Control system

Abstract

To provide a control system that prevents both autonomous mobile bodies and vehicles from entering an interference area simultaneously.SOLUTION: A control system includes one or more vehicles 20, one or more autonomous mobile bodies 30, an imaging unit 40 that captures an interference area 50 where the vehicles 20 and the autonomous mobile bodies 30 interfere with each other, and a control device 10. The vehicles 20 are provided with identification information 21 that allows the vehicles 20 to be distinguished from each other. The control device 10 includes: a determination unit that determines that the vehicle 20 exists in the interference area 50 when the identification information 21 is shown in the image and determines that the vehicle 20 does not exist in the interference area 50 when the identification information 21 is not shown in the image, and an operation instruction unit that performs an instruction to stop the autonomous mobile body 30 from entering when it is shown that the vehicle 20 exists in the interference area 50 and performs an instruction to drive the autonomous mobile body 30 when it is shown that the vehicle 20 does not exist in the interference area 50.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a control system.

Background Art

[0002] Conventionally, for an autonomous mobile body that moves without depending on the driver's operation, there is known a technique of suppressing other autonomous mobile bodies from entering a merging point by issuing a stop signal at the merging point (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, there may be a case where a vehicle driven by a driver and an autonomous mobile body use the same travel route. In this case, with the technique disclosed in Patent Document 1, it has been difficult to suppress the vehicle and the autonomous mobile body from simultaneously entering an interference region where they interfere with each other.

Means for Solving the Problems

[0005] The control system for achieving the above object includes one or more vehicles being driven by a driver, one or more autonomous moving bodies moving without depending on the driver's operation, an imaging unit that generates an image showing an interference area where the vehicle and the autonomous moving body interfere with each other while imaging the interference area from above, and a control device that gives an instruction related to the travel of the autonomous moving body. The vehicle is attached with identification information that can distinguish the vehicles from each other. When the identification information is shown in the image, the control device determines that the vehicle exists in the interference area, and when the identification information is not shown in the image, the control device determines that the vehicle does not exist in the interference area. When the determination result of the determination unit indicates that the vehicle exists in the interference area, the control device gives an instruction to stop the entry of the autonomous moving body into the interference area, and when the determination result of the determination unit indicates that the vehicle does not exist in the interference area, the control device gives an instruction to make the autonomous moving body travel into the interference area.

[0006] According to such a configuration, it is possible to suppress the vehicle and the autonomous moving body from simultaneously entering the interference area. In the control system for achieving the above object, one or more traffic lights that clearly indicate an instruction for the travel or stop of the vehicle are provided on the travel route. The control device further includes a signal control unit that controls the indication of the traffic lights. When the autonomous moving body exists in the interference area, the signal control unit may cause the traffic light provided in front of the interference area in the traveling direction of the travel route to clearly indicate a stop.

[0007] According to such a configuration, when the autonomous moving body travels through the interference area, it is possible to suppress the vehicle from entering the interference area. In the control system for achieving the above object, the identification information may be realized by a barcode. According to such a configuration, the identification information can be realized by a simple means.

Effects of the Invention

[0008] According to the present invention, it is possible to provide a control system that suppresses a vehicle and an autonomous mobile body from simultaneously entering an interference region.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0010] <Embodiment> Hereinafter, an embodiment in which the control system 1 is embodied will be described with reference to the drawings. [Overall Configuration] As shown in FIG. 1, the control system 1 includes a control device 10, one or more vehicles 20, one or more autonomous mobile bodies 30, an imaging unit 40, and a traffic signal 60. Hereinafter, the case where the control system 1 includes one vehicle 20 and one autonomous mobile body 30 will be described.

[0011] The control device 10 gives various instructions related to the running of the autonomous mobile body 30, for example. The vehicle 20 runs by the driving of the driver P riding in the vehicle 20. On the upper surface of the vehicle 20, identification information 21 that enables the control system 1 to distinguish the vehicles 20 from each other is attached. The identification information 21 is realized by, for example, a barcode. The vehicle 20 is an industrial vehicle such as a forklift, for example, and the identification information 21 is attached to, for example, the upper surface of the head guard of the vehicle 20. The autonomous mobile body 30 runs based on the instructions of the control device 10 without relying on the operation of the driver. The autonomous mobile body 30 is, for example, a transport vehicle, a forklift, a towing tractor, or the like. The vehicle 20 and the autonomous mobile body 30 transport loads by running while loading the loads in a facility where load transportation such as a warehouse is required.

[0012] Generally, in the facility, the traveling direction is determined on the traveling route along which the vehicle 20 travels. FIG. 1 is a top view of the traveling route provided in the facility as seen from above. FIG. 1 shows an intersection of the traveling route RT1 and the traveling route RT2. In this example, the traveling route RT1 and the traveling route RT2 are one-way. Specifically, the traveling direction determined for the traveling route RT1 is one-way traveling from right to left in the figure, and the traveling direction determined for the traveling route RT2 is one-way traveling from bottom to top in the figure. Also, the widths of the traveling routes RT1 and RT2 are such that it is difficult for the vehicles 20 to pass each other and for the vehicle 20 and the autonomous mobile body 30 to pass each other. The driver P of the vehicle 20 drives and runs the vehicle 20 in accordance with the predetermined traveling direction.

[0013] On the one hand, when the autonomous mobile body 30 travels based on the instructions of the control device 10, it may move without considering the predetermined traveling directions on the traveling routes RT1 and RT2. For example, when the autonomous mobile body 30 moves from the work area 91 to another work area 92, it travels along the traveling route RT1 in the direction opposite to the predetermined traveling direction. In this case, at the intersection of the traveling route RT1 and the traveling route RT2, the vehicle 20 and the autonomous mobile body 30 interfere with each other's travel. In the following description, the area where the vehicle 20 and the autonomous mobile body 30 interfere is also referred to as the interference area 50. In this example, the interference area 50 is the range of the traveling route RT1 within the range from the center of the intersection of the traveling route RT1 and the traveling route RT2 to a position at a predetermined distance away.

[0014] The imaging unit 40 generates an image showing the interference area 50 while imaging the interference area 50 from above. The imaging unit 40 is realized, for example, by a digital camera using a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The imaging unit 40 is provided, for example, at a position where it can image the entire area of the interference area 50 and can image the identification information 21 attached to the upper part of the vehicle 20. Based on the image generated by the imaging unit 40, the control device 10 determines whether the vehicle 20 exists in the interference area 50 and controls the travel of the autonomous mobile body 30 based on the determination result. Therefore, it is preferable that the imaging unit 40 is provided at a position where the identification information 21 attached to the upper surface of the vehicle 20 existing in the interference area 50 can be shown in the image with a resolution that allows it to be identifiable without being blurred or faded.

[0015] Also, a traffic signal 60 is provided in front of the interference area 50 in the traveling direction of the traveling route RT1. The traffic signal 60 clearly indicates an instruction to the driver P of the vehicle 20 to travel further ahead than the position where the traffic signal 60 is provided or to stop at that position. When the control device 10 instructs the autonomous mobile body 30 to travel into the interference area 50, it suppresses the vehicle 20 from traveling into the interference area 50 by causing the traffic signal 60 to clearly indicate a stop.

[0016] [Configuration of the Autonomous Mobile Body 30] As shown in FIG. 2, the autonomous mobile body 30 includes, for example, a movement control device 31, a drive mechanism 34, and wheels 38.

[0017] The movement control device 31 includes, for example, a control unit 300, an external sensor 311, a communication unit 312, an operation unit 313, and a storage unit 350. The external sensor 311 detects the coordinates of an object existing around the autonomous mobile body 30. The coordinates of the object are relative coordinates based on the external sensor 311. The coordinates of the object may be two-dimensional coordinates or three-dimensional coordinates. The external sensor 311 is realized by, for example, some or all of a millimeter-wave radar, a stereo camera, a ToF (Time of Flight) camera, and a laser rangefinder.

[0018] The communication unit 312 is a communication device capable of communicating by any wireless communication method such as Wi-Fi (registered trademark), Zigbee (registered trademark), LPWA (Low Power Wide Area), or a mobile communication system. In the present embodiment, the communication unit 312 transmits and receives information to and from the control device 10 by Wi-Fi. The data transmitted from the control device 10 to the movement control device 31 is, for example, information indicating a stop instruction or a travel instruction. The information transmitted from the communication unit 312 to the control device 10 is, for example, information indicating the self-position of the autonomous mobile body 30 and information indicating the movement path of the autonomous mobile body 30.

[0019] The operation unit 313 receives the operation of an operator existing in the vicinity of the autonomous mobile body 30. The operation unit 313 is realized by, for example, a push button switch. The control unit 300 is realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Also, some or all of these components may be realized by hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or may be realized by the cooperation of software and hardware. The program may be stored in a storage device (not shown) having a non-transitory storage medium such as an HDD (Hard Disk Drive) or a flash memory provided in the storage unit 350 in advance.

[0020] The storage unit 350 may be realized by the above various storage devices, or by an EEPROM (Electrically Erasable Programmable Read Only Memory), ROM (Read Only Memory), RAM (Random Access Memory), etc. Map information 351 showing a map of the facility where the autonomous mobile body 30 travels is stored in the storage unit 350 in advance. Also, an interference area 50 is shown in the map information 351 in advance.

[0021] The control unit 300 includes, for example, an acquisition unit 301, a self-position identification unit 302, and an operation control unit 303. The acquisition unit 301 acquires the detection result of the external sensor 311 detecting the coordinates of an object existing around the autonomous mobile body 30. Also, the acquisition unit 301 acquires various information received by the communication unit 312.

[0022] The self-position specifying unit 302 specifies the self-position, which is the position of the autonomous mobile body 30, based on the detection result of the external sensor 311 acquired by the acquisition unit 301 and the map information 351. The self-position is a coordinate indicating a point of the autonomous mobile body 30 in the facility map coordinate system shown by the map information 351. Although the point of the autonomous mobile body 30 is arbitrary, for example, the central position of the autonomous mobile body 30 in the horizontal direction can be cited.

[0023] The specification of the self-position is performed by collating the detection result of the external sensor 311 and the map information 351. The self-position specifying unit 302 extracts a landmark having the same shape as the landmark obtained from the detection result of the external sensor 311 from the map information 351. The self-position specifying unit 302 recognizes the position of the landmark from the map information 351. The positional relationship between the position of the landmark and the autonomous mobile body 30 can be grasped from the detection result of the external sensor 311. Therefore, the self-position specifying unit 302 can specify the self-position by recognizing the position of the landmark. A landmark is an object having a feature distinguishable by the external sensor 311. A landmark is a physical structure whose position hardly changes. A landmark is, for example, a wall, a pillar, or the like.

[0024] Basically, when the operation unit 313 is operated by an operator, the operation control unit 303 moves to a predetermined destination. In this example, it is assumed that the autonomous mobile body 30 travels back and forth between the workplace 91 and the workplace 92. Specifically, when the operation unit 313 is operated when the autonomous mobile body 30 is present at the workplace 91, the operation control unit 303 controls the drive mechanism 34 so that the autonomous mobile body 30 moves to the workplace 92. Also, when the operation unit 313 is operated when the autonomous mobile body 30 is present at the workplace 92, the operation control unit 303 controls the drive mechanism 34 so that the autonomous mobile body 30 moves to the workplace 91.

[0025] In addition, based on the map information 351, the operation control unit 303 specifies, as a movement route, information including the coordinates of the positions through which the autonomous mobile body 30 passes during the movement from the work area 91 to the work area 92 or from the work area 92 to the work area 91 among the coordinates of the facilities shown in the map information 351. The movement route may include all the coordinates of the positions through which the autonomous mobile body 30 passes, or may include coordinates at predetermined intervals. The operation control unit 303 causes the communication unit 312 to transmit to the control device 10 information indicating the movement route to the destination to which the operation unit 313 is operated to move.

[0026] Further, the operation control unit 303 controls the drive mechanism 34 based on the information acquired by the acquisition unit 301 and indicating an instruction of the control device 10 related to the traveling of the autonomous mobile body 30. Specifically, when the operation control unit 303 acquires information instructing traveling from the control device 10, it controls the drive mechanism 34 so as to continue traveling to the destination. Also, when the operation control unit 303 acquires information instructing stop from the control device 10, it controls the drive mechanism 34 so that the autonomous mobile body 30 stops.

[0027] Although illustration is omitted, a plurality of wheels 38 are provided. The drive mechanism 34 is provided in the same number as the number of wheels 38. That is, one drive mechanism 34 is provided for each wheel 38. The drive mechanism 34 includes, for example, a motor driver 35, a motor 36, and an encoder 37.

[0028] The motor 36 rotates the wheel 38. A command including information indicating a commanded rotation speed and information indicating a commanded rotation direction is input from the operation control unit 303 to the motor driver 35. The motor driver 35 controls the rotation speed of the motor 36 to follow the commanded rotation speed. The motor driver 35 controls the motor 36 so that the commanded rotation direction and the rotation direction of the motor 36 coincide.

[0029] The encoder 37 is, for example, an incremental encoder that outputs a pulse signal based on the amount of rotation of the rotation shaft of the motor 36. The encoder 37 detects the number of rotations of the rotation shaft of the motor 36. The motor driver 35 can recognize the number of rotations and the rotation direction of the motor 36 from the detection result of the encoder 37. The autonomous mobile body 30 moves by the rotation of the wheels 38 due to the drive of the motor 36.

[0030] [Configuration of the control device 10] As shown in FIG. 3, the control device 10 is connected to the imaging unit 40 so that information can be transmitted and received. The imaging unit 40 outputs the generated image to the control device 10 while imaging the interference region 50.

[0031] The control device 10 includes, for example, a communication unit 11, a control unit 100, and a storage unit 150. The communication unit 11 is a communication device capable of communicating by any wireless communication method such as Wi-Fi (registered trademark), Zigbee (registered trademark), LPWA, or a mobile communication system. As described above, the communication unit 11 transmits and receives information to and from the movement control device 31 by Wi-Fi.

[0032] The control unit 100 is realized, for example, by a hardware processor such as a CPU executing a program (software). Also, some or all of these components may be realized by hardware (including circuit parts) such as LSI, ASIC, FPGA, or GPU, or may be realized by the cooperation of software and hardware. The program may be stored in a storage device (not shown) having a non-transitory storage medium such as an HDD or a flash memory provided in advance in the storage unit 150.

[0033] The storage unit 150 may be realized by the above various storage devices, or by EEPROM, ROM, RAM, etc. Map information 151 showing a map of the facility where the vehicle 20 and the autonomous mobile body 30 travel is stored in advance in the storage unit 150. The content of the map information 151 matches the content of the map information 351.

[0034] The control unit 100 includes, for example, an acquisition unit 101, a determination unit 102, an operation instruction unit 103, and a signal control unit 104. The acquisition unit 101 acquires, from the imaging unit 40, information indicating the image generated by the imaging unit 40. The acquisition unit 101 also acquires various information received by the communication unit 11.

[0035] Based on the image acquired by the acquisition unit 101, the determination unit 102 determines whether or not the identification information 21 is shown in the image. For example, the determination unit 102 performs general image processing on the image and determines whether or not the identification information 21 is shown within the interference region 50 shown in the image. Here, the identification information 21 attached to the vehicle 20 is required to be of a size that can be identified by general image processing. When the identification information 21 is shown in the image, the determination unit 102 determines that the vehicle 20 exists within the interference region 50. When the identification information 21 is not shown in the image, the determination unit 102 determines that the vehicle 20 does not exist within the interference region 50.

[0036] When the determination result of the determination unit 102 indicates that the vehicle 20 exists within the interference region 50, the operation instruction unit 103 gives an instruction to stop the autonomous mobile body 30 from entering the interference region 50. When the determination result of the determination unit 102 indicates that the vehicle 20 does not exist within the interference region 50, the operation instruction unit 103 gives an instruction to make the autonomous mobile body 30 travel within the interference region 50. The operation instruction unit 103 causes the communication unit 11 to transmit information indicating the instruction to the movement control device 31. The autonomous mobile body 30 travels and stops based on the instruction of the operation instruction unit 103.

[0037] Hereinafter, the traffic signal 60 and the control device 10 are connected, and the traffic signal 60 indicates the travel or stop of the vehicle 20 based on the control of the signal control unit 104. When the operation instruction unit 103 gives an instruction to make the autonomous mobile body 30 travel within the interference region 50, the signal control unit 104 causes the traffic signal 60 to indicate a stop.

[0038] As shown in FIG. 1, when the autonomous mobile body 30 attempts to travel within the interference area 50 and a vehicle 20 exists within the interference area 50 at the timing of the attempt, the autonomous mobile body 30 stops based on an instruction from the control device 10. Further, as shown in FIG. 4, when the autonomous mobile body 30 travels within the interference area 50, the signal control unit 104 causes the traffic signal 60 to clearly indicate the stop of the vehicle 20. Thereby, the autonomous mobile body 30 and the vehicle 20 do not interfere with each other's travel within the interference area 50.

[0039] [Processing of the Movement Control Device 31] Referring to FIG. 5, a series of processes executed by the movement control device 31 will be described. The processes in the flowchart shown in FIG. 5 are executed at the timing when the autonomous mobile body 30 starts moving towards the destination as the operation unit 313 is operated.

[0040] First, the self-position identification unit 302 identifies the self-position, which is the position of the autonomous mobile body 30, based on the detection result of the external sensor 311 acquired by the acquisition unit 301 and the map information 351 (step S100). The acquisition unit 101 acquires the detection results detected by the external sensor 311 at predetermined time intervals. The self-position identification unit 302 identifies the self-position of the autonomous mobile body 30 based on the information acquired by the acquisition unit 101 immediately before executing step S100.

[0041] Next, the operation control unit 303 causes the communication unit 312 to transmit information indicating the self-position of the autonomous mobile body 30 identified by the self-position identification unit 302 and the movement route of the autonomous mobile body 30 based on the self-position to the control device 10 (step S102). Next, the operation control unit 303 determines whether or not it has received information indicating an instruction related to the movement of the autonomous mobile body 30 from the control device 10 (step S104). Although details will be described later, the control device 10 transmits an instruction to stop and an instruction to proceed after the stop as instructions related to the movement of the autonomous mobile body 30. Therefore, the autonomous mobile body 30 basically continues to move to the destination if there is no instruction to stop from the control device 10.

[0042] When the operation control unit 303 determines that it has not received the information indicating an instruction (step S104; NO), assuming that there is no stop instruction from the control device 10, the operation control unit 303 proceeds with the process to step S114 in order to continue the movement of the autonomous mobile body 30. For example, in step S102, the operation control unit 303 determines that it has not received the information indicating an instruction if it has not received the information indicating an instruction from the control device 10 until a predetermined time has elapsed after transmitting the information indicating the self-position of the autonomous mobile body 30 and the movement route of the autonomous mobile body 30.

[0043] When the operation control unit 303 determines that it has received the information indicating an instruction (step S104; YES), the operation control unit 303 determines whether the received information is a stop instruction (step S106). When the received information is a stop instruction (step S106: YES), the operation control unit 303 controls the drive mechanism 34 to stop the autonomous mobile body 30 (step S108). Next, the operation control unit 303 determines whether it has received the information indicating an instruction related to the movement of the autonomous mobile body 30 from the control device 10 (step S110). The operation control unit 303 waits until it receives the information indicating an instruction from the control device 10 (step S110; NO). When the operation control unit 303 determines that it has received the information indicating an instruction from the control device 10 (step S110; YES), the process proceeds to step S106. When the received information is a go-ahead instruction (step S106; NO), the operation control unit 303 controls the drive mechanism 34 to drive the autonomous mobile body 30 to the destination (step S112), and the process proceeds to step S100.

[0044] When the motion control unit 303 determines that it has not received information indicating an instruction (step S104; NO), it determines whether the self-position of the autonomous mobile body 30 identified in step S100 is the destination (step S114). When the motion control unit 303 determines that the self-position of the autonomous mobile body 30 is not the destination (step S114; NO), it advances the process to step S112 and continues traveling to the destination. Therefore, the movement control device 31 repeatedly executes the processes from step S100 to step S114 until the autonomous mobile body 30 arrives at the destination. When the motion control unit 303 determines that the self-position of the autonomous mobile body 30 identified in step S100 is the destination (step S114; YES), it controls the drive mechanism 34 to stop the autonomous mobile body 30 (step S116) and ends the series of processes.

[0045] [Processing of the control device 10] Referring to FIG. 6, a series of processes executed by the control device 10 will be described. The processes in the flowchart shown in FIG. 6 are repeatedly executed at predetermined time intervals.

[0046] First, the acquisition unit 101 determines whether it has received information indicating the self-position of the autonomous mobile body 30 and the movement route from the communication unit 11 (step S200). The acquisition unit 101 waits until it receives information indicating the self-position of the autonomous mobile body 30 and the movement route (step S200; NO). When the determination unit 102 acquires information indicating the self-position of the autonomous mobile body 30 and the movement route by the acquisition unit 101 (step S200; YES), it determines whether the movement route is a route that passes through the interference area 50 (step S202). The determination unit 102 determines that the movement route passes through the interference area 50 when the coordinates indicating the movement route include the coordinates within the interference area 50 based on the map information 151 and the information indicating the movement route.

[0047] When the determination unit 102 determines that the movement path does not pass through the interference area 50 (step S202; NO), since there is no need to give an instruction to the autonomous mobile body 30 to move or to control the traffic signal 60, a series of processes are terminated. When the determination unit 102 determines that the movement path passes through the interference area 50 (step S202; YES), it determines whether or not the self-position of the autonomous mobile body 30 has moved to the vicinity of the interference area 50 (step S204). Here, even when the autonomous mobile body 30 moves so as to pass through the interference area 50, no special control is required while the autonomous mobile body 30 exists far from the interference area 50. Therefore, the determination unit 102 waits until the self-position of the autonomous mobile body 30 moves to the vicinity of the interference area 50 (step S204; NO). The vicinity of the interference area 50 is, for example, a position in front of the interference area 50 by a predetermined distance in the movement path of the autonomous mobile body 30. The predetermined distance is, for example, a distance of about several [m] to a dozen or so [m].

[0048] When the acquisition unit 101 determines that the self-position of the autonomous mobile body 30 has moved to the vicinity of the interference area 50 by the determination unit 102 (step S204; YES), it acquires an image from the imaging unit 40 (step S206). The determination unit 102 determines whether or not the vehicle 20 exists in the interference area 50 shown in the image based on the image acquired in the process of step S206 (step S208). When the identification information 21 is shown in the interference area 50 shown in the image, the determination unit 102 determines that the vehicle 20 exists in the interference area 50. Further, when the identification information 21 is not shown in the interference area 50 shown in the image, the determination unit 102 determines that the vehicle 20 does not exist in the interference area 50.

[0049] When the operation instruction unit 103 determines that the vehicle 20 exists in the interference area 50 by the determination unit 102 (step S208; YES), while causing the communication unit 11 to transmit information instructing the autonomous mobile body 30 to stop (step S210), the process proceeds to step S206. Therefore, the control device 10 repeatedly executes the processes from step S206 to step S210 until the vehicle 20 no longer exists in the interference area 50.

[0050] When the signal control unit 104 determines that the vehicle 20 does not exist in the interference area 50 by the determination unit 102 (step S208; NO), it causes the traffic signal 60 to indicate the stop of the vehicle 20 (step S212). Next, the operation instruction unit 103 causes the communication unit 11 to transmit information instructing the autonomous mobile body 30 to proceed (step S214). Accordingly, the autonomous mobile body 30 travels along the movement route to the destination and passes through the interference area 50. Next, the acquisition unit 101 acquires an image from the imaging unit 40 (step S216).

[0051] Based on the image acquired in the process of step S216, the determination unit 102 determines whether the autonomous mobile body 30 has passed through the interference area 50 (step S218). For example, the determination unit 102 performs general image processing on the image and determines whether the autonomous mobile body 30 is shown within the interference area 50 shown in the image. When the autonomous mobile body 30 is shown within the interference area 50 shown in the image, the determination unit 102 determines that the autonomous mobile body 30 exists within the interference area 50, and thus determines that the autonomous mobile body 30 has not passed through the interference area 50. Also, when the autonomous mobile body 30 is not shown within the interference area 50 shown in the image, the determination unit 102 determines that the autonomous mobile body 30 does not exist within the interference area 50, and thus determines that the autonomous mobile body 30 has passed through the interference area 50.

[0052] Until the autonomous mobile body 30 passes through the interference area 50 (step S218; NO), the control device 10 repeatedly executes the processes from step S216 to step S218. When the determination unit 102 determines that the autonomous mobile body 30 has passed through the interference area 50 (step S218; YES), the signal control unit 104 causes the traffic signal 60 to indicate the progress of the vehicle 20 (step S220) and ends the series of processes.

[0053] [Effects of the Embodiment] According to the above embodiment, the following effects can be obtained. (1) The control system 1 includes one or more vehicles 20, one or more autonomous mobile bodies 30, an imaging unit 40, and a control device 10. The vehicle 20 is attached with identification information 21 that can distinguish the vehicles 20 from each other. The imaging unit 40 generates an image while imaging the interference area 50. The control device 10 includes a determination unit 102 and an operation instruction unit 103. When the identification information 21 is shown in the generated image while the imaging unit 40 is imaging, the determination unit 102 determines that the vehicle 20 exists in the interference area 50, and when the identification information 21 is not shown in the image, the determination unit 102 determines that the vehicle 20 does not exist in the interference area 50. When the determination result of the determination unit 102 indicates that the vehicle 20 exists in the interference area 50, the operation instruction unit 103 gives an instruction to stop the entry of the autonomous mobile body 30 into the interference area 50, and when the determination result of the determination unit 102 indicates that the vehicle 20 does not exist in the interference area 50, the operation instruction unit 103 gives an instruction to make the autonomous mobile body 30 travel into the interference area 50.

[0054] According to such a configuration, in a scene where the vehicle 20 and the autonomous mobile body 30 travel on the same travel routes RT1 and RT2, it is possible to suppress simultaneous entry into the interference area 50. (2) In the control system 1, one or more traffic lights 60 that clearly indicate an instruction to indicate the travel or stop of the vehicle 20 are provided on the travel routes RT1 and RT2 on which the vehicle 20 and the autonomous mobile body 30 travel. Further, the control device 10 further includes a signal control unit 104. When the autonomous mobile body 30 exists in the interference area 50, the signal control unit 104 causes the traffic light 60 provided in front of the interference area 50 to clearly indicate a stop in the traveling direction of the travel routes RT1 and RT2. According to such a configuration, when the autonomous mobile body 30 travels through the interference area 50, it is possible to suppress the vehicle 20 from entering the interference area 50.

[0055] (3) In the control system 1, the identification information 21 is realized by a barcode. Here, as a mechanism to prevent the vehicle 20 and the autonomous mobile body 30 from interfering with each other, when communicating with each other, etc., the vehicle 20 and the autonomous mobile body 30 are required to be modified. In this case, the cost related to the modification of the vehicle 20 and the autonomous mobile body 30 may increase.

[0056] According to such a configuration, as a modification of the facility, an imaging unit 40 for imaging the interference area 50 may be provided, and a barcode may be attached to the vehicle 20. By means of a simple mechanism, it is possible to suppress the vehicle 20 and the autonomous mobile body 30 from simultaneously entering the interference area 50.

[0057] In addition, when determining whether the vehicle 20 exists in the interference area 50 by using a learned model learned using an image of the interference area 50, it is possible to execute the determination process by a simple process compared to determining whether the vehicle 20 exists in the interference area 50 based on the barcode shown in the image. Therefore, it is possible to suppress the vehicle 20 and the autonomous mobile body 30 from simultaneously entering the interference area 50 by a simple process.

[0058] Each of the above embodiments may be modified as follows. Note that the above embodiments and the following separate examples may be combined with each other as long as they do not technically conflict with each other. ○ Instead of the forklift, the vehicle 20 may be a carrier vehicle, a towing tractor, or the like.

[0059] ○ The imaging unit 40 may transmit the generated image to the control device 10 via communication. In this case, the imaging unit 40 may transmit the image to the control device 10 by performing communication using an arbitrary wireless communication method such as Wi-Fi (registered trademark), Zigbee (registered trademark), LPWA, or a mobile communication system.

[0060] ○ The identification of the self-position of the autonomous mobile body 30 may be performed using dead reckoning using an internal sensor. In addition, the identification of the self-position of the autonomous mobile body 30 may be performed by self-position identification using a satellite signal transmitted from a GNSS (Global Navigation Satellite System) satellite. In addition, the identification of the self-position of the autonomous mobile body 30 may be performed by a combination of self-position identification using the external sensor 311, dead reckoning, and self-position identification using GNSS.

[0061] ○The identification information 21 may be a two-dimensional code instead of a barcode. Further, the identification information 21 may be realized by a barcode represented by a plurality of colors. Further, the identification information attached to the vehicle 20 may be realized by any method as long as it can be recognized by an image captured and generated by the imaging unit 40, such as painting on the vehicle body, attaching a seal, etc., or the shape of the vehicle body.

[0062] ○The identification information 21 may be attached to the autonomous mobile body 30. In this case, the determination unit 102 determines whether the autonomous mobile body 30 exists within the interference region 50, for example, based on the identification of the identification information 21 based on an image or the detection result of an RF reader.

[0063] ○In the above description, the case where the path for the vehicle 20 to enter the interference region 50 is only in one-way direction of the travel path RT1 has been described, but it is not limited to this. The vehicle 20 may enter the interference region 50 from a plurality of directions. In this case, traffic lights 60 are provided in front of the interference region 50 in each direction and are controlled by the control device 10. Further, in the above description, the widths of the travel paths RT1 and RT2 in the interference region 50 have been described in the case where it is difficult for the vehicles 20 to pass by each other or for the vehicle 20 and the autonomous mobile body 30 to pass by each other, but it is not limited to this. As long as the widths of the travel paths RT1 and RT2 partially include a width such that it is difficult for the vehicle 20 and the autonomous mobile body 30, the vehicles 20, or the autonomous mobile bodies 30 to pass by each other, they may have a width that allows sufficient passing. Further, as long as the interference region 50 includes a travel path with a width such that it is difficult for the vehicle 20 and the autonomous mobile body 30, the vehicles 20, or the autonomous mobile bodies 30 to pass by each other, it may be a region including a portion other than the travel path.

[0064] ○In the above description, the case where the vehicle 20 and the autonomous mobile body 30 do not interfere with each other in one interference area 50 existing in the facility has been described, but it is not limited to this. A plurality of interference areas 50 may exist in the facility. Also, in this case, traffic lights 60 may be provided in front of each of the plurality of interference areas 50 in the traveling direction. The control device 10 executes the processes from step S204 to step S220 for each interference area 50.

[0065] ○In the above description, the case where the autonomous mobile body 30 basically continues to move to the destination unless it receives an instruction to stop from the control device 10 has been described, but it is not limited to this. The control device 10 may also give instructions regarding both the progress and stop of the autonomous mobile body 30. In this case, the control device 10 gives instructions regarding progress and stop based on the self-position of the autonomous mobile body 30. Also, the autonomous mobile body 30 moves forward and stops based on the instructions of the control device 10. In this case, the map information 351 may not be stored in the storage unit 350 of the autonomous mobile body 30, and the control device 10 may identify the movement route to the destination on behalf of the autonomous mobile body 30.

[0066] Also, the control device 10 may determine whether the autonomous mobile body 30 has reached the destination. In this case, in the process shown in FIG. 5, until an instruction is received (step S104; NO), the determination process of step S104 is repeatedly executed. Also, the control device 10 executes a process of determining whether the autonomous mobile body 30 has reached the destination based on the self-position and the information indicating the movement route acquired from the autonomous mobile body 30 instead of the movement control device 31. When the operation instruction unit 103 determines that the autonomous mobile body 30 has reached the destination, the operation instruction unit 103 causes the communication unit 11 to transmit information instructing the autonomous mobile body 30 to stop. The control device 10 executes the process of the flowchart shown in FIG. 6 until the autonomous mobile body 30 reaches the destination.

[0067] ○Although the processing of the flowchart in FIG. 5 has been described as being executed when an operation on the operation unit 313 is received, it is not limited to this. For example, based on the detection result of a sensor that detects that a load has been loaded on the autonomous mobile body 30, when it is determined that a load has been loaded on the autonomous mobile body 30, the processing of the flowchart in FIG. 5 may be executed.

[0068] ○In the above description, the case where the autonomous mobile body 30 moves between two bases, the workplace 91 and the workplace 92, has been described, but it is not limited to this. The autonomous mobile body 30 may be instructed by an operator existing in the vicinity of the autonomous mobile body 30 to move to a destination, and move to the destination according to the instruction. In this case, the autonomous mobile body 30 may be provided with a plurality of push button switches corresponding to the destination as the operation unit 313, or may be provided with a device capable of specifying the destination as the operation unit 313. For example, the operation unit 313 may be realized by a tablet terminal in which a display unit and a touch panel are integrally formed. In this case, an icon used for instructing the destination is displayed on the display unit, and the operator touches the icon to instruct the destination. The autonomous mobile body 30 specifies the destination and the movement route to the destination based on the operation on the touch panel.

[0069] ○The control system 1 may include a plurality of autonomous mobile bodies 30. In this case, for example, autonomous mobile body identification information is stored in the storage unit 350 of the autonomous mobile body 30. The autonomous mobile body identification information is information that can distinguish a plurality of autonomous mobile bodies 30 from each other. In addition to its own position and movement route, the autonomous mobile body 30 transmits the autonomous mobile body identification information attached to itself. The control device 10 executes the processing of the flowchart in FIG. 6 for each autonomous mobile body 30 based on the autonomous mobile body identification information. In addition, the operation instruction unit 103 causes the communication unit 11 to transmit various instructions for the corresponding autonomous mobile body 30 based on the received autonomous mobile body identification information.

[0070] ○The driving of the vehicle 20 may be prioritized over the driving of the autonomous mobile body 30. That is, the driving of the vehicle 20 may not be suppressed by the traffic signal 60. In this case, the facility may not be provided with the traffic signal 60, and the control device 10 may not include the signal control unit 104. Also, in this case, among the processes shown in FIG. 6, the process of step S212 and the processes from step S216 to step S220 may be omitted.

[0071] Further, when the autonomous mobile body 30 is traveling within the interference area 50, if the vehicle 20 enters the interference area 50, the control device 10 may cause the autonomous mobile body 30 to travel in a direction that does not obstruct the driving of the vehicle 20 and avoid it. At that time, the direction to avoid may be the direction opposite to the traveling direction of the movement path (that is, the returning direction).

[0072] ○The control device 10 may suppress the entry into the interference area 50 by the traffic signal 60 only when the moving directions of the vehicle 20 and the autonomous mobile body 30 are different within the interference area 50. For example, when the autonomous mobile body 30 moves from the work area 92 to the work area 91, the moving directions of the vehicle 20 and the autonomous mobile body 30 coincide on the traveling path RT1 within the interference area 50. In this case, even when the autonomous mobile body 30 exists within the interference area 50, the control device 10 causes the vehicle 20 to follow the autonomous mobile body 30 while clearly indicating the progress to the vehicle 20 by the traffic signal 60. On the other hand, when the autonomous mobile body 30 moves from the work area 92 to the work area 91, the moving directions of the vehicle 20 and the autonomous mobile body 30 are different on the traveling path RT1 within the interference area 50. In this case, since the autonomous mobile body 30 exists within the interference area 50, the control device 10 suppresses the vehicle 20 from traveling into the interference area 50 while clearly indicating a stop to the vehicle 20 by the traffic signal 60.

Explanation of Signs

[0073] P... driver, RT1, RT2... travel routes, 1... control system, 10... control device, 11, 312... communication unit, 20... vehicle, 21... identification information, 30... autonomous mobile body, 31... movement control device, 34... drive mechanism, 35... motor driver, 36... motor, 37... encoder, 38... wheel, 40... imaging unit, 50... interference area, 60... traffic signal, 91, 92... workplaces, 100, 300... control unit, 101, 301... acquisition unit, 102... determination unit, 103... operation instruction unit, 104... signal control unit, 150, 350... memory unit, 151, 351... map information, 302... self-position determination unit, 303... operation control unit, 311... external sensor, 313... operation unit.

Claims

1. One or more vehicles being driven by a driver, One or more autonomous moving bodies that move independently without relying on the driver's operation, Among the driving routes on which the vehicle and the autonomous moving body travel, an imaging unit that generates an image showing the interference area while imaging the interference area where the vehicle and the autonomous moving body interfere from above, A control device that gives an instruction regarding the travel of the autonomous moving body, and comprising, The vehicle is provided with identification information that can distinguish the vehicles from each other, The control device, When the identification information is shown in the image, while determining that the vehicle exists in the interference area, and when the identification information is not shown in the image, a determination unit that determines that the vehicle does not exist in the interference area, When the determination result of the determination unit indicates that the vehicle exists in the interference area, while giving an instruction to stop the entry of the autonomous moving body into the interference area, and when the determination result of the determination unit indicates that the vehicle does not exist in the interference area, an operation instruction unit that gives an instruction to make the autonomous moving body travel into the interference area, and comprising, A control system.

2. One or more traffic lights that clearly show an instruction indicating the travel or stop of the vehicle are provided on the travel route, The control device further comprises a signal control unit that controls the clear indication of the traffic lights, When the autonomous moving body exists in the interference area, the signal control unit causes the traffic light provided in front of the interference area in the traveling direction of the travel route to clearly show a stop, The control system according to Claim 1.

3. The identification information is realized by a barcode, The control system according to Claim 1 or Claim 2.

Images