Autonomous mobile body control system

Abstract

To prevent collisions between mobile bodies.SOLUTION: Database management means stores a first unique identifier that limits the horizontal direction of travel to either front, back, right or left in multiple tables in a database corresponding to a predetermined range of real space, and the first unique identifier is stored in multiple tables corresponding to at least four or more discrete spaces. The database management means stores a second unique identifier that limits the vertical direction of travel to up and down in multiple tables corresponding to predetermined multiple locations in the real space, and the real spaces corresponding to the tables in which the second unique identifier 2 that limits the upward and downward directions of travel is stored are adjacent to each other.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an autonomous mobile control system. [Background technology]

[0002] In recent years, technological innovations in autonomous mobile devices such as drones and spatial recognition systems have fueled a race to develop a comprehensive architecture (hereafter, digital architecture) that connects data and systems across different organizations and members of society. By utilizing digital architecture, autonomous mobile devices and spatial recognition systems can acquire more information. Furthermore, by connecting with external devices and systems, they can solve even larger challenges. Among the developments in digital architecture is technology that links real space with digital information. A specific use case is when an event is held in a specific space, such as a dome, spatial information is acquired via network cameras, and a control system manages the virtual space and controls autonomous mobile devices to provide a product delivery service. A dome is an abbreviation for a stadium with a dome-shaped roof. In this use case, a control system controls the autonomous mobile devices, calculating their path and controlling their movement. Furthermore, when the control system calculates the path of the autonomous mobile device, it must calculate the path in a way that avoids collisions with other objects.

[0003] Patent Document 1 proposes preventing collisions between a moving body and an object by setting an area where objects overlap as a no-movement zone when calculating the moving path of the moving body.

[0004] Furthermore, Patent Document 2 proposes that when calculating the movement path of a moving body, via points are added around the space where obstacles exist, and the path is calculated with the same calculation accuracy as when the via points were calculated, thereby reducing the time required to calculate the path. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-27755 [Patent Document 2] Japanese Patent Application Publication No. 2023-60736 Summary of the Invention [Problem to be solved by the invention]

[0006] However, with the technologies of Patent Documents 1 and 2, when controlling a large number of autonomous moving bodies within a specific space, the movement route set for a later autonomous moving body may become a detour, which may result in the bodies easily colliding with each other, raising concerns about collisions.

[0007] Therefore, an object of the present invention is to provide an autonomous mobile object control system that can prevent collisions between mobile objects even when controlling a large number of autonomous mobile objects within a specific space. [Means for solving the problem]

[0008] An autonomous mobile object control system according to one embodiment of the present invention is an autonomous mobile object control system for controlling at least two or more autonomous mobile objects, and includes a database management means for managing a virtual space information database in which predetermined information in a virtual space corresponding to predetermined locations in real space is stored with a unique identifier in each table, and the database management means stores a first unique identifier that limits the horizontal direction of travel to either front, back, left, or right in a plurality of tables in the database corresponding to a predetermined range of real space, and the first unique identifier is stored in a plurality of tables corresponding to at least four or more discrete spaces, and the database management means stores a second unique identifier that limits the vertical direction of travel in a plurality of tables corresponding to a plurality of predetermined locations in real space, and the real spaces corresponding to the tables in which the second unique identifier 2 that limits the upward and downward directions of travel are stored are adjacent to each other. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an autonomous mobile object control system that can prevent collisions between mobile objects even when controlling a large number of autonomous mobile objects within a specific space. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing a configuration of an autonomous mobile object control system 100 according to a first embodiment of the present invention. [Figure 2] FIG. 1 is a diagram showing the configurations of a unique identifier management device 104 and an autonomous mobile object control device 106. [Figure 3] FIG. 3 is a diagram showing a divided area 300 in a virtual space that corresponds to a real space managed and controlled by a unique identifier information control unit 202. [Figure 4] FIG. 3 is a diagram showing a layer space 303 that is made up of a plurality of divided areas 300 in a virtual space. [Figure 5] FIG. 3 is a diagram showing an autonomous moving object 107 moving in a real space corresponding to a layer space 303. [Figure 6] FIG. 2 is a flowchart showing a process according to the first embodiment of the present invention. [Figure 7] FIG. 10 is a diagram showing the processing performed in step S405 when another autonomous moving body 107b is present in the advancement destination of the autonomous moving body 107 in the real space corresponding to the layer space 303. [Figure 8] FIG. 10 is a diagram showing that, in step S407, identifier 3 is stored in the divided area of ​​the autonomous moving body 107c's destination, and the autonomous moving body 107c can proceed safely by preventing the entry of another autonomous moving body 107d. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment. In each drawing, the same members or elements are given the same reference numerals, and duplicated descriptions will be omitted or simplified.

[0012] First Embodiment In the first embodiment, an autonomous mobile object control system is described in which a unique identifier that limits the movement direction of an autonomous mobile object is stored in a predetermined divided area in a virtual space corresponding to real space, and the autonomous mobile object is controlled using the identifier information.

[0013] In addition, in this embodiment, as one use case, a delivery service in a dome using an autonomous mobile body is assumed. Specifically, a service is assumed in which an orderer sitting in a seat orders a product using a device such as a smartphone, and the autonomous mobile body delivers the product to the orderer's seat. However, the above is merely an example, and other use cases can be assumed as long as they satisfy the gist of this embodiment.

[0014] 1 is a diagram showing the overall configuration of an autonomous mobile object control system 100 according to this embodiment. The autonomous mobile object control system 100 includes a user interface 102, a delivery system management device 103, a unique identifier management device 104, a sensor node 105, an autonomous mobile object control device 106, and an autonomous mobile object 107. Each of the components of the autonomous mobile object control system 100 includes a communication unit (not shown), and communicates via the Internet, a wired LAN, or a wireless LAN to send and receive data. LAN is an abbreviation for Local Area Network.

[0015] The orderer 101 is, for example, a spectator sitting in the seats inside a dome. However, the orderer 101 may be any person other than a spectator inside a dome, as long as the gist of this embodiment is met.

[0016] The user interface 102 is a device such as a smartphone. The user interface 102 displays information required by the orderer 101 on a display unit (not shown) using a predetermined app that has been separately installed. "App" is an abbreviation for application. The orderer 101 can order a desired product by operating an operation unit (not shown) of the user interface 102 based on the information displayed on the display unit. The user interface 102 then sends information such as the seat position information of the orderer 101 and information on the ordered product (hereinafter referred to as "order information") to the delivery system management device 103 for delivery processing. The user interface 102 also receives necessary information such as delivery status from the delivery system management device 103.

[0017] The delivery system management device 103 is an information processing device that manages the entire delivery system. Specifically, the delivery system management device 103 receives order information from the orderer 101 via the user interface 102 and manages the delivery status of the autonomous mobile object 107 that makes the delivery. Furthermore, based on a unique identifier (described later) stored in the unique identifier management device 104, the delivery system management device 103 transmits to the user interface 102 the arrival time and delay status of the autonomous mobile object 107 heading towards the orderer 101 and notifies the orderer 101.

[0018] The unique identifier management device 104 manages and controls real-space information in a virtual space to manage delivery and control the autonomous mobile body 107. In this embodiment, the unique identifier management device 104 defines multiple divided areas in a virtual space defined by an arbitrary reference system (e.g., an XYZ coordinate system) and manages delivery space information within the dome using identifiers. Here, the identifiers are, for example, identifiers (hereinafter referred to as unique identifiers) that indicate information such as the state of an object existing in the real space or time. The unique identifier management device 104 receives space information from the sensor node 105 (details will be described later) and manages the delivery space using the unique identifiers. The route to the seat of the orderer 101 is identified by the unique identifier associated with the divided area corresponding to the delivery location and a position on the route. The unique identifier management device 104 also transmits the unique identifier thus identified to the autonomous mobile body control device 106.

[0019] The unique identifiers are managed, for example, in a database in the unique identifier management device 104. This database is an example of a virtual space information database in which specific information in the virtual space corresponding to specific locations in the real space is stored in each table using a unique identifier. The unique identifier management device 104 is also an example of a database management means for managing the virtual space information database.

[0020] The sensor nodes 105 are, for example, imaging units such as network cameras installed in multiple locations within a dome. The sensor nodes 105 acquire object information and information on people's movements throughout the delivery space within the dome, and transmit this information to the unique identifier management device 104. However, as long as the gist of the invention is met, the sensor nodes 105 may also be imaging devices such as cameras mounted on the autonomous mobile object 107 itself. Spatial information can also be acquired from an external server or the like via a network.

[0021] The autonomous mobile body control device 106 calculates a travel route using the unique identifier information received from the unique identifier management device 104, and autonomously moves the autonomous mobile body 107 along the calculated route. The autonomous mobile body control device 106 is able to search for the optimal route at the current time based on the unique identifier stored in the divided area in the virtual space. In other words, the autonomous mobile body control device 106 identifies information related to the state and time of an object existing in the real space using the unique identifier, and determines the delivery destination of the autonomous mobile body 107 (the coordinate position where the orderer 101 is located).

[0022] The autonomous mobile body 107 is, for example, an unmanned aerial vehicle with propellers, such as a drone. However, the autonomous mobile body 107 may also be a mobile body with wheels, and may have any form that is capable of autonomous movement. The autonomous mobile body 107 has a self-position detection function, such as a GPS, and a direction detection function, such as a geomagnetic sensor. GPS is an abbreviation for Global Positioning System. An inertial measurement unit, such as an IMU, may be used for the direction detection function. IMU is an abbreviation for Inertial Measurement Unit. The self-position detection function may be combined with ranging using a LiDAR installed on the autonomous mobile body 107 or a self-position estimation function based on point cloud information of the object whose range is measured. LiDAR is an abbreviation for Light Detection And Ranging. The IMU can also estimate its self-position by utilizing the amount of movement calculated from the acceleration measurement results, in addition to the amount of rotation. In addition, the autonomous mobile body 107 queries the delivery system management device 103 for delivery information via the autonomous mobile body control device 106, and moves autonomously based on route information using a unique identifier sent from the autonomous mobile body control device 106.

[0023] Here, some of the user interface 102, delivery system management device 103, unique identifier management device 104, sensor node 105, autonomous mobile unit control device 106, and autonomous mobile unit 107 may be configured as the same device. Furthermore, the user interface 102, delivery system management device 103, unique identifier management device 104, sensor node 105, autonomous mobile unit control device 106, and autonomous mobile unit 107 each include some of a CPU, ROM, and RAM. CPU stands for Central Processing Unit. The CPU performs calculations and control. ROM stands for Read Only Memory. ROM is a main storage device. RAM stands for Random Access Memory. Basic setting data is stored in the ROM, and the CPU calls a program corresponding to the processing content from the ROM, expands it into the RAM, and executes the operation. While this embodiment is configured using a CPU, a more practical configuration may involve implementing each block using a semiconductor integrated circuit such as an FPGA or ASIC. FPGA stands for Field Programmable Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit.

[0024] Next, the unique identifier management device 104 and the autonomous mobile control device 106 will be described with reference to FIG.

[0025] The unique identifier management device 104 includes a first communication unit 201 , a unique identifier information control unit 202 , and a unique identifier storage unit 203 .

[0026] As described above, the first communication unit 201 transmits and receives data via the Internet, a wired LAN, or a wireless LAN. Specifically, the first communication unit 201 acquires information about objects at each coordinate in the dome, time information, etc. from the sensor node 105, and sends the unique identifier information managed by the unique identifier management device 104 to the delivery system management device 103 and the autonomous mobile object control device 106.

[0027] The unique identifier information control unit 202 controls the unique identifier conversion function in the unique identifier management device 104 and stores and controls unique identifiers in the unique identifier storage unit 203. Specifically, the unique identifier information control unit 202 converts information about objects and time, etc., acquired from the sensor node 105 via the first communication unit 201 into a unique identifier, and sends it to the unique identifier storage unit 203 to store and manage. The unique identifier information control unit 202 can also acquire information about the corresponding unique identifier based on predetermined location information. The unique identifier information control unit 202 manages information about the space acquired by external devices, apparatuses, and networks connected to the unique identifier, linking it to the unique identifier. The unique identifier information control unit 202 also provides the unique identifier and information about the space linked to it to the external devices, apparatuses, and networks connected to the unique identifier.

[0028] The unique identifier storage unit 203 stores the unique identifier information input from the unique identifier information control unit 202. Here, the unique identifier stores information relating to the state and time of an object existing in a predetermined range of real space (hereinafter referred to as spatial information) in chronological order from past to future. The spatial information is updated with information input by an external system (e.g., sensor node 105, etc.) with which the unique identifier management device 104 communicates, and the information is shared with other external systems. The unique identifier storage unit 203 is an example of a database management means for managing a virtual space information database.

[0029] 3, the unique identifier storage unit 203 stores and manages, in addition to the object information and time information described above, identifier 1 and identifier 2, which are identifiers that limit the moving direction of the autonomous moving body 107, and identifier 3, which indicates approach information of the autonomous moving body 107, in a divided area 300. However, the unique identifier information control unit 202 may store and manage, in addition to the unique identifiers described above, unique identifiers that indicate other information in the divided area 300 of the unique identifier storage unit 203.

[0030] 4, the unique identifier information control unit 202 defines a layer space 303 composed of a plurality of divided areas 300 in the virtual space, for example, at each discrete altitude in the real space. In this embodiment, the layer space 303 is composed of four layers (a first layer 303a, a second layer 303b, a third layer 303c, and a fourth layer 303d) as shown in FIG. 4. Here, for the divided areas 300 present in each layer, the movement direction of the autonomous moving body 107 is defined as either a forward, backward, leftward, or rightward horizontal direction using the identifier 1 described above. For example, in this embodiment, as shown in FIG. 4, movement is limited to a direction toward the back in the first layer 303a, a direction toward the left in the second layer 303b, a direction toward the right in the third layer 303c, and a direction toward the front in the fourth layer 303d. In other words, horizontal movement is prohibited in the divided areas 300 excluding the layer space 303 defined above. The identifier 1 is an example of a first unique identifier 1 that limits the horizontal direction of travel to either front, back, left, or right in multiple tables in a database corresponding to a predetermined range of real space. The identifier 1 is stored in multiple tables corresponding to at least four or more discrete spaces.

[0031] Furthermore, in this embodiment, an identifier 2 that restricts the vertical movement of the autonomous mobile body 107 is stored in the divided area 300 that exists at a predetermined coordinate position in the layer space 303 defined above. That is, the layer space 303 is defined by a divided area 301 in which the autonomous mobile body 107 can move horizontally either forward, backward, left, or right, and a divided area 302 in which the autonomous mobile body 107 can move horizontally and up and down. The identifier 2 is an example of a second unique identifier that restricts the traveling direction in the vertical direction to multiple tables corresponding to multiple predetermined locations in the real space. The real spaces corresponding to the tables in which the second unique identifiers that restrict the traveling direction to upward and downward are stored are adjacent to each other.

[0032] In this embodiment, as shown in FIG. 5, in the divided area 302 in which horizontal movement and vertical movement are possible, the divided area 302a in which upward movement is possible and the divided area 302b in which downward movement is possible are adjacent to each other in real space. This makes it possible to prevent collisions with other autonomous moving bodies, for example, when the autonomous moving body 107 moves between layers by lowering its altitude toward the seat of the orderer 101, and returns to a predetermined layer after the product delivery process. However, the structure and definition of the layer space 303 described above are merely examples, and other unique identifiers may be separately defined and a different structure may be used. Furthermore, the number of layers is not limited, and the restrictions on the movement direction on each layer are not limited to those described above.

[0033] The autonomous mobile object control device 106 includes a second communication unit 204 , a travel path calculation unit 205 , a danger determination unit 206 , and a mobile object control unit 207 .

[0034] The second communication unit 204 connects to the first communication unit 201 of the unique identifier management device 104, and acquires the unique identifier information stored in the unique identifier storage unit 203. The second communication unit 204 also acquires delivery information from the delivery system management device 103. Furthermore, the second communication unit 204 communicates with a communication unit (not shown) provided in the autonomous moving body 107, and sends a control signal to the autonomous moving body 107 (details will be described later). The second communication unit 204 also sends route information calculated by the travel route calculation unit 205 to the unique identifier management device 104.

[0035] The travel path calculation unit 205 calculates the travel path of the autonomous moving body 107 based on the unique identifier in the virtual space acquired from the unique identifier management device 104. Here, the travel path calculation unit 205 does not calculate a path from all spaces in a specific space, but calculates the travel path within the layer space 303 described above. This makes it possible to reduce the time required for route calculation and to reduce the possibility that the calculated route will be a detour. The travel path calculation unit 205 sends the calculated route information to the second communication unit 204.

[0036] The danger determination unit 206 determines the danger of the autonomous moving body 107's destination (details will be described later) based on the unique identifier information received from the unique identifier management device 104. The danger determination unit 206 sends the danger determination result to the moving body control unit 207.

[0037] The moving body control unit 207 issues a control signal to control the autonomous moving body 107 based on information input from the moving path calculation unit 205 and the danger determination unit 206. The control signal is sent to a drive unit (not shown) of the autonomous moving body 107 via the second communication unit 204.

[0038] Next, the flow of processing according to this embodiment will be described using the processing flow of Fig. 6. The processing of Fig. 6 is executed by, for example, a CPU in the control unit of each device, which loads a computer program stored in a memory such as a ROM into a RAM.

[0039] First, the processing flow in Fig. 6 starts when an orderer 101 orders a product through a user interface 102 and the delivery system management device 103 transmits order information to an autonomous mobile control device 106. Here, the order information includes information about the product ordered by the orderer 101 and location information about the orderer 101.

[0040] In step S401, the movement path calculation unit 205 calculates the movement path of the autonomous moving body 107 from the current position of the autonomous moving body 107 to the seat position of the orderer 101. However, as described above, the movement path calculation unit 205 does not calculate movement paths randomly from all spaces within the dome, but calculates a path within the layer space 303 described above.

[0041] In step S402, the unique identifier information control unit 202 reserves the movement route of the autonomous moving body 107 for a predetermined divided area in the layer space 303 that corresponds to the movement route calculated above. Specifically, the unique identifier information control unit 202 stores a unique identifier that indicates the route information of the autonomous moving body 107 in the divided area of ​​the unique identifier storage unit 203.

[0042] In step S403, the mobile object control unit 207 starts controlling the movement of the autonomous mobile object 107 along the route reserved in step S402.

[0043] In step S404, the danger determination unit 206 checks the unique identifier information of the divided area to which the autonomous moving body 107 is heading in the virtual space.

[0044] In step S405, the danger determination unit 206 determines in advance whether there is any danger ahead of the autonomous mobile body 107 based on the result of the check in step S404. Specifically, the danger determination unit 206 checks approach information, etc. of other autonomous mobile bodies from unique identifiers stored in a plurality of divided areas 300 corresponding to real space within a certain distance of the destination, and determines the danger. If the danger determination unit 206 determines that the safety of the destination of the autonomous mobile body 107 has been confirmed, the processing of step S407 is executed. If the danger determination unit 206 determines that the safety of the destination of the autonomous mobile body 107 cannot be confirmed, the processing of step S406 is executed.

[0045] In step S406, the mobile body control unit 207 sends a control signal to the autonomous mobile body 107 to make it wait on the spot. For example, as shown in FIG. 7, the autonomous mobile body 107a makes it wait on the spot because another autonomous mobile body 107b is present in the destination. After waiting for a certain period of time, the autonomous mobile body 107a proceeds to step S404 again. However, if the danger determination unit 206 determines that the safety of the destination of the autonomous mobile body 107 cannot be confirmed, the process may proceed to step S401 and reconfigure the travel route to the orderer 101 instead of making the autonomous mobile body 107a wait on the spot.

[0046] In step S407, the unique identifier information control unit 202 stores a unique identifier (hereinafter, identifier 3) indicating information that the autonomous mobile body 107c is approaching in a divided area corresponding to the real space 601 at a certain distance ahead of the autonomous mobile body 107c, as shown in Fig. 8. In this space, autonomous mobile bodies other than the autonomous mobile body 107c (for example, the autonomous mobile body 107d in Fig. 8) are not allowed to enter. The identifier 3 is an example of a third unique identifier indicating approach information.

[0047] 7, the autonomous moving body 107b, which has lowered its altitude in the divided area 302b where it can move downward, performs a handover process to the orderer 101, and then increases its altitude again from the adjacent divided area 302a where it can move upward and returns to the predetermined layer. In other words, as described above, the divided area 302a where it can move upward and the divided area 302b where it can move downward are adjacent to each other, so that the autonomous moving body 107 can move between layers more safely without colliding with other moving bodies.

[0048] In step S408, the mobile object control unit 207 controls the autonomous mobile object 107 to move in the spatial direction reserved in step S407. Here, since identifier 3 is stored in the divided area corresponding to the space through which the autonomous mobile object 107 moves, the autonomous mobile object 107 can move safely without colliding with other mobile objects.

[0049] In step S409, after the autonomous mobile body 107 has passed through the space in step S408, the unique identifier information control unit 202 deletes the identifier 3 stored in the virtual space corresponding to the real space that the autonomous mobile body 107 has passed through from the unique identifier storage unit 203. This allows other autonomous mobile bodies to pass through the space. However, the timing at which the unique identifier information control unit 202 deletes the identifier 3 from the unique identifier storage unit 203 may be after a certain time has elapsed since the autonomous mobile body 107 passed through the space, or after the autonomous mobile body 107 has moved away a certain distance. Furthermore, the timing at which the unique identifier information control unit 202 deletes the identifier 3 from the unique identifier storage unit 203 may be changed depending on the moving speed of the autonomous mobile body 107. This allows a large number of autonomous mobile bodies to move while ensuring safety.

[0050] In step S410, the mobile object control unit 207 ends the process if the autonomous mobile object 107 has arrived at the seat (destination) of the orderer 101. Also, if the autonomous mobile object 107 is on the way to the destination, the processes of steps S404 to S409 are repeatedly executed along the route calculated in step S401, and the autonomous mobile object 107 proceeds toward the destination.

[0051] This allows the autonomous mobile body 107 to reach its destination without colliding with other autonomous mobile bodies. This is the end of this flowchart.

[0052] As described above, according to this embodiment, when controlling a large number of autonomous moving bodies, collisions between the moving bodies are prevented.

[0053] Furthermore, although the present invention has been described in detail based on preferred embodiments thereof, the present invention is not limited to these specific embodiments, and various forms within the scope of the gist of the present invention are also included in the present invention. For example, in this embodiment, a form in which multiple divided areas are defined in a virtual space corresponding to real space and identified by unique identifiers is described, but the above form is merely an example, and a form in which the virtual space is managed and controlled on a predetermined database is also possible.

[0054] (Other embodiments) The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program.The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0055] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments and various modifications and changes are possible within the scope of the gist of the present invention.

[0056] The disclosure of this embodiment includes the following configuration. (Configuration 1) An autonomous mobile object control system for controlling at least two or more autonomous mobile objects, a database management means for managing a virtual space information database in which predetermined information in the virtual space corresponding to predetermined locations in the real space is stored in each table with a unique identifier; the database management means stores a first unique identifier that defines a horizontal traveling direction as either forward, backward, left, or right in a plurality of tables in a database corresponding to a predetermined range of real space; the first unique identifier is stored in a plurality of tables corresponding to at least four or more discrete spaces; the database management means stores second unique identifiers that limit the vertical traveling direction in a plurality of tables corresponding to a plurality of predetermined locations in real space, The real spaces corresponding to the tables storing the second unique identifiers 2 that define the upward and downward directions of travel are adjacent to each other. An autonomous mobile control system characterized by: (Configuration 2) An autonomous mobile object control system for controlling at least two or more autonomous mobile objects, a database management means for managing a virtual space information database in which predetermined information in the virtual space corresponding to predetermined locations in the real space is stored in each table with a unique identifier; a mobile object control means for controlling the movement of the autonomous mobile object based on information of the unique identifier stored in each table in the virtual space information database; a risk determination means for determining whether there is a risk of collision when the moving body control means controls the autonomous moving body; Equipped with the danger determination means determines that there is no risk of collision based on a unique identifier stored in a table in the virtual space information database corresponding to the real space of the destination of the autonomous moving body, the database management means stores a third unique identifier indicating approach information in a table corresponding to a space determined to be free of danger by the danger determination means; the moving body control means controls the movement of the autonomous moving body in a space corresponding to the table in which the third unique identifier is stored, giving priority to other autonomous moving bodies; The database management means deletes the third unique identifier stored in the table after the autonomous moving object passes through a space that is determined to be free of danger by the danger determination means. An autonomous mobile object control system. (Configuration 3) The database management unit deletes the third unique identifier stored in the table after a certain time has elapsed since the autonomous moving object passed through a space determined to be free of danger by the danger determination means. 3. The autonomous mobile object control system according to configuration 2. (Configuration 4) The database management unit deletes the third unique identifier stored in the table after the autonomous moving object has passed through a space determined to be free of danger by the danger determination means and has moved away a certain distance. 4. The autonomous mobile object control system according to configuration 2 or 3. (Configuration 5) The database management unit changes the time to delete the third unique identifier stored in the table according to the moving speed of the autonomous moving body. 5. The autonomous mobile object control system according to any one of configurations 2 to 4, (Configuration 6) the database management unit is a unique identifier management device that stores and manages information about states and times of objects existing in the real space by unique identifiers in a plurality of divided areas in a virtual space defined by an arbitrary reference coordinate system corresponding to the real space, The table is one divided area in a virtual space managed by the unique identifier management device. 6. The autonomous mobile object control system according to any one of configurations 1 to 5, [Explanation of symbols]

[0057] 100 Autonomous Mobile Control System 101 Orderer 102 User Interface 103 Delivery system management device 104 Unique identifier management device 105 sensor nodes 106 Autonomous Mobile Control Device 107 Autonomous Mobile Vehicles 201 First Communications Department 202 Unique identifier information control section 203 Unique Identifier Storage Unit 204 Second Communications Department 205 Movement path calculation unit 206 Hazard Judgment Department 207 Mobile Control Unit 300 divided areas 301 Divided area that can be moved horizontally 302 Divided area that can move horizontally and vertically up and down 302a Divided area that can be moved up 302b Divided area that can be moved downwards 303 Layer Space 601 Real space at a certain distance ahead

Claims

1. An autonomous mobile object control system for controlling at least two or more autonomous mobile objects, a database management means for managing a virtual space information database in which predetermined information in the virtual space corresponding to predetermined locations in the real space is stored in each table with a unique identifier; the database management means stores a first unique identifier that defines a horizontal traveling direction as either forward, backward, left, or right in a plurality of tables in a database corresponding to a predetermined range of real space; the first unique identifier is stored in a plurality of tables corresponding to at least four or more discrete spaces; the database management means stores second unique identifiers that limit the vertical traveling direction in a plurality of tables corresponding to a plurality of predetermined locations in real space, The real spaces corresponding to the tables storing the second unique identifiers 2 that define the upward and downward directions of travel are adjacent to each other. An autonomous mobile control system characterized by:

2. An autonomous mobile object control system for controlling at least two or more autonomous mobile objects, a database management means for managing a virtual space information database in which predetermined information in the virtual space corresponding to predetermined locations in the real space is stored in each table with a unique identifier; a mobile object control means for controlling the movement of the autonomous mobile object based on information of the unique identifier stored in each table in the virtual space information database; a risk determination means for determining whether there is a risk of collision when the moving body control means controls the autonomous moving body; Equipped with the danger determination means determines that there is no risk of collision based on a unique identifier stored in a table in the virtual space information database corresponding to the real space of the destination of the autonomous moving body, the database management means stores a third unique identifier indicating approach information in a table corresponding to a space determined to be free of danger by the danger determination means; the moving body control means controls the movement of the autonomous moving body in a space corresponding to the table in which the third unique identifier is stored, giving priority to other autonomous moving bodies; The database management means deletes the third unique identifier stored in the table after the autonomous moving object passes through a space that is determined to be free of danger by the danger determination means. An autonomous mobile object control system.

3. The database management unit deletes the third unique identifier stored in the table after a certain time has elapsed since the autonomous moving object passed through a space determined to be free of danger by the danger determination means.

3. The autonomous mobile object control system according to claim 2.

4. The database management unit deletes the third unique identifier stored in the table after the autonomous moving object has passed through a space determined to be free of danger by the danger determination means and has moved away a certain distance.

3. The autonomous mobile object control system according to claim 2.

5. The database management unit changes the time to delete the third unique identifier stored in the table depending on the moving speed of the autonomous moving body.

3. The autonomous mobile object control system according to claim 2.

6. the database management unit is a unique identifier management device that stores and manages information about states and times of objects existing in the real space by unique identifiers in a plurality of divided areas in a virtual space defined by an arbitrary reference coordinate system corresponding to the real space, The table is one divided area in the virtual space managed by the unique identifier management device.

2. The autonomous mobile object control system according to claim 1.

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