 23 provided in the second moving body 2B. Note that the detection area DB1 of the detection sensor 23 provided in the second moving body 2B is an area obtained by combining the detection area DB11 of the detection sensor 23A provided in the second moving body 2B and the detection area DB12 of the detection sensor 23B provided in the second moving body 2B.

[0064] In a state where the connection positions of the first moving body 2A and the second moving body 2B with the object 5 to be conveyed are adjusted, the sensor function determination unit 203 of the first moving body 2A determines again whether or not there is a non-detectable area ND1 in the monitoring area SA1 (ST3).

[0065] If there is a non-detectable area ND1 in the monitoring area SA1 (ST3: Yes), the process proceeds to the process of step ST4 described above, and the control system 3 is requested to add the second moving body 2B. On the other hand, if there is no non-detectable area ND1 in the monitoring area SA1 (ST3: No), the movement control unit 202 of the first moving body 2A controls the traveling mechanism 24 to start the process of moving the object 5 to be conveyed to the destination position (ST6).

[0066] While the object 5 to be conveyed is being conveyed to the destination position, the processing unit 20 of the first moving body 2A sequentially monitors whether there is an instruction to change the monitoring area SA1 from the control system 3 (ST7).

[0067] Here, the determination unit 303 of the control system 3 sequentially determines whether there is a change factor that requires changing the monitoring area SA1 in the conveyance path along which the first moving body 2A conveys the object to be conveyed 5. For example, when the width of the passage through which the first moving body 2A moves becomes narrow and the distances between the first moving body 2A, the second moving body 2B, and the object to be conveyed 5 and the wall become short, there is a possibility of erroneously detecting the wall, so it is necessary to narrow the monitoring area SA1. Also, for example, since the passage through which the first moving body 2A moves bends at a right angle, when the first moving body 2A, the object to be conveyed 5, and the second moving body 2B travel in a curve, it is necessary to monitor the front in the direction of the curve, so it is necessary to change the range of the monitoring area SA1. Thus, when there is a change factor that requires changing the monitoring area SA1 in the conveyance path, the control system 3 instructs the first moving body 2A to change the monitoring area SA1 and causes the first moving body 2A to perform a process of changing the monitoring area SA1.

[0068] Here, as shown in FIGS. 6 to 8, taking the case where the passage 100 through which the first moving body 2A moves bends to the right at a right angle as an example, the process of changing the monitoring area SA1 will be described. Note that the dotted arrows in FIGS. 6 to 8 indicate the conveyance path PA1 for conveying the object to be conveyed 5. Here, the movement states of the first moving body 2A and one or more second moving bodies 2B that convey the object to be conveyed 5 include a plurality of types of movement modes in which at least one of the movement speed and the movement direction is different. The control system 3 (specifically, the monitoring area setting unit 302) outputs a setting command for setting the range of the monitoring area to the moving body 2 according to at least one of the conveyance path PA1 along which the first moving body 2A and one or more second moving bodies 2B convey the object to be conveyed 5 and the movement modes of the first moving body 2A and one or more second moving bodies 2B.

[0069] In section D1 where the first moving body 2A travels straight along the straight portion 101 of the passage 100, the monitoring area setting unit 302 causes the communication unit 31 to output to the moving body 2 a setting command for setting, as the monitoring area, the combined area of the rectangular area SA11 in front of the first moving body 2A and the rectangular area SA12 around the object to be conveyed 5 (see FIG. 6). Further, in section D2 where the first moving body 2A starts to turn right forward at the corner 102 of the passage 100, the monitoring area setting unit 302 causes the communication unit 31 to output to the moving body 2 a setting command for setting, as the monitoring area, the combined area of the area SA21 obtained by expanding the area SA11 to the right and the area SA22 obtained by expanding the area SA12 to the right (see FIG. 7). Further, in section D3 where the object to be conveyed 5 starts to turn right following the first moving body 2A at the corner 102 of the passage 100, the monitoring area setting unit 302 causes the communication unit 31 to output to the moving body 2 a setting command for setting, as the monitoring area, the combined area of the area SA31 obtained by expanding the area SA21 to the right and the area SA32 obtained by expanding the area SA22 to the right (see FIG. 8). As described above, since the control system 3 outputs to the moving body 2 a setting command for setting the range of the monitoring area according to the conveyance path PA1, the range of the monitoring area can be changed according to the conveyance path PA1.

[0070] As described above, the control system 3 (monitoring area setting unit 302) outputs to the moving body 2 a setting command for setting the range of the monitoring area according to the conveyance path PA1. However, a setting command for setting the range of the monitoring area according to the moving states of the first moving body 2A and one or more second moving bodies 2B may be output to the moving body 2. That is, the control system 3 (specifically, the monitoring area setting unit 302) may output to the moving body 2 a setting command for setting the range of the monitoring area according to the moving modes of the first moving body 2A and the second moving bodies 2B.

[0071] Here, the moving states of the first moving body 2A and one or more second moving bodies 2B include a plurality of types of moving modes in which at least one of the moving speed and the moving direction is different. Further, the plurality of types of moving modes include at least a straight-ahead running mode, a curve running mode, and a turning running mode. The "straight-ahead running mode" is a running mode in which the first moving body 2A and one or more second moving bodies 2B that convey the object to be conveyed 5 run straight in the same direction in a row. The "curve running mode" is a running mode in which the first moving body 2A and one or more second moving bodies 2B that convey the object to be conveyed 5 run along a locus with an arbitrary radius of curvature. The "turning running mode" is a running mode in which the entire vehicle train including the object to be conveyed 5 and the first moving body 2A and the second moving body 2B that convey the object to be conveyed 5 rotates about the center (or center of gravity) of the vehicle train without changing the connection state of the vehicle train. In these modes, since the directions in which the first moving body 2A and one or more second moving bodies 2B that convey the object to be conveyed 5 move are different for each mode, a monitoring area may be set for each mode. For example, the control system 3 (monitoring area setting unit 302) may set the monitoring area so that the monitoring area includes the movable range when the first moving body 2A and one or more second moving bodies 2B move in the traveling direction in each traveling mode for a predetermined time according to the traveling mode of the first moving body 2A and one or more second moving bodies 2B.

[0072] Note that the control system 3 (specifically, the monitoring area setting unit 302) may output a setting command for setting the range of the monitoring area to the moving body 2 according to at least one of the conveyance path PA1 along which the first moving body 2A and one or more second moving bodies 2B convey the object to be conveyed 5 and the moving mode of the first moving body 2A and one or more second moving bodies 2B. The control system 3 can change the range of the monitoring area according to at least one of the conveyance path and the moving mode.

[0073] The position measurement unit 201 of the first moving body 2A measures the position of the center of gravity P1 of the main body 26 as the current position of the first moving body 2A, and the processing unit 20 transmits position information regarding the current position of the first moving body 2A from the communication unit 21 to the control system 3 at a predetermined time interval (for example, an interval of 0.1 to several seconds). The monitoring area setting unit 302 of the control system 3 determines whether to instruct a change in the setting of the monitoring area based on the position information received from the first moving body 2A.

[0074] When the first moving body 2A is traveling on the straight portion 101 of the section D1, the monitoring area is set to the area combining the area SA11 and the area SA12.

[0075] The monitoring area setting unit 302 determines whether a change in the monitoring area is necessary based on the position information received from the first moving body 2A. Until the first moving body 2A reaches the point P11 set in front of the point P13 which is the end point of the section D1, the monitoring area setting unit 302 determines that a change in the monitoring area is unnecessary. After that, when the first moving body 2A reaches the point P11, the monitoring area setting unit 302 causes the communication unit 31 to transmit a change instruction to change the monitoring area to the area combining the areas SA21 and SA22 to the first moving body 2A.

[0076] In the determination of step ST7, when the communication unit 21 of the first moving body 2A receives a change instruction for the monitoring area from the control system 3 (ST7: Yes), the processing unit 20 of the first moving body 2A performs a process of changing the monitoring area based on the change instruction (ST8). Note that the processing unit 20 of the first moving body 2A instructs the second moving body 2B that cooperatively conveys the object to be conveyed 5 to change the monitoring area, and also causes the processing unit 20 of the second moving body 2B to perform a process of changing the monitoring area. When the process of changing the monitoring area is completed, the processing unit 20 of the first moving body 2A causes the communication unit 21 to transmit a completion notice indicating the completion of the change to the control system 3.

[0077] After that, when the first moving body 2A reaches point P12 (ST9: Yes), if the change of the monitoring area is completed (ST10: Yes), the movement control unit 202 of the first moving body 2A continues to perform the conveyance process of conveying the object 5 to be conveyed without performing a deceleration process.

[0078] On the other hand, when the first moving body 2A reaches point P12 (ST9: Yes), if the change of the monitoring area is not completed (ST10: No), the movement control unit 202 of the first moving body 2A continues to travel while gradually decelerating until it reaches point P13 which is the end point of section D1 (in other words, the start point of section D2) (ST11). Then, when the first moving body 2A reaches point P13 (ST12: Yes), if the change of the monitoring area is completed (ST13: Yes), the movement control unit 202 of the first moving body 2A ends the deceleration process and proceeds to step ST6, and continues to perform the conveyance process of conveying the object 5 to be conveyed. On the other hand, when the first moving body 2A reaches point P13 (ST12: Yes), if the change of the monitoring area is not completed (ST13: No), the movement control unit 202 of the first moving body 2A stops traveling and ends the process (ST14).

[0079] In this way, when the control system 3 sets a second section (section D2) in which the moving body 2 moves in a state where the monitoring area is set to a second area (the combined area of areas SA21 and SA22), which is different from the first area, after the first section (section D1) in which the moving body moves in a state where the monitoring area is set to the first area (the combined area of areas SA11 and SA12) in the transport path PA1, the control system 3 performs the following change processing for the monitoring area. The control system 3 sets a first point (point P11) that outputs a setting command to change the monitoring area from the first area to the second area in the first section (section D1), and a second point (point P12) after a predetermined switching section has passed from the first point (point P11). When the moving body 2 that performs the transport operation reaches the first point (point P11), the control system 3 outputs a setting command to change the monitoring area from the first area to the second area to the moving body 2. Then, the control system 3 (specifically, the determination unit 303) determines whether or not a predetermined condition is satisfied when the moving body 2 reaches the second point (point P12). When the predetermined condition is satisfied, a control command to decelerate or stop the moving body 2 is output to the moving body 2. Thereby, before the moving body 2 enters the second section (section D2), it is possible to instruct the moving body 2 to change the monitoring area, and when the predetermined condition is satisfied at the second point (point P12), the moving body 2 can be decelerated or stopped. The predetermined condition is, for example, a condition that the process of changing the monitoring area from the first area to the second area is incomplete. If the process of changing the monitoring area from the first area to the second area is incomplete at the second point (point P12), since the moving body 2 is decelerated or stopped, the possibility that the moving body 2 enters the second section D2 in a state where the switching of the monitoring area is not completed can be reduced.

[0080] Here, the distance D11 from point P11, which is the first location, to point P12, which is the second location, is set to a predetermined distance considering the time required for changing the setting of the monitoring area and the moving speed of the first moving body 2A. Also, the distance D12 from point P12 to point P13, which is the end point of section D1, is set to a predetermined distance considering the distance or time required for deceleration so that the speed can be decelerated to a stoppable speed at point P13. That is, the control system 3 sets the distance D12 from the second location (point P12) to the start point (point P13) of the second section (section D2) to the distance required for the moving body 2 that starts decelerating or stopping at the second location (point P12) to stop. Thereby, the possibility that the moving body 2 enters the second section D2 in a state where the switching of the monitoring area is not completed can be reduced.

[0081] Note that the change process of the monitoring area when the first moving body 2A moves in section D2 will be described below. Since section D2 is short, the monitoring area setting unit 302 sets point P13, which is the start point of section D2, as the first location. Also, the monitoring area setting unit 302 sets point P14, which becomes the second location, between point P13 and point P15, which is the end point of section D2. When the first moving body 2A reaches point P13, which is the start point (the first location) of section D2, the monitoring area setting unit 302 of the control system 3 transmits a change command for changing the monitoring area to the combined area of areas SA21 and SA22 from the communication unit 31 to the first moving body 2A. When the processing unit 20 of the first moving body 2A receives the change command of the monitoring area from the control system 3 at point P13, it starts the change process of the monitoring area.

[0082] Thereafter, when the processing unit 20 of the first moving body 2A reaches point P14, which is the second location, if the change of the monitoring area is completed, it continues the conveyance process without performing the deceleration process.

[0083] On the other hand, when the processing unit 20 of the first moving body 2A reaches the point P14, if the change of the monitoring area is not completed, it continues to travel while gradually decelerating. Then, when the processing unit 20 of the first moving body 2A reaches the point P15 which is the end point of the section D2, if the change of the monitoring area is completed, it cancels the deceleration process and continues the conveyance process. On the other hand, when the processing unit 20 of the first moving body 2A reaches the point P15 which is the end point of the section D2, if the change of the monitoring area is not completed, it stops traveling and ends the process.

[0084] Note that the distance D21 from the point P13 which is the first point to the point P14 which is the second point is set to a predetermined distance in consideration of the time required for the setting change of the monitoring area and the moving speed of the first moving body 2A. Also, the distance D22 from the point P14 to the point P15 which is the end point of the section D2 is set to a predetermined distance in consideration of the distance or time required for deceleration so that it can decelerate to a speed at which it can stop at the point P15.

[0085] Next, the change process of the monitoring area when the first moving body 2A moves in the section D3 will be described below. Since the section D3 is also short, the monitoring area setting unit 302 sets the point P15 which is the start point of the section D3 as the first point. Also, the monitoring area setting unit 302 sets a point P16 which becomes the second point between the point P15 and the point P17 which is the end point of the section D3. When the first moving body 2A reaches the point (the first point) P15 which is the start point of the section D3, the monitoring area setting unit 302 of the control system 3 transmits a change command to change the monitoring area to the combined area of the areas SA31 and SA32 from the communication unit 31 to the first moving body 2A. When the processing unit 20 of the first moving body 2A receives the monitoring area change command from the control system 3 at the point P15, it starts the monitoring area change process.

[0086] After that, when the processing unit 20 of the first moving body 2A reaches the point P16 which is the second point, if the change of the monitoring area is completed, it continues the conveyance process without performing the deceleration process.

[0087] On the other hand, when the processing unit 20 of the first moving body 2A reaches the point P16, if the change of the monitoring area is not completed, it continues to travel while gradually decelerating. Then, when the processing unit 20 of the first moving body 2A reaches the point P17 which is the end point of the section D3, if the change of the monitoring area is completed, the deceleration process is released and the conveyance process is continued. On the other hand, when the processing unit 20 of the first moving body 2A reaches the point P17 which is the end point of the section D3, if the change of the monitoring area is not completed, the travel is stopped and the process ends.

[0088] Note that the distance D31 from the point P15 which is the first point to the point P16 which is the second point is set to a predetermined distance in consideration of the time required for the setting change of the monitoring area and the moving speed of the first moving body 2A. Also, the distance D32 from the point P16 to the point P17 which is the end point of the section D3 is set to a predetermined distance in consideration of the distance or time required for deceleration so that the speed can be decelerated to a stoppable speed at the point P17.

[0089] Note that after the determination in steps ST7, ST10, and ST13, when the first moving body 2A continues the conveyance process and the first moving body 2A moves to the position of the conveyance destination, the movement control unit 202 of the first moving body 2A controls the traveling mechanism 24 to stop, and transmits a stop command from the communication unit 21 to the second moving body 2B to stop the second moving body 2B. Then, the processing unit 20 of the first moving body 2A causes the connecting part 25 to release the connection with the object to be conveyed 5 to end the conveyance process, and transmits a control command for releasing the connection with the object to be conveyed 5 from the communication unit 21 to the second moving body 2B. The processing unit 20 of the second moving body 2B causes the connecting part 25 to release the connection with the object to be conveyed 5 based on the control command from the first moving body 2A to end the conveyance process. Note that when the second moving body 2B interrupts another operation and executes the conveyance process of the object to be conveyed 5, the second moving body 2B may resume the interrupted other operation. When the control system 3 causes another moving body 2 to execute the other operation interrupted by the second moving body 2B, the second moving body 2B may execute a new operation based on the control command from the control system 3.

[0090] (3) Modification example The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be variously modified according to design and the like as long as the object of the present disclosure can be achieved. Further, functions similar to those of the movement control system 1 may be embodied by a movement control method, a computer program, or a non-transitory recording medium recording the program, which are executed by the control system 3 included in the movement control system 1. The movement control method according to one aspect is a movement control method executed by the control system 3 included in the movement control system 1. The movement control system 1 includes a plurality of moving bodies 2 each capable of transporting a conveyed object 5, and a control system 3 that controls the transport work by the plurality of moving bodies 2. Each of the plurality of moving bodies 2 has a detection sensor 23 that detects the presence or absence of an object in the surrounding detection area, and a movement control unit 202 that controls movement based on the detection result of the detection sensor 23. The plurality of moving bodies 2 includes a first moving body 2A to which the transport work of the conveyed object 5 is assigned. The movement control method includes a control command output step. In the control command output step, when there is an undetected area in the detection area of the detection sensor 23 provided in the first moving body 2A in the transport state where the first moving body 2A transports the conveyed object 5, one or more second moving bodies 2B selected from one or more of the moving bodies 2 other than the first moving body 2A among the plurality of moving bodies 2 are instructed to perform the transport work of the conveyed object 5 in cooperation with the first moving body 2A. A (computer) program according to one aspect is a program for causing a computer system to execute the movement control method executed by the control system 3 included in the movement control system 1 described above.

[0091] Hereinafter, modification examples of the above embodiment will be listed. The modification examples described below can be applied in appropriate combinations.

[0092] The execution entity of the movement control system 1 or the movement control method in the present disclosure includes a computer system. The computer system mainly consists of a processor and a memory as hardware. By the processor executing the program recorded in the memory of the computer system, the function as the execution entity of the movement control system 1 or the movement control method in the present disclosure is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded on a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). Here, integrated circuits such as the IC or LSI mentioned here have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, for an FPGA (Field-Programmable Gate Array) that is programmed after the manufacture of the LSI, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit section inside the LSI, it can also be adopted as a processor. The plurality of electronic circuits may be integrated on one chip, or may be provided dispersedly on a plurality of chips. The plurality of chips may be integrated in one device, or may be provided dispersedly in a plurality of devices. The computer system mentioned here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0093] In addition, it is not an essential configuration of the movement control system 1 that a plurality of functions in the movement control system 1 are integrated in one housing, and the components of the movement control system 1 may be provided dispersedly in a plurality of housings. Further, at least some functions of the movement control system 1, for example, some functions of the movement control system 1 may be realized by a cloud (cloud computing) or the like.

[0094] In the above-described embodiment, each of the plurality of moving bodies 2 includes the sensor function determination unit 203, but the control system 3 may include the sensor function determination unit. The control system 3 preliminarily holds information on the position and detection area of the detection sensor 23 provided in the moving body 2, information on the set range of the monitoring area, and information on the shape and size of the object 5 to be conveyed. When instructing the first moving body 2A to perform the conveyance operation of the object 5 to be conveyed, the sensor function determination unit of the control system 3 determines whether or not a non-detectable area occurs in the monitoring area based on the position and detection area of the detection sensor 23 provided in the first moving body 2A, the set range of the monitoring area, and the shape and size of the object 5 to be conveyed. When the sensor function determination unit of the control system 3 determines that a non-detectable area occurs in the monitoring area, the output unit 301 outputs a control command to the second moving body 2B to instruct the second moving body 2B to perform the conveyance operation of the object 5 to be conveyed in cooperation with the first moving body 2A. Thereby, also in the movement control system 1 of the modified example, the possibility that a non-detectable area occurs in the monitoring area can be reduced.

[0095] In the above-described embodiment, when the object 5 to be conveyed is conveyed by one first moving body 2A and one second moving body 2B, the first moving body 2A and the second moving body 2B are connected to diagonal positions of the object 5 to be conveyed. However, the position where the moving body 2 is connected to the object 5 to be conveyed and the posture at the time of connection can be appropriately changed. When each of the plurality of moving bodies 2 is provided with only one detection sensor 23 capable of detecting an object in a fan-shaped detection area with a central angle of 270 degrees, as shown in FIG. 11, the first moving body 2A and the second moving body 2B may be connected to diagonal positions of the object 5 to be conveyed in a state inclined by 45 degrees with respect to the traveling direction (for example, leftward in FIG. 11). Further, when each of the plurality of moving bodies 2 is provided with only one detection sensor 23 capable of detecting an object in a fan-shaped detection area with a central angle of 180 degrees, as shown in FIG. 12, one first moving body 2A and three second moving bodies 2B may be connected to the centers of the four sides of the object 5 to be conveyed so that the detection area of the detection sensor 23 faces outward.

[0096] Also, as shown in FIG. 13, when a plurality of first moving bodies 2A each tow an object 5 to be conveyed and the plurality of first moving bodies 2A form a train to perform a conveying operation, a detection impossible area may occur in the monitoring area of each first moving body 2A due to the object 5 to be conveyed. However, if there is a subsequent first moving body 2A, the detection impossible area generated in the monitoring area of the front first moving body 2A can be complemented by the detection sensor 23 provided in the subsequent first moving body 2A. Therefore, only the rearmost first moving body 2A needs to connect the second moving body 2B to the rear part of the object 5 to be conveyed, and the detection impossible area can be complemented by the detection sensor 23 provided in the second moving body 2B, so that the number of moving bodies 2 can be reduced compared to the case where each of the plurality of objects 5 to be conveyed is conveyed by two moving bodies 2.

[0097] In the above-described embodiment, the case where each of two or more moving bodies 2 has the same configuration has been described as an example. However, two or more moving bodies 2 may have different configurations from each other. Further, two or more moving bodies 2 may include a plurality of types of moving bodies.

[0098] (Summary) From the embodiments described above and the like, the following aspects are disclosed.

[0099] The transfer control system (1) of the first aspect includes a plurality of movers (2) each capable of transferring a workpiece (5), a control system (3) for controlling the transfer work by the plurality of movers (2), and a sensor function determination unit (203). Each of the plurality of movers (2) includes a detection sensor (23) for detecting the presence or absence of an object in a monitoring area around the mover (2), and a movement control unit (202) for controlling the movement of the mover (2) based on the detection result of the detection sensor (23). The control system (3) includes an output unit (301) that outputs a control command regarding the transfer work of the workpiece (5) to the mover (2) to be controlled among the plurality of movers (2). The plurality of movers (2) includes a first mover (2A) to which the transfer work of the workpiece (5) is assigned by the control system (3). The sensor function determination unit (203) determines whether or not there is a non-detectable area in the monitoring area of the detection sensor (23) provided in the first mover (2A) in a transfer state where the first mover (2A) transfers the workpiece (5). When the sensor function determination unit (203) determines that there is a non-detectable area in the monitoring area, the output unit (301) of the control system (3) outputs a control command to one or more second movers (2B) selected from one or more movers (2) other than the first mover (2A) among the plurality of movers (2), instructing the second movers (2B) to perform the transfer work of the workpiece (5) in cooperation with the first mover (2A).

[0100] According to this aspect, when a non-detectable area occurs in the monitoring area, the output unit (301) can output a control command to the second mover (2B) to cause the second mover (2B) to perform the transfer work in cooperation with the first mover (2A). Therefore, the presence or absence of an object in the surrounding monitoring area can be determined by the detection sensor (23) provided in the first mover (2A) and the detection sensor (23) provided in the second mover (2B). Thus, the possibility of a non-detectable area where an object cannot be detected by any of the detection sensors (23) provided in the first mover (2A) and the detection sensors (23) provided in the second mover (2B) can be reduced. Therefore, it is possible to realize a transfer control system (1) that can suppress the possibility of contact with an object while reducing the number of detection sensors (23) provided in one mover (2).

[0101] In the movement control system (1) of the second aspect, in the first aspect, each of the plurality of moving bodies (2) includes a sensor function determination unit (203) and a complement request output unit (204). When the sensor function determination unit (203) determines that there is an undetected area in the monitoring area, the complement request output unit (204) outputs a complement request for requesting complement of the undetected area to the control system (3). When a complement request is input from the first moving body (2A) to the control system (3), the output unit (301) performs a process of outputting a control command to one or more second moving bodies (2B) based on the complement request.

[0102] According to this aspect, the moving body (2) includes the sensor function determination unit (203), and the sensor function determination unit (203) can determine whether an undetected area occurs in the monitoring area based on the detection result of the detection sensor (23).

[0103] In the movement control system (1) of the third aspect, in the first aspect, the control system (3) includes a sensor function determination unit (203).

[0104] According to this aspect, since the sensor function determination unit (203) included in the control system (3) determines whether an undetected area occurs in the monitoring area, the processing performed on the moving body (2) side can be reduced as compared with the case where the moving body (2) includes the sensor function determination unit (203).

[0105] In the movement control system (1) of the fourth aspect, in any of the first to third aspects, when the sensor function determination unit (203) determines that there is an undetected area in the monitoring area, the output unit (301) of the control system (3) outputs a control command for instructing one or more second moving bodies (2B) to perform a conveyance operation of the object to be conveyed (5) in cooperation with the first moving body (2A) in a state where the detection sensor (23) included in the one or more second moving bodies (2B) can detect the presence or absence of an object in the undetected area of the first moving body (2A).

[0106] According to this aspect, the conveyance operation of the object to be conveyed (5) can be performed in a state where the undetected region existing in the monitoring region is eliminated.

[0107] In the movement control system (1) of the fifth aspect, in any of the first to fourth aspects, the monitoring region is set around the entire circumference of the moving body (2) and the object to be conveyed (5).

[0108] According to this aspect, since the monitoring region is set around the entire circumference of the moving body (2) and the object to be conveyed (5), the presence or absence of an object approaching the moving body (2) and the object to be conveyed (5) from any direction can be detected.

[0109] In the movement control system (1) of the sixth aspect, in the first aspect, the movement states of the first moving body (2A) and one or more second moving bodies (2B) include a plurality of types of movement modes in which at least one of the moving speed and the moving direction is different. The control system (3) outputs a setting command for setting the range of the monitoring region to the moving body (2) according to at least one of the conveyance path along which the first moving body (2A) and one or more second moving bodies (2B) convey the object to be conveyed (5) and the movement mode of the first moving body (2A) and one or more second moving bodies (2B).

[0110] According to this aspect, the range of the monitoring region can be changed according to at least one of the conveyance path and the movement mode.

[0111] In the movement control system (1) of the seventh aspect, in the sixth aspect, the plurality of types of movement modes include at least a straight running mode, a curve running mode, and a turning running mode.

[0112] According to this aspect, the range of the monitoring region can be changed according to whether the movement modes of the plurality of moving bodies (2) are in any of the straight running mode, the curve running mode, and the turning running mode.

[0113] In the movement control system (1) of the eighth aspect, in the sixth aspect, in the conveyance path, after the first section in which the moving body (2) moves in a state where the monitoring area is set to the first area, a second section is set in which the moving body (2) moves in a state where the monitoring area is set to a second area different from the first area. The control system (3) sets a first point that outputs a setting command to change the monitoring area from the first area to the second area in the first section, and a second point after a predetermined switching section has passed from the first point. When the moving body (2) that performs the conveyance operation reaches the first point, the control system (3) outputs a setting command to change the monitoring area from the first area to the second area to the moving body (2). The control system (3) determines whether or not a predetermined condition is satisfied when the moving body (2) reaches the second point, and outputs a control command to decelerate or stop the moving body (2) to the moving body (2) when the predetermined condition is satisfied.

[0114] According to this aspect, before the moving body (2) enters the second section, the change of the monitoring area can be instructed to the moving body (2), and when a predetermined condition is satisfied at the second point, the moving body 2 can be decelerated or stopped.

[0115] In the movement control system (1) of the ninth aspect, in the eighth aspect, the predetermined condition is a condition that the process of changing the monitoring area from the first area to the second area is incomplete.

[0116] According to this aspect, if the process of changing the monitoring area from the first area to the second area is incomplete at the second point, the moving body (2) is decelerated or stopped, so the possibility that the moving body (2) enters the second section in a state where the switching of the monitoring area is not completed can be reduced.

[0117] In the movement control system (1) of the tenth aspect, in the eighth or ninth aspect, the control system (3) sets the distance from the second point to the start point of the second section to the distance required for the moving body (2) that starts the deceleration or stop operation at the second point to stop.

[0118] According to this aspect, it is possible to reduce the possibility that the mobile body (2) enters the second section while the change of the monitoring area is not completed.

[0119] In the movement control system (1) of the eleventh aspect, in any of the first to tenth aspects, the output unit (301) of the control system (3) determines the number of one or more second mobile bodies (2B) based on at least one of the size and shape of the object to be conveyed (5) conveyed by the first mobile body (2A).

[0120] According to this aspect, a detection sensor (23) provided in one or a plurality of second mobile bodies (2B) can complement a non-detectable area.

[0121] In the movement control system (1) of the twelfth aspect, in any of the first to eleventh aspects, each of the plurality of mobile bodies (2) can be assigned one operation selected from a plurality of operations including a conveyance operation. A priority is set for each of the plurality of operations. The output unit (301) of the control system (3) selects, as one or more second mobile bodies (2B), either a mobile body (2) to which an operation having a priority lower than a predetermined priority is assigned or a mobile body (2) to which no operation is assigned, from among one or more mobile bodies (2) other than the first mobile body (2A) among the plurality of mobile bodies (2).

[0122] According to this aspect, the output unit (301) can assign an operation of performing a conveyance operation of the object to be conveyed (5) in cooperation with the first mobile body (2A) to either a mobile body (2) to which an operation having a priority lower than a predetermined priority is assigned or a mobile body (2) to which no operation is assigned.

[0123] The movement control method according to the 13th aspect is a movement control method executed by the control system (3) of the movement control system (1). The movement control system (1) includes a plurality of moving bodies (2) each capable of transporting a workpiece (5), and a control system (3) that controls the transport work by the plurality of moving bodies (2). Each of the plurality of moving bodies (2) has a detection sensor (23) that detects the presence or absence of an object in a surrounding monitoring area, and a movement control unit (202) that controls movement based on the detection result of the detection sensor (23). The plurality of moving bodies (2) includes a first moving body (2A) to which the transport work of the workpiece (5) is assigned. The movement control method includes a control command output step. In the control command output step, when there is a non-detectable area in the monitoring area of the detection sensor (23) provided in the first moving body (2A) in the transport state where the first moving body (2A) transports the workpiece (5), one or more second moving bodies (2B) selected from one or more moving bodies (2) other than the first moving body (2A) among the plurality of moving bodies (2) are output with a control command to instruct them to perform the transport work of the workpiece (5) in cooperation with the first moving body (2A).

[0124] According to this aspect, when a non-detectable area occurs in the monitoring area of the detection sensor (23) provided in the first moving body (2A), the output unit (301) can output a control command to the second moving body (2B) to cause the second moving body (2B) to perform the transport work in cooperation with the first moving body (2A). Therefore, the presence or absence of an object in the surrounding monitoring area can be determined by the detection sensor (23) provided in the first moving body (2A) and the detection sensor (23) provided in the second moving body (2B). Thus, the possibility of a non-detectable area where an object cannot be detected by either the detection sensor (23) provided in one moving body (2) can be reduced. Therefore, it is possible to realize a movement control system (1) that can suppress the possibility of contact with an object while reducing the number of detection sensors (23) provided in one moving body (2).

[0125] Not limited to the above aspects, various configurations (including modified examples) of the movement control system (1) according to the above embodiment can be embodied by a movement control method, a (computer) program, a non-transitory recording medium storing the program, or the like.

[0126] Regarding the configurations according to the second to twelfth aspects, they are not essential configurations of the movement control system (1) and can be omitted as appropriate.

Explanation of Reference Numerals

[0127] 1 Movement control system 2 Moving body 2A First moving body 2B Second moving body 3 Control system 5 Object to be conveyed 23 Detection sensor 202 Movement control unit 203 Sensor function determination unit 204 Completion request output unit 301 Output unit

Claims

1. A plurality of mobile bodies each capable of transporting an object to be transported, A control system for controlling the transport operations by the plurality of mobile bodies, A sensor function determination unit, and comprising: Each of the plurality of mobile bodies A detection sensor for detecting the presence or absence of an object in a monitoring area around the mobile body, A movement control unit for controlling the movement of the mobile body based on the detection result of the detection sensor, and comprising: The control system includes an output unit that outputs a control command regarding the transport operation of the object to be transported to a mobile body to be controlled among the plurality of mobile bodies, The plurality of mobile bodies includes a first mobile body to which the transport operation of the object to be transported is assigned by the control system, The sensor function determination unit determines whether or not there is an undetected area in the monitoring area in a transport state where the first mobile body transports the object to be transported, The output unit of the control system When the sensor function determination unit determines that there is an undetected area in the monitoring area, for one or more second mobile bodies selected from among the plurality of mobile bodies other than the first mobile body, outputs the control command for instructing to perform the transport operation of the object to be transported in cooperation with the first mobile body. A movement control system.

2. Each of the plurality of mobile bodies includes the sensor function determination unit and a complement request output unit, When the sensor function determination unit determines that there is an undetected area in the monitoring area, the complement request output unit outputs a complement request for requesting complement of the undetected area to the control system, When the complement request is input to the control system from the first mobile body, the output unit performs a process of outputting the control command to the one or more second mobile bodies based on the complement request. The movement control system according to Claim 1.

3. The control system includes the sensor function determination unit. The movement control system according to Claim 1.

4. The output unit of the control system When the sensor function determination unit determines that there is an undetected area in the monitoring area, for the one or more second mobile bodies, in a state where the detection sensor included in the one or more second mobile bodies can detect the presence or absence of an object in the undetected area of the first mobile body, outputs the control command for instructing to perform the transport operation of the object to be transported in cooperation with the first mobile body. The movement control system according to Claim 1.

5. The monitoring area is set around the entire circumference of the mobile body and the object to be transported. The mobile body control system according to claim 1.

6. The moving states of the first mobile body and the one or more second mobile bodies include a plurality of types of moving modes in which at least one of the moving speed and the moving direction is different. The control system outputs a setting command for setting the range of the monitoring area to the mobile body according to at least one of the transport path along which the first mobile body and the one or more second mobile bodies transport the object to be transported and the moving mode of the first mobile body and the one or more second mobile bodies. The mobile body control system according to claim 1.

7. The plurality of types of moving modes include at least a straight running mode, a curve running mode, and a turning running mode. The mobile body control system according to claim 6.

8. The control system In the transport path, after the first section in which the mobile body moves with the monitoring area set to the first area, a second section in which the mobile body moves with the monitoring area set to a second area different from the first area is set. In the first section, a first point for outputting the setting command for changing the monitoring area from the first area to the second area and a second point after a predetermined switching section has passed from the first point are set. The control system When the mobile body performing the transport operation reaches the first point, the control system outputs the setting command for changing the monitoring area from the first area to the second area to the mobile body. Determine whether a predetermined condition is satisfied when the mobile body reaches the second point. When the predetermined condition is satisfied, the control system outputs a control command for decelerating or stopping the mobile body to the mobile body. The mobile body control system according to claim 6.

9. The predetermined condition is the condition that the process of changing the monitoring area from the first area to the second area is incomplete. The mobile body control system according to claim 8.

10. The control system The control system sets the distance from the second point to the start point of the second section to the distance required for the mobile body that starts decelerating or stopping at the second point to stop. The mobile body control system according to claim 8.

11. The output unit of the control system determines the number of the one or more second mobile bodies based on at least one of the size and shape of the object to be transported by the first mobile body. The movement control system according to claim 1.

12. One operation selected from a plurality of operations including the conveyance operation can be assigned to each of the plurality of moving bodies, Priorities are set for each of the plurality of operations, The output unit of the control system selects, as the one or more second moving bodies, either a moving body to which an operation having a priority lower than a predetermined priority is assigned or a moving body to which no operation is assigned, from among one or more moving bodies other than the first moving body among the plurality of moving bodies. The movement control system according to claim 1.

13. A movement control system including a plurality of moving bodies each capable of conveying an object to be conveyed and a control system for controlling the conveyance operation by the plurality of moving bodies, wherein each of the plurality of moving bodies has a detection sensor for detecting the presence or absence of an object in a surrounding monitoring area and a movement control unit for controlling movement based on the detection result of the detection sensor. A movement control method executed by the control system of the movement control system, The plurality of moving bodies includes a first moving body to which a conveyance operation of the object to be conveyed is assigned, The movement control method includes: When there is an undetected area in the monitoring area of the detection sensor included in the first moving body in a conveyance state where the first moving body conveys the object to be conveyed, a control command output step of outputting a control command for instructing one or more second moving bodies selected from one or more moving bodies other than the first moving body among the plurality of moving bodies to perform the conveyance operation of the object to be conveyed in cooperation with the first moving body. Movement control method.

Images