Control method for moving body, moving body, and control program for moving body

Abstract

To appropriately set a travel route according to a detection result of a sensor.SOLUTION: A method of controlling a moving body that moves automatically includes a detection step of detecting, when the moving body travels on a passage along a placement region where a target object can be placed, accesses the placement region from the passage to perform cargo handling, and then returns to the passage, a detection target object in a direction of returning to the passage by a sensor provided in the moving body, and a route setting step of setting a travel route in the passage based on a detection result in the detection step.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to a method for controlling a moving body, a moving body, and a control program for a moving body. [Background technology]

[0002] There are known mobile objects that are equipped with sensors that detect their surroundings and move automatically. For example, Patent Document 1 describes a configuration in which the mobile object stops when an obstacle is detected by the sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-167210 Summary of the Invention [Problem to be solved by the invention]

[0004] In such a mobile body, it is required to appropriately set a travel route in accordance with the detection results of the sensor.

[0005] The present disclosure has been made in consideration of the above, and aims to provide a control method for a mobile body, a mobile body, and a control program for a mobile body that can appropriately set a driving route based on the detection results of a sensor. [Means for solving the problem]

[0006] The method for controlling a moving body according to the present disclosure is a method for controlling an automatically moving moving body, and includes a detection step in which the moving body travels along a passage along a placement area in which an object can be placed, accesses the placement area from the passage to perform loading and unloading, and when the moving body returns to the passage, detects a detected object in a direction returning to the passage using a sensor provided on the moving body, and a route setting step in which a travel route in the passage is set based on the detection result in the detection step.

[0007] The mobile body of the present disclosure is an automatically moving mobile body that travels along a passageway along a placement area where an object can be placed, and when the mobile body returns to the passageway after accessing the placement area from the passageway to perform loading and unloading, is equipped with a sensor that detects a detected object in the direction returning to the passageway, and a control unit that sets a travel route in the passageway based on the detection result of the sensor.

[0008] The control program for a mobile body according to the present disclosure is a control program for a mobile body that causes a computer to execute a control method for an automatically moving mobile body, and when the mobile body travels along a passageway along a placement area where objects can be placed, accesses the placement area from the passageway to perform loading and unloading, and then returns to the passageway, causes the computer to execute a process of detecting a detected object in the direction returning to the passageway using a sensor provided on the mobile body, and a process of setting a travel route in the passageway based on the detection result of the sensor. [Effects of the Invention]

[0009] According to the present disclosure, a travel route can be appropriately set in accordance with the detection results of the sensors. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of a mobility control system according to this embodiment. [Figure 2A] FIG. 2A is a schematic side view of a moving body. [Figure 2B] FIG. 2B is a diagram schematically illustrating an example of a stop area of ​​the second sensor. [Figure 2C] FIG. 2C is a diagram schematically showing a stopping area when a moving object turns. [Figure 3] FIG. 3 is a schematic block diagram of the management device. [Figure 4] FIG. 4 is a schematic block diagram of an information processing device. [Figure 5] FIG. 5 is a schematic diagram for explaining a path. [Figure 6]FIG. 6 is a schematic block diagram of a control device for a moving body. [Figure 7A] FIG. 7A is a diagram schematically illustrating an example of a detection result by the detection control unit. [Figure 7B] FIG. 7B is a diagram schematically showing a process in which the detection control unit detects the position of the object to be sensed. [Figure 7C] FIG. 7C is a diagram schematically showing a process in which the detection control unit detects the position of the object to be sensed. [Figure 8] FIG. 8 is a diagram showing an example of a turning trajectory. [Figure 9] FIG. 9 is a diagram showing an example of a turning trajectory. [Figure 10] FIG. 10 is a schematic diagram for explaining path resetting. [Figure 11] FIG. 11 is a schematic diagram for explaining path resetting. [Figure 12] FIG. 12 is a flowchart illustrating a processing flow according to this embodiment. [Figure 13] FIG. 13 is a schematic diagram for explaining another example of path resetting. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of a method for controlling a moving object, a moving object, and a program for controlling a moving object according to the present disclosure will be described with reference to the accompanying drawings. Note that the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily replaceable by a person skilled in the art, or those that are substantially identical.

[0012] FIG. 1 is a schematic diagram of a mobility control system according to the present embodiment. As shown in FIG. 1, the mobility control system 1 according to the present embodiment includes a mobile object 10, a management device 12, and an information processing device 14. The mobility control system 1 is a system that controls the movement of the mobile object 10 belonging to a facility W. The facility W is, for example, a facility that is managed by logistics, such as a warehouse, but may be any facility that operates the mobile object 10. In the mobility control system 1, the mobile object 10 picks up and transports an object P placed in a unit area A within an area AR of the facility W. The unit area A is an area that serves as the source and destination of the object P. The area AR is an area where the object P is placed and where the mobile object 10 moves, such as the floor of the facility W. In the present embodiment, the object P transported by the mobile object 10 is a transport target object in the form of a pallet on which cargo is loaded. However, the object P is not limited to a pallet on which cargo is loaded, and may be in any form, for example, a cargo only without a pallet. Furthermore, the moving body 10 is not limited to one that transports the object P, but may be a device that moves within the facility W for any purpose.

[0013] Hereinafter, one direction along the region AR is referred to as the X direction, and a direction along the region AR that intersects with the X direction is referred to as the Y direction. In this embodiment, the Y direction is a direction perpendicular to the X direction. The X and Y directions may also be referred to as directions along a horizontal plane. Furthermore, a direction perpendicular to the X and Y directions, more specifically, a direction pointing vertically upward, is referred to as the Z direction. Furthermore, in this embodiment, unless otherwise specified, "position" refers to a position (coordinate) in a coordinate system on a two-dimensional plane on the region AR (the coordinate system of the region AR). Furthermore, unless otherwise specified, "attitude (orientation)" of the moving body 10, etc. refers to the orientation of the moving body 10, etc. in the coordinate system of the region AR, and refers to the yaw angle (rotation angle) of the moving body 10 when viewed from the Z direction, with the X direction being 0°.

[0014] In this embodiment, the area AR includes a placement area AR1 and a placement area AR2. The placement area AR1 and the placement area AR2 each extend in the Y direction, and multiple objects P can be placed side by side in the Y direction. The placement area AR1 and the placement area AR2 are placed on either side of the aisle TR in the X direction. In other words, the placement area AR1 and the placement area AR2 are placed at positions sandwiching the aisle TR in the X direction. The aisle TR extends in the Y direction, and the mobile object 10 can travel therethrough.

[0015] (Waypoint) Waypoints are set for each position (coordinate) in the area AR. The route along which the moving body 10 moves (a reference route R0, described later) is set to connect the waypoints. In other words, the route connecting the waypoints that the moving body 10 is scheduled to pass through becomes the reference route R0 of the moving body 10. The waypoints are set according to the layout of the facility W. For example, the waypoints are set in a matrix within the area AR.

[0016] (Mobile) FIG. 2A is a schematic side view of a moving body according to this embodiment. In this embodiment, the moving body 10 is a non-holonomic system that cannot move sideways. In this embodiment, the moving body 10 is a device capable of transporting an object (luggage). More specifically, in this embodiment, the moving body 10 is a forklift, and more specifically, a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift). However, the moving body 10 is not limited to a forklift that transports an object, and may be any device that can move automatically.

[0017] As shown in FIG. 2A , the moving body 10 includes a body 20, wheels 20A, straddle legs 21, a mast 22, a fork 24, a first sensor 25, a second sensor 26, an inertial measurement unit 27, and a control device 28. The straddle legs 21 are provided at one end of the body 20 in the longitudinal direction and are a pair of shaft-shaped members protruding from the body 20. The wheels 20A are provided at the tip of each straddle leg 21 and on the body 20. A total of three wheels 20A are provided, but the positions and number of the wheels 20A may be arbitrary. The mast 22 is movably attached to the straddle legs 21 and moves in the longitudinal direction of the body 20. The mast 22 extends vertically. The fork 24 is attached to the mast 22 so as to be movably attached in the vertical direction. The fork 24 may also be movable in the lateral direction of the vehicle body 20 (a direction intersecting the up-down direction and the fore-and-aft direction) relative to the mast 22. The fork 24 has a pair of claws 24A, 24B. The claws 24A, 24B extend from the mast 22 toward the rear of the vehicle body 20. The claws 24A and 24B are spaced apart from each other in the lateral direction of the mast 22. Hereinafter, in the fore-and-aft direction, the direction toward which the fork 24 is not provided on the vehicle 10 will be referred to as the forward direction, and the direction toward which the fork 24 is provided will be referred to as the rearward direction. In this embodiment, the vehicle 10 can turn on the spot (heel turn) without changing the position of a vehicle body representative point 10p, such as the center of the vehicle body.

[0018] The first sensor 25 is disposed at a first height position H1 of the moving body 10. The height position is defined as the distance upward from the lowest point of the moving body 10 (i.e., the point where the wheel 20A touches the ground). The first height position H1 is at the top of the moving body 10. The first sensor 25 is installed at the upper end of the support member 23 that extends upward from the vehicle body 20. The first height position H1 is near the upper end of the mast 22. However, the position at which the first sensor 25 is provided is not limited to this, and the first sensor 25 may be provided at any position, and the number of first sensors 25 provided may also be arbitrary.

[0019] The first sensor 25 detects a detection object that exists around the moving object 10. The first sensor 25 detects at least a detection object that exists around the moving object 10 in an in-plane direction parallel to the surface (floor surface) that forms the area AR. In other words, the first sensor 25 has a detection range that is at least along the horizontal direction. As shown in FIG. 2A, the first sensor 25 detects a detection object that exists around the moving object 10.

[0020] The first sensor 25 is, for example, a sensor that emits laser light. The first sensor 25 emits the laser light while scanning in a predetermined direction, and detects the position of the detection target from the reflected light of the emitted laser light. In other words, the first sensor 25 can also be said to be a so-called two-dimensional (2D)-LiDAR (Light Detection And Ranging).

[0021] The first sensor 25 mainly detects the wall surfaces that define the area AR and marker members placed at high places in the area AR. The marker members have reflective parts that reflect laser light and are placed at predetermined locations to serve as landmarks that indicate specific positions in the area AR. The first sensor 25 is mainly used to recognize the self-position (current position) of the moving object 10 in the area AR.

[0022] The second sensor 26 is disposed at a second height position H2 of the moving body 10. The second height position H2 is a position different from the first height position H1. In this embodiment, the second height position H2 is a position lower than the first height position H1. The second height position H2 is a lower part of the moving body 10. The second height position H2 is near the underside of the moving body 10. The second sensors 26 are provided at the rear end of each straddle leg 21 and at each of the left and right ends of the front of the vehicle body 20. That is, the second sensors 26 are disposed at the four corners of the moving body 10 in a plan view. Hereinafter, the second sensor 26 on the front side of the moving body 10 will be referred to as second sensor 26F, and the second sensor 26 on the rear side of the moving body 10 will be referred to as second sensor 26R. However, the positions at which the second sensors 26 are disposed are not limited thereto, and the second sensors 26 may be disposed at any position, and the number of second sensors 26 provided may also be arbitrary.

[0023] The second sensor 26 detects a detection target present around the moving object 10. The second sensor 26 detects a detection target present around the moving object 10 at least in a plane direction parallel to the surface (floor surface) that constitutes the area AR. That is, the second sensor 26 has at least a detection area along the horizontal direction. The detection area of ​​the second sensor 26 includes a deceleration area and a stop area. When a detection target is detected in the deceleration area of ​​the second sensor 26, the moving speed of the moving object 10 is controlled to decrease. Furthermore, when a detection target is detected in the stop area of ​​the second sensor 26, the movement of the moving object 10 is controlled to stop. FIG. 2B is a diagram schematically illustrating an example of a stop area DA of the second sensor 26. The left diagram of FIG. 2B shows an example of a stop area DA when the moving object 10 moves backward, and the right diagram of FIG. 2B shows an example of a stop area DA when the moving object 10 moves forward. 2B, the second sensor 26 is set so that the stopping area DA becomes wider in the moving direction (traveling direction) of the moving body 10. In other words, when the moving direction of the moving body 10 is backward, the stopping area DA is set so that it becomes wider behind the moving body 10 and narrower in front. On the other hand, when the moving direction of the moving body 10 is forward, the stopping area DA is set so that it becomes wider in front of the moving body 10 and narrower in rear.

[0024] FIG. 2C is a diagram schematically illustrating the stop area DA when the moving object 10 turns while moving backward and when it turns while moving forward. FIG. 2C compares the case in which the moving object 10 turns while moving backward from the passage TR to access the placement area AR1 with the case in which the moving object 10 turns while moving forward from the placement area AR1 to return to the passage TR, and shows the case in which the moving object 10 moves along the same path. As shown in FIG. 2C, when the moving object 10 turns while moving backward from the passage TR to access the placement area AR1, the stop area DA of the second sensor 26F becomes narrower, so that a certain distance or more is left between the stop area DA and the object P in the placement area AR2. In contrast, when the moving object 10 turns while moving forward from the placement area AR1 to return to the passage TR, the stop area DA of the second sensor 26F becomes wider, so that the distance between the stop area DA and the object P in the placement area AR2 is narrower than when moving backward.

[0025] The second sensor 26 is, for example, a sensor that emits laser light. The second sensor 26 emits the laser light while scanning in a predetermined direction, and detects the position of the detection target from the reflected light of the emitted laser light. In other words, the second sensor 26 can also be said to be a so-called two-dimensional (2D)-LiDAR.

[0026] The second sensor 26 mainly detects obstacles that exist on the floor surface of the area AR and that may come into contact with the moving object 10.

[0027] The first sensor 25 and the second sensor 26 are not limited to two-dimensional (2D)-LiDAR and may be sensors that detect objects in any manner, for example, they may be so-called three-dimensional (3D)-LiDAR that scans in multiple directions, so-called one-dimensional (1D)-LiDAR that does not scan, or they may be cameras.

[0028] The inertial measurement unit 27 is a device that measures the acceleration and angular velocity of the mobile body 10, and is also called an IMU (Inertial Measurement Unit). The inertial measurement unit 27 outputs data on the acceleration of each of three orthogonal axes and the angular velocity around each axis in a mobile body coordinate system fixed to the inertial measurement unit 27. Based on the output data of the inertial measurement unit 27 over time from a certain point in time, it is possible to calculate changes in the position and orientation of the mobile body 10 from that point in time.

[0029] (Management device) FIG. 3 is a schematic block diagram of a management device. The management device 12 is a system that manages logistics in the facility W. In this embodiment, the management device 12 is a WCS (Warehouse Control System) or a WMS (Warehouse Management System), but is not limited to a WCS or a WMS and may be any system, for example, a back-end system such as another production management system. The location where the management device 12 is installed is arbitrary, and the management device 12 may be installed within the facility W or at a location remote from the facility W to manage the facility W from that location. The management device 12 is a computer, and as shown in FIG. 3, includes a communication unit 30, a storage unit 32, and a control unit 34.

[0030] The communication unit 30 is a module used in the control unit 34 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 30 is wireless communication, but any communication method may be used. The storage unit 32 is a memory that stores various information such as the calculation contents and programs of the control unit 34, and includes, for example, at least one of a main storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), and an external storage device such as an HDD (Hard Disk Drive).

[0031] The control unit 34 is a calculation device and includes a calculation circuit such as a CPU (Central Processing Unit). The control unit 34 includes a work determination unit 36. The control unit 34 implements the work determination unit 36 ​​and executes its processing by reading and executing a program (software) from the storage unit 32. The control unit 34 may execute the processing using a single CPU, or may be provided with multiple CPUs and execute the processing using these multiple CPUs. The work determination unit 36 ​​may also be implemented using a hardware circuit. The program for the control unit 34 saved in the storage unit 32 may also be stored on a recording medium readable by the management device 12.

[0032] The work determination unit 36 ​​determines the object P to be transported. Specifically, the work determination unit 36 ​​determines work content indicating information about the object P to be transported, for example, based on an input work plan. The work content can also be said to be information that identifies the object P to be transported. In the example of this embodiment, the work content determines which object P is located in which facility, by when, and where to transport it. In other words, the work content is information indicating the facility W where the target object P is stored, the target object P, the destination of the object P, and the transport time of the object P. The work determination unit 36 ​​transmits the determined work content to the information processing device 14 via the communication unit 30. Note that the work determination unit 36 ​​is not an essential component in this embodiment.

[0033] (Information processing device) FIG. 4 is a schematic block diagram of an information processing device. The information processing device 14 is installed in the facility W and is a device that calculates at least information related to the movement of the mobile object 10, i.e., a so-called ground system. The information processing device 14 is a computer, and as shown in FIG. 4, includes a communication unit 40, a memory unit 42, and a control unit 44. The communication unit 40 is used by the control unit 44 and is a module that communicates with external devices such as the management device 12 and the mobile object 10, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 40 is wireless communication, but any communication method may be used. The memory unit 42 is a memory that stores various information, such as the calculation contents and programs of the control unit 44, and includes, for example, at least one of a RAM, a main memory device such as a ROM, and an external memory device such as an HDD. Note that in this embodiment, the management device 12 and the information processing device 14 are separate devices, but they may also be integrated devices. That is, the management device 12 may also have at least some of the functions of the information processing device 14 , and the information processing device 14 may also have at least some of the functions of the management device 12 .

[0034] The control unit 44 is a calculation device and includes a calculation circuit such as a CPU. The control unit 44 includes a task content acquisition unit 50, a moving object selection unit 52, and a path setting unit 54. The control unit 44 reads and executes a program (software) from the storage unit 42, thereby realizing the task content acquisition unit 50, the moving object selection unit 52, and the path setting unit 54 and performing their processing. The control unit 44 may perform these processes using a single CPU, or may be provided with multiple CPUs and perform the processes using the multiple CPUs. At least a portion of the task content acquisition unit 50, the moving object selection unit 52, and the path setting unit 54 may be realized by hardware circuits. The program for the control unit 44 stored in the storage unit 42 may be stored in a recording medium readable by the information processing device 14.

[0035] The work content acquisition unit 50 acquires information on the work content determined by the management device 12, i.e., information on the object P to be transported. The work content acquisition unit 50 identifies the unit area A that is the source and destination of the object P from the information on the object P in the work content. The moving body selection unit 52 selects the target moving body 10. The moving body selection unit 52 selects the target moving body 10 from, for example, multiple moving bodies belonging to the facility W. The moving body selection unit 52 may select the target moving body 10 using any method. Note that the work content acquisition unit 50 and the moving body selection unit 52 are not essential components in this embodiment.

[0036] The path setting unit 54 sets a path R1 from the current position of the moving body 10 toward the source unit area A and the destination unit area A based on the position information of the source and destination unit areas A of the object P. FIG. 5 is a schematic diagram for explaining the path R1. The path R1 is set based on a coordinate system on a two-dimensional plane on the area AR (the coordinate system of the area AR), and is therefore a trajectory in the coordinate system of the area AR, but is not limited to this and may also be a trajectory in a global coordinate system. In the following description, the Y direction may be referred to as a first direction D1, and the direction opposite to the Y direction may be referred to as a second direction D2.

[0037] In this embodiment, the path setting unit 54 sets the path R1 to include trajectories R1a, R1b, R1c, and R1d. The trajectory R1a is a trajectory to a predetermined position B. The trajectory R1b ​​is connected to the trajectory R1a and travels from the predetermined position B to a predetermined position C on the side of the target position A0 in the direction opposite to the Y direction. The trajectory R1c is connected to the trajectory R1b ​​and travels from the predetermined position C to the target position A0 in the direction opposite to the X direction. The trajectory R1c can be said to be a trajectory that turns the mobile object 10 so as to switch the traveling direction of the mobile object 10 from the Y direction to the direction opposite to the X direction. The trajectory R1d is a trajectory that travels from the target position A0 along the passage TR toward a predetermined position (e.g., the destination of the object P). The predetermined position B may be set arbitrarily and may be a position a predetermined distance before entering the passage TR between the areas AR1 and AR2. The predetermined position C may also be set arbitrarily, for example, a position on the passage TR that is a predetermined distance past the target position A0 in the direction opposite to the Y direction. The path setting unit 54 transmits information about the set path R1 to the target moving object 10 via the communication unit 40.

[0038] In this embodiment, the management device 12 and the information processing device 14 are separate devices, but they may be integrated into one device. That is, the management device 12 may have at least some of the functions of the information processing device 14, and the information processing device 14 may have at least some of the functions of the management device 12.

[0039] (Control device for mobile objects) Next, the control device 28 of the mobile object 10 will be described. FIG. 6 is a schematic block diagram of the control device of the mobile object. The control device 28 is a device that controls the mobile object 10. The control device 28 is a computer, and as shown in FIG. 6, includes a communication unit 60, a storage unit 62, and a control unit 64. The communication unit 60 is a module used by the control unit 64 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 60 is wireless communication, but any communication method may be used. The storage unit 62 is a memory that stores various information such as the calculation contents and programs of the control unit 64, and includes, for example, at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD.

[0040] The control unit 64 is a calculation device and includes a calculation circuit such as a CPU. The control unit 64 includes a path acquisition unit 70, a movement control unit 72, and a detection control unit 74. The control unit 64 implements the path acquisition unit 70, the movement control unit 72, and the detection control unit 74 by reading and executing a program (software) from the storage unit 62. The control unit 64 may implement these processes using a single CPU, or may be provided with multiple CPUs and implement the processes using the multiple CPUs. At least a portion of the path acquisition unit 70, the movement control unit 72, and the detection control unit 74 may be implemented using hardware circuits. The program for the control unit 64 stored in the storage unit 62 may be stored in a recording medium readable by the control device 28.

[0041] The path acquisition unit 70 acquires information about the path R1. When the moving object 10 is selected as a work target, the path acquisition unit 70 may acquire the information about the path R1 from the information processing device 14, or may read out information about the path R1 stored in advance in the storage unit 62. Furthermore, the path acquisition unit 70 is not limited to acquiring the path R1 from the information processing device 14, and may set the path R1 itself.

[0042] The movement control unit 72 controls the movement mechanisms of the moving body 10, such as the drive unit and steering, to control the movement of the moving body 10. The movement control unit 72 moves the moving body 10 according to the path R1. The movement control unit 72 moves the moving body 10 so as to follow the path R1 by successively grasping the position information of the moving body 10. The method of acquiring the position information of the moving body 10 is arbitrary.

[0043] The detection control unit 74 causes the first sensor 25 and the second sensor 26 to detect the object to be detected and acquires the detection results. Specific processing by the detection control unit 74 will be described later.

[0044] (Movement control system processing) The processing contents of the mobility control system 100 will be explained below.

[0045] In the management device 12, the work determination unit 36 ​​determines the object P to be transported. The work determination unit 36 ​​transmits the determined work content to the information processing device 14 via the communication unit 30.

[0046] In the information processing device 14, the work content acquisition unit 50 acquires information on the work content determined by the management device 12. The work content acquisition unit 50 identifies unit areas A that are the source and destination of the object P from information on the object P in the work content. The moving body selection unit 52 selects the target moving body 10. The path setting unit 54 sets a path R1 from the current position of the moving body 10 toward the source unit area A and the destination unit area A based on position information on the source and destination unit areas A of the object P. The path setting unit 54 transmits the set path R1 to the moving body 10.

[0047] In the moving object 10, the path acquisition unit 70 of the control device 28 acquires the path R1 transmitted from the information processing device 14. The movement control unit 72 moves the moving object 10 from the current position of the moving object 10 so as to pass through the path R1. The detection control unit 74 causes the first sensor 25 and the second sensor 26 to perform detection.

[0048] The mobile object 10 travels along the path R1 in the passage TR, accesses the target position A0 in the placement area AR1, and performs loading and unloading. Here, for example, the mobile object 10 receives an object P to be placed in the unit area A of the placement area AR1. Note that a similar explanation can be applied to the case where the object P is placed in the unit area A of the placement area AR1.

[0049] Thereafter, when returning from the target position A0 to the aisle TR, the detection control unit 74 detects a detection target in the direction returning to the aisle TR. FIG. 7A is a diagram schematically illustrating an example of a detection result by the detection control unit 74. It is a schematic diagram for explaining path resetting. As shown in FIG. 7A, the detection control unit 74 detects the position of the detection target in the direction returning to the aisle TR based on the detection results of the first sensor 25 and the second sensor 26. FIGS. 7B and 7C are diagrams schematically illustrating a process of detecting the position of the detection target by the detection control unit 74. As shown in FIG. 7B, the detection control unit 74 can detect the position S1 of the detection target based on previously acquired information such as the placement information of the target P in the placement area AR1. In the example of FIG. 7B, the detection control unit 74 can detect the position S1 of the detection target based on the position of the target P in a state where it is placed as planned as the position of the detection target. Furthermore, as shown in FIG. 7C, the detection control unit 74 can detect the position S2 of the detection target based on the detection result by the second sensor 26F on the front side of the moving body 10. In this embodiment, the detection control unit 74 combines the position of the detection target object based on the position S1 of the detection target object shown in Fig. 7B and the position S2 of the detection target object shown in Fig. 7C. As shown in Fig. 7A, the detection control unit 74 can detect the combined position as the position S of the detection target object. Note that the detection control unit 74 is not limited to detecting the position S by combining the positions S1 and S2, and may detect the position S based only on the position S2 without using the position S1.

[0050] Based on the detection results of the detection objects S1 and S2, the detection control unit 74 detects whether the object P protrudes into the aisle TR in the placement area (opposite placement area) AR2, which is provided at a position across the aisle TR from the placement area AR1 in which the target position A0 is set. When the detection control unit 74 detects that the object P protrudes into the aisle TR, the detection control unit 74 determines the extent to which the object P protrudes into the aisle TR. For example, the detection control unit 74 determines whether or not the object P (position S) will interfere with the moving object 10 when it returns to the aisle TR (whether or not the object P (position S) is included in the deceleration area or the stopping area of ​​the second sensor 26). In this case, the detection control unit 74 determines whether or not there will be interference for each of the traveling directions (first direction D1, second direction D2) when the moving object 10 returns to the aisle TR. The detection control unit 74 also determines whether or not there will be interference based on the turning trajectory of the moving object 10. FIGS. 8 and 9 are diagrams showing examples of turning trajectories. The turning trajectory of the moving body 10 includes a first turning trajectory Ra along which the moving body 10 turns while traveling, as shown in Fig. 8, and a second turning trajectory Rb along which the moving body 10 stops traveling and turns in place (heel turn) without changing the position of the vehicle representative point 10p, as shown in Fig. 9. The detection control unit 74 determines whether or not there is interference between the first turning trajectory Ra and the second turning trajectory Rb. It is assumed that the traveling direction of the path R1 is set to a route that passes through the target position A0 along the first direction D1, and that the turning trajectory is set to return the moving body 10 to the passage TR via the first turning trajectory Ra. The detection control unit 74 transmits the determination result to the information processing device 14.

[0051] As described above, the second sensor 26 is set so that the stopping area DA widens in the movement direction (traveling direction) of the mobile object 10. Therefore, an object P in the placement area AR2 that did not interfere with the deceleration area or stopping area of ​​the second sensor 26F on the front side of the vehicle when accessing the placement area AR1 may interfere with the deceleration area or stopping area of ​​the second sensor 26F on the front side of the vehicle when returning to the aisle TR after accessing the placement area AR1 to perform loading and unloading. Therefore, in the movement control system according to this embodiment, when the mobile object 10 accesses the placement area AR1 to perform loading and then returns to the aisle TR, the presence or absence of interference with the object P (position S) in the placement area AR2 is determined for each combination of different travel directions (first direction D1, second direction D2) and different turning trajectories (first turning trajectory Ra, second turning trajectory Rb), and an appropriate path for the mobile object 10 in the aisle TR is set.

[0052] The determination results include the following: Note that the second and third determinations below can both be established in parallel.

[0053] A determination that movement along the already set path R1 is possible, i.e., a determination that there will be no interference when the first direction D1 passing through the target position A0 is set as the travel direction and the turning trajectory is set as the first turning trajectory Ra (hereinafter referred to as the first determination).

[0054] It is determined that interference will occur if the vehicle moves along path R1, but that no interference will occur if the traveling direction is set to second direction D2 opposite to first direction D1 and the turning trajectory is set to first turning trajectory Ra (hereinafter referred to as the second determination).

[0055] It is determined that interference will occur if movement is made along path R1, but that there will be no interference if the running direction is set to first direction D1 and the turning trajectory is set to second turning trajectory Rb (hereinafter referred to as the third determination).

[0056] It is determined that interference occurs when moving along path R1, and also when the running direction is set to a second direction D2 opposite to the first direction D1 and the turning trajectory is set to the first turning trajectory Ra, but that there is no interference when the running direction is set to the second direction D2 and the turning trajectory is set to the second turning trajectory Rb (hereinafter referred to as the fourth determination).

[0057] The information processing device 14 receives the determination result transmitted from the moving object 10. The path setting unit 54 resets the path R1 in the passage TR of the moving object 10 based on the determination result.

[0058] 10 and 11 are schematic diagrams for explaining path resetting. As shown in Fig. 10, when the determination result is the first determination, the path setting unit 54 keeps the travel route of the moving object 10 unchanged from path R1 (travel direction: first direction D1, turning trajectory: first turning trajectory Ra).

[0059] If the judgment result is only the second judgment, the path setting unit 54 resets the route as path R2 when the traveling direction is the second direction D2 and the turning trajectory is the first turning trajectory Ra, as shown in FIG. 10.

[0060] If the judgment result is only the third judgment, the path setting unit 54 resets the route as path R3 when the traveling direction is the first direction D1 and the turning trajectory is the second turning trajectory Rb, as shown in FIG. 11.

[0061] If the judgment result is only the fourth judgment, the path setting unit 54 resets the route as path R4 when the traveling direction is the second direction D2 and the turning trajectory is the second turning trajectory Rb, as shown in FIG. 11.

[0062] When the results of both the second and third judgments are obtained, the path setting unit 54 resets the path that takes the shortest time to reach the target position as a new path from among the path R2 of the second judgment shown in Figure 10 (driving direction: second direction D2, turning trajectory: first turning trajectory Ra) and the path R3 of the third judgment shown in Figure 11 (driving direction: first direction D1, turning trajectory: second turning trajectory Rb).

[0063] If none of the first to fourth judgments is obtained, an error judgment is made.

[0064] When the path setting unit 54 resets the paths, it causes the communication unit 40 to transmit the reset paths R1, R2, R3, and R4 to the mobile body 10. When an error is determined, it causes the communication unit 40 to transmit a command to the mobile body 10 to perform another task.

[0065] The moving object 10 moves so as to pass through the path (R1, R2, R3 or R4) transmitted from the information processing device 14.

[0066] The processing flow of the above-described mobility control system 1 will be described based on a flowchart. FIG. 12 is a flowchart illustrating the processing flow according to this embodiment. As shown in FIG. 12, in the mobile object 10, the path acquisition unit 70 of the control device 28 acquires the path R1 transmitted from the information processing device 14 (step S101). The mobility control unit 72 moves the mobile object 10 from the current position of the mobile object 10 so as to pass through the path R1 (step S102). In addition, the detection control unit 74 causes the first sensor 25 and the second sensor 26 to perform detection (step S103).

[0067] The moving object 10 travels in the aisle TR along the path R1, accesses the target position A0 in the placement area AR1, and performs loading and unloading (step S104). After loading and unloading, when returning from the target position A0 to the aisle TR, the detection control unit 74 detects a detection target object in the direction returning to the aisle TR, for example, by the second sensor 26 (step S105).

[0068] The detection control unit 74 determines whether or not interference will occur when the moving object 10 turns to return to the passage TR based on the detection result (step S106). The detection control unit 74 transmits the determination result to the information processing device 14 (step S107).

[0069] In the information processing device 14, the path setting unit 54 resets or sets an error for the path R1 in the passage TR of the moving object 10 based on the determination result (step S108). The path setting unit 54 transmits the setting result to the moving object 10 (step S109).

[0070] When the moving object 10 receives the reconfigured path (Yes in step S110), it moves the moving object 10 so as to pass through the path (R1, R2, R3, R4, or R5 (described later)) transmitted from the information processing device 14 (step S111). When the moving object 10 receives the error setting (No in step S110), it waits to receive a command to perform another task (step S112).

[0071] As described above, according to the first aspect of the present disclosure, there is provided a method for controlling an automatically moving mobile body 10, which includes a detection step in which the mobile body 10 travels along an aisle TR along a placement area AR1 in which an object P can be placed, accesses the placement area AR1 from the aisle TR to perform loading and unloading, and then returns to the aisle TR, in which a sensor provided on the mobile body 10 detects a detected object in a direction returning to the aisle TR, and a route setting step in which a travel route in the aisle TR is set based on the detection result in the detection step.

[0072] According to this configuration, when the mobile body 10 accesses the placement area AR1 to perform loading and unloading and then returns to the aisle TR, the sensor installed on the mobile body 10 detects the object to be detected in the direction returning to the aisle TR, and based on the detection result, the travel route in the aisle TR is set, so that the travel route can be appropriately set according to the detection result of the sensor.

[0073] According to a second aspect of the present disclosure, in the method for controlling a moving body according to the first aspect, a placement area AR2 in which an object P can be placed is provided at a position sandwiching an aisle TR between the placement area AR1 and the placement area AR2, and in a detection step, it is detected whether the object P in the placement area AR2 protrudes into the aisle TR, and in a route setting step, based on the detection result in the detection step, the traveling direction in which the moving body 10 travels along the aisle TR and the turning trajectory of the moving body 10 are set.

[0074] According to this configuration, when traveling through a narrow passage TR sandwiched between the placement area AR1 and the placement area AR2, the travel route can be appropriately set in accordance with the detection results of the sensors.

[0075] According to a third aspect of the present disclosure, in the method for controlling a moving body according to the second aspect, in the route setting step, a route that minimizes the travel time of the moving body 10 to the target position after loading is set as the travel route.

[0076] According to this configuration, the travel route can be appropriately set so as to minimize the travel time to the target position, thereby suppressing a decrease in work efficiency.

[0077] According to a fourth aspect of the present disclosure, in the method for controlling a moving body relating to the second aspect, the turning trajectory of the moving body 10 includes a first turning trajectory in which the moving body 10 turns while moving forward, and a second turning trajectory in which the moving body 10 turns while stopping its movement, and in the route setting step, based on the detection result, it is set whether the turning trajectory of the moving body 10 is the first turning trajectory or the second turning trajectory.

[0078] According to this configuration, by selecting the turning trajectory of the moving body 10 from the first turning trajectory or the second turning trajectory, it is possible to appropriately set the travel route in accordance with the detection results of the sensor.

[0079] According to a fifth aspect of the present disclosure, in a method for controlling a moving body according to any one of the first to fourth aspects, in the detection step, the object to be detected is detected based on the detection result in the detection step and the position of the object to be detected that is obtained in advance.

[0080] According to this configuration, the object to be detected is detected with high accuracy based on the detection result of the sensor and the position of the object to be detected that is acquired in advance, so that the travel route can be set appropriately.

[0081] According to a sixth aspect of the present disclosure, there is provided an automatically moving mobile body 10 that travels along an aisle TR along a placement area AR1 in which an object P can be placed, and that, when returning to the aisle TR after accessing the placement area AR1 from the aisle TR to perform loading and unloading, is provided with a sensor that detects a detected object in the direction returning to the aisle TR, and a control unit that sets a travel route along the aisle TR based on the detection result of the sensor.

[0082] According to this configuration, when the mobile body 10 accesses the placement area AR1 to perform loading and unloading and then returns to the aisle TR, the sensor installed on the mobile body 10 detects the object to be detected in the direction returning to the aisle TR, and based on the detection result, the travel route in the aisle TR is set, so that the travel route can be appropriately set according to the detection result of the sensor.

[0083] According to a seventh aspect of the present disclosure, there is provided a control program for a mobile body that causes a computer to execute a control method for an automatically moving mobile body, wherein when a mobile body 10 travels along an aisle TR along a placement area AR1 in which an object P can be placed, accesses the placement area AR1 from the aisle TR to perform loading and unloading, and then returns to the aisle TR, the control program for the mobile body causes a computer to execute a process of detecting a detected object in the direction returning to the aisle TR using a sensor provided on the mobile body 10, and a process of setting a travel route in the aisle TR based on the detection result of the sensor.

[0084] According to this configuration, when the mobile body 10 accesses the placement area AR1 to perform loading and unloading and then returns to the aisle TR, the sensor installed on the mobile body 10 detects the object to be detected in the direction returning to the aisle TR, and based on the detection result, the travel route in the aisle TR is set, so that the travel route can be appropriately set according to the detection result of the sensor.

[0085] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of these embodiments. Furthermore, the components described above can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the embodiments described above.

[0086] For example, in the above embodiment, an example has been described in which the travel route of the moving object 10 is not changed from path R1 when the determination result is the first determination, but this is not limiting. FIG. 13 is a schematic diagram for explaining another example of path resetting. As shown in FIG. 13, when the detection results of the first sensor 25 and the second sensor 26 indicate that a detection target is not detected, the detection control unit 74 can output a determination result indicating that the detection target is not detected. When the information processing device 14 receives a determination result indicating that a detection target is not detected, it can generate a travel route (path R5) that can turn in a shorter time than path R1.

[0087] In the above embodiment, the route setting step of setting a travel route in the passage TR based on the detection result in the detection step is performed by the information processing device 14, but the present invention is not limited to this configuration. The route setting step may be performed by the control device 28 of the moving body 10. [Explanation of symbols]

[0088] A unit area 1,100 Movement Control System 10 Mobile 12 Management device, management system 14 Information processing equipment 20 Body 20A Wheel 21 Straddle Leg 22 Mast 23 Support member 24 Fork 24A, 24B Claws 25 First Sensor 26, 26F, 26R Second sensor 27 Inertial Measurement Unit 28 Control Device 30, 40, 60 Communications Department 32,42,62 Storage section 34, 44, 64 Control unit 36 Work Decision Department 50 Work content acquisition section 52 Mobile unit selection unit 54 Path setting section 70 Pass Acquisition Section 72 Movement control section 74 Detection control section 76 Fork control section A0 target position B,C,H1,H2 position P Object R0 reference pathway R1,R2,R3,R4,R5 path W Facilities X direction AR area AR1,AR2 placement area TR aisle R1a,R1b,R1c,R1d orbit

Claims

1. A method for controlling an automatically moving object, comprising: a detection step in which, when the mobile body travels along a passage along a placement area in which an object can be placed, accesses the placement area from the passage to perform loading and unloading, and then returns to the passage, a detection object in a direction returning to the passage is detected by a sensor provided on the mobile body; a route setting step of setting a travel route in the passage based on the detection result in the detection step; A method for controlling a moving object, comprising:

2. an opposing placement area in which the object can be placed is provided at a position sandwiching the passage between the placement area and the opposing placement area; In the detecting step, it is detected whether or not the object protrudes into the passage in the facing arrangement area; In the route setting step, a traveling direction in which the moving body travels along the passage and a turning trajectory of the moving body are set based on the detection result in the detection step. The method for controlling a moving body according to claim 1 .

3. In the route setting step, a route that takes the shortest time for the moving body to reach the target position after loading is set as the travel route. The method for controlling a moving body according to claim 2.

4. the turning trajectory of the moving body includes a first turning trajectory along which the moving body turns while moving forward, and a second turning trajectory along which the moving body turns without changing the position of a body representative point of the moving body; In the route setting step, whether the turning trajectory of the moving body is the first turning trajectory or the second turning trajectory is set based on the detection result. The method for controlling a moving body according to claim 2.

5. In the detecting step, the object to be detected is detected based on the detection result in the detecting step and the position of the object to be detected that is acquired in advance. The method for controlling a moving body according to claim 1 .

6. A mobile object that moves automatically, a sensor that detects a detection object in a direction returning to the passage when the mobile body travels along a passage along an arrangement area in which an object can be arranged, accesses the arrangement area from the passage to perform loading and unloading, and then returns to the passage; a control unit that sets a travel route in the passage based on the detection result of the sensor; A mobile body comprising:

7. A control program for a moving object that causes a computer to execute a control method for a moving object that moves automatically, a process in which the mobile body travels along a passage along a placement area in which an object can be placed, accesses the placement area from the passage to perform loading and unloading, and then returns to the passage, in which case a detection object in a direction returning to the passage is detected by a sensor provided on the mobile body; A process of setting a travel route in the passage based on the detection result of the sensor; A control program for a moving object that causes a computer to execute the above.

Images