Automatic driving device, automatic driving system, and automatic driving method

Abstract

The present invention provides an automatic driving device, an automatic driving system, and an automatic driving method that enable the automatic driving device to be controlled with a simple configuration when an abnormality occurs at a facility. [Solution] The automatic driving device 1 is a device that automatically drives according to a pre-set driving route within a facility. The automatic driving device 1 comprises a detection processing unit 112 and a driving processing unit 111. The detection processing unit 112 detects notifications regarding abnormalities output from the facility. The driving processing unit 111 controls the driving of the automatic driving device 1 based on the notifications detected by the detection processing unit 112.

Description

Technical Field

[0001] The present disclosure relates to a technique for controlling the travel of an automatic driving device.

Background Art

[0002] Conventionally, in facilities such as factories and warehouses, a system is known in which an automatic driving device (for example, an AGV (Automated Guided Vehicle)) receives an article to be transported at a storage position (for example, a storage shelf) and transports it to a shipping location. Further, a technique for controlling the travel of an automatic driving device is known in order to ensure the safety of evacuees when an abnormality such as a disaster occurs in a facility (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology, since cooperation between the alarm system of the facility that detects an abnormality and the automatic driving device is required, the existing alarm system must be modified, resulting in problems of high labor and cost.

[0005] An object of the present disclosure is to provide an automatic driving device, an automatic driving system, and an automatic driving method capable of controlling the travel of an automatic driving device with a simple configuration when an abnormality occurs in a facility.

Means for Solving the Problems

[0006] An automated driving device according to one aspect of this disclosure is a device that automatically drives in a facility according to a pre-set driving route. The automated driving device comprises a detection processing unit and a driving processing unit. The detection processing unit detects notifications regarding abnormalities output from the facility. The driving processing unit controls the driving of the automated driving device based on the notifications detected by the detection processing unit.

[0007] Another aspect of the present disclosure relates to an automated driving system that automatically drives in a facility according to a pre-set driving route. The automated driving system comprises a detection processing unit and a driving processing unit. The detection processing unit detects notifications regarding abnormalities output from the facility. The driving processing unit controls the driving of the automated driving device based on the notifications detected by the detection processing unit.

[0008] Another aspect of the present disclosure relates to an automated driving method, which involves causing an automated driving device to automatically travel along a pre-set driving route at a facility. The automated driving method includes one or more processors that detect an abnormality notification output at the facility and control the driving of the automated driving device based on the notification. [Effects of the Invention]

[0009] According to this disclosure, it is possible to provide an automatic driving device, an automatic driving system, and an automatic driving method that can control the driving of an automatic driving device with a simple configuration when an abnormality occurs at a facility. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is an external view of an automated driving system according to an embodiment of the present disclosure. [Figure 2] Figure 2 shows an example of a facility in which an automated driving system according to the embodiment of this disclosure is introduced. [Figure 3] Figure 3 is a block diagram showing the configuration of an automated driving system according to an embodiment of this disclosure. [Figure 4]Figure 4 shows an example of control information stored in an automated driving device according to the embodiment of this disclosure. [Figure 5] Figure 5 shows an example of control information stored in an automated driving device according to the embodiment of this disclosure. [Figure 6] Figure 6 shows how the automated driving device according to the embodiment of this disclosure tows a trolley. [Figure 7] Figure 7 shows a specific example of the arm portion of an automated driving device according to the present disclosure. [Figure 8] Figure 8 shows the operating state of the arm portion of the automatic driving device according to the present disclosure. [Figure 9] Figure 9 is a flowchart showing an example of the procedure for an automated driving process performed by an automated driving device according to the embodiment of this disclosure. [Figure 10] Figure 10 is a block diagram showing the configuration of the management server according to an embodiment of this disclosure. [Modes for carrying out the invention]

[0011] The embodiments of this disclosure will be described below with reference to the attached drawings to facilitate understanding of this disclosure. Note that the following embodiments are merely examples of the embodiments described herein and do not limit the technical scope of this disclosure.

[0012] An automated guided vehicle (AGV) (see Figure 1) according to an embodiment of this disclosure is a mobile body (also known as an AGV) capable of automatically traveling along a pre-set travel path. For example, the automated guided vehicle 1 is a mobile body that travels along a travel path while estimating its own position within a facility. Alternatively, the automated guided vehicle 1 may be a mobile body that travels along a guided guide (e.g., magnetic tape) corresponding to the travel path within a facility. In this disclosure, the number of automated guided vehicles 1 is not limited and may be one or multiple.

[0013] The automatic driving device 1 is introduced into facilities such as factories and warehouses. In this embodiment, as an example, an example in which the automatic driving device 1 is introduced into the facility W1 shown in FIG. 2 will be described. In the facility W1 shown in FIG. 2, a plurality of storage shelves (storage positions) for storing goods (objects to be transported) are arranged.

[0014] In addition, a standby location for the automatic driving device 1 is set in the facility W1. For example, in the facility W1, a standby location Q1 where the AGV1 waits, a standby location Q2 where the AGV2 waits, and a standby location Q3 where the AGV3 waits are set. Each automatic driving device 1 waits at a predetermined standby location and starts running when receiving a conveyance instruction (running instruction) from a management server (not shown).

[0015] The management server has a function (operation management function) for managing the operation of the automatic driving device 1. When the automatic driving device 1 receives a conveyance instruction from the management server, it performs automatic driving according to the travel route included in the conveyance instruction while estimating its own position.

[0016] [Embodiment 1] As shown in FIG. 3, the automatic driving device 1 according to Embodiment 1 includes a control unit 11, a storage unit 12, a communication unit 13, a lidar sensor 14, a detection unit 15, and the like.

[0017] The communication unit 13 is a communication interface for wirelessly connecting the automatic driving device 1 to a network and performing data communication according to a predetermined communication protocol with external devices such as a management server via the network.

[0018] The automatic driving device 1 includes a driving wheel, an encoder for measuring the rotation angle of the driving wheel, a coupler for connecting the carriage, a motor, a battery, etc. (not shown). The automatic driving device 1 drives the motor with the power of the battery, and rotates the driving wheel with the driving force of the motor to run. The battery is a rechargeable battery and is charged by an automatic charger. For example, the automatic driving device 1 can charge the battery with a charger at a predetermined charging position while running on a set driving route. The coupler is a connecting tool for connecting the carriage 2 (see FIG. 6) to the automatic driving device 1. The automatic driving device 1 can connect the carriage 2 with the coupler at a predetermined connecting position while running on the set route, and run while towing the carriage 2. Note that the automatic driving device 1 of the present disclosure may not have a function (coupler) of towing the carriage 2.

[0019] The lidar sensor 14 is a distance sensor (distance measuring device) that can measure the distance to an obstacle in three dimensions using laser light. Specifically, the lidar sensor 14 irradiates laser light around using a mirror and MEMS (Micro Electro Mechanical Systems), receives the reflected light, and measures the distance to an obstacle in the direction of the laser irradiation by measuring the time difference from irradiation to reception. At this time, by repeating the irradiation direction of the laser light in a certain pattern, the arrangement of obstacles in space can be observed at a frequency of several tens of Hz. The lidar sensor 14 is provided in front of the automatic driving device 1 (see FIG. 1).

[0020] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. Route data of a preset driving route is stored in the storage unit 12. For example, the driving route is set by a registration operation (such as a teaching operation) by an administrator.

[0021] Furthermore, the storage unit 12 stores control programs, such as an automatic driving program, which causes the control unit 11 to execute the automatic driving process described later (see Figure 9). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a reader (not shown) provided in the automatic driving device 1, and stored in the storage unit 12. The automatic driving program may also be distributed from a cloud server and stored in the storage unit 12.

[0022] Furthermore, the memory unit 12 stores control information for controlling the operation of the automatic driving device 1 in the event of an abnormality occurring in facility W1. Here, an abnormality in the facility includes disasters, gas leaks, explosions, accidents occurring inside or around the facility, and malfunctions of equipment installed in the facility.

[0023] Figures 4 and 5 show specific examples of control information D1 and D2. Control information D1 and D2 pre-register a notification pattern that facility W1 will notify when an abnormality occurs, and control content (driving control content) that controls the driving of the automatic driving device 1, with each corresponding to the other. For example, the manager of facility W1 or automatic driving device 1 pre-registers the notification pattern and driving control content with a corresponding relationship.

[0024] Here, if an abnormality occurs in facility W1, facility W1 outputs a notification regarding the abnormality. For example, if the alarm system installed in facility W1 detects a disaster, it will output an alarm sound or illuminate a warning light both inside and outside facility W1. Also, if there are workers inside facility W1, the alarm system will output an evacuation order. Note that the notification is, for example, information output from facility W1 to people, or information output both inside and outside facility W1 without using a communication network (such as wireless communication), and it is not necessary for the alarm system to connect to the automatic driving device 1 (network connection) using a communication network (such as wireless communication) and transmit data to the automatic driving device 1.

[0025] The control information D1 shown in Figure 4 registers the type (frequency) of the alarm sound output by facility W1 and the corresponding driving control content. For example, a high-frequency alarm sound is associated with the "stop" driving control content, and a low-frequency alarm sound is associated with the "deceleration" driving control content. The automatic driving device 1 drives according to the driving control content corresponding to the frequency of the alarm sound output by facility W1. The notification pattern may be a relative time change in volume (for example, gradually increasing or gradually decreasing), a combination pattern of intensity and duration (for example, Morse code), a combination pattern of frequency time changes or high and low duration, or a combination thereof.

[0026] The control information D2 shown in Figure 5 registers the corresponding colors of the warning lights on facility W1 and the corresponding driving control content. For example, a red light is associated with the "stop" driving control content, and a yellow light is associated with the "deceleration" driving control content. The automatic driving device 1 drives according to the driving control content corresponding to the color of the light output by facility W1. Note that the notification pattern may also be a combination of on and off times (flashing pattern).

[0027] The storage unit 12 may store either control information D1 or control information D2. Alternatively, both control information D1 and control information D2 may be stored in the storage unit 12, and the control unit 11 may be able to switch between the control information to be used.

[0028] The detection unit 15 is a detection device that detects notifications related to abnormalities output from facility W1. Specifically, the detection unit 15 is a microphone, a light sensor, etc. When facility W1 outputs an alarm sound, the detection unit 15 (microphone) detects the alarm sound. For example, a microphone can detect sounds of various frequencies. Also, when facility W1 outputs light, the detection unit 15 (light sensor) detects the light. For example, a light sensor can detect light of various colors. The detection unit 15 outputs the detection result to the control unit 11.

[0029] The control unit 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The control unit 11 controls the automatic driving device 1 by executing various control programs stored in advance in the ROM or memory unit 12 using the CPU.

[0030] Specifically, as shown in Figure 3, the control unit 11 includes various processing units such as a driving processing unit 111 and a detection processing unit 112. The control unit 11 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0031] The driving processing unit 111 drives the automatic driving device 1 according to the driving path. In the case of an autonomous driving type automatic driving device 1, the driving processing unit 111 estimates its own position on the map using a well-known self-position estimation method. For example, the driving processing unit 111 acquires the measurement results of the lidar sensor 14 and estimates the position of the automatic driving device 1 on the obstacle map by matching the arrangement of obstacles corresponding to the measurement results with a known obstacle map.

[0032] Furthermore, the driving processing unit 111 outputs a drive signal to the motor corresponding to the driving path based on the acquired current position of the automatic driving device 1, thereby driving the drive wheels and causing the automatic driving device 1 to autonomously travel along the driving path. In addition, the driving processing unit 111 estimates its own position based on the map information of facility W1, the current position information, and the detection results of the lidar sensor 14, and causes the automatic driving device 1 to autonomously travel along the driving path.

[0033] Furthermore, if the driving processing unit 111 detects an obstacle (such as a person or object), it will perform evasive driving to avoid the obstacle.

[0034] The detection processing unit 112 detects notifications related to abnormalities output from the facility W1. For example, if the automatic driving device 1 is equipped with a microphone (an example of a detection unit 15), the detection processing unit 112 detects the alarm sound input to the microphone. For example, the detection processing unit 112 can detect alarm sounds of various frequencies input to the microphone and can identify the frequency of the detected alarm sound.

[0035] For example, if the automatic driving device 1 is equipped with a light sensor (an example of a detection unit 15), the detection processing unit 112 detects the light (warning light) received by the light sensor. For example, the detection processing unit 112 can detect light of various colors received by the light sensor and can identify the color of the detected light.

[0036] When the detection processing unit 112 detects an abnormality notification, the driving processing unit 111 controls the driving of the automatic driving device 1 based on the notification. Specifically, the driving processing unit 111 refers to the control information D1 (see Figure 4) or control information D2 (see Figure 5) of the storage unit 12 to acquire the driving control content corresponding to the notification pattern of the notification detected by the detection processing unit 112, and switches the automatic driving device 1 to the driving state of the acquired driving control content.

[0037] For example, if the detection processing unit 112 detects a low-frequency alarm sound via the microphone, the driving processing unit 111 decelerates the automatic driving device 1, which is traveling at a set speed. The driving processing unit 111 then instructs the automatic driving device 1 to automatically travel along the designated route at a low speed.

[0038] For example, if the detection processing unit 112 detects a high-frequency alarm sound via the microphone, the driving processing unit 111 stops the automatic driving device 1 while it is in motion.

[0039] For example, if the alarm system of facility W1 detects a small earthquake and outputs a low-frequency alarm sound, the detection processing unit 112 detects the alarm sound and the driving processing unit 111 slows down the automatic driving device 1. Also, if the alarm system detects a large earthquake and outputs a high-frequency alarm sound, the detection processing unit 112 detects the alarm sound and the driving processing unit 111 stops the automatic driving device 1.

[0040] For example, if the alarm system of facility W1 detects a small earthquake and illuminates a warning light yellow, the detection processing unit 112 detects the yellow warning light and the driving processing unit 111 slows down the automatic driving device 1. Also, if the alarm system detects a large earthquake and illuminates a warning light red, the detection processing unit 112 detects the red warning light and the driving processing unit 111 stops the automatic driving device 1.

[0041] Thus, when the abnormality level is high, stopping the automatic driving device 1 can, for example, secure evacuation routes for workers within facility W1, avoid contact between the automatic driving device 1 and workers, and prevent malfunction of the automatic driving device 1. Furthermore, when the abnormality level is low, reducing the speed of the automatic driving device 1 ensures safety and prevents a decrease in driving efficiency (transport efficiency).

[0042] In another embodiment, the detection processing unit 112 may detect voice input to the microphone. Specifically, the control unit 11 may control the operation of the automatic driving device 1 based on voice messages output from the facility W1. For example, if the facility W1 outputs a message indicating the seismic intensity level, a message urging evacuation or caution, the control unit 11 may acquire the message and switch the driving state according to the content of the message. In this case, it is sufficient that the voice message and the driving control content are pre-registered in the storage unit 12 in association with each other.

[0043] In another embodiment, the control unit 11 may control the operation of the automatic driving device 1 based on the flashing cycle of the light output from the facility W1. For example, if the facility W1 outputs light with different flashing cycles, the control unit 11 may switch the driving state according to the flashing cycle of the light. In this case, it is sufficient that the flashing cycle of the light and the driving control content are pre-registered in the storage unit 12.

[0044] The automated driving device 1 according to this disclosure is not limited to the configuration of Embodiment 1 described above. The automated driving devices 1 according to Embodiments 2 and 3 will be described below. In the following, descriptions of functions and configurations identical to those of Embodiment 1 will be omitted.

[0045] [Embodiment 2] The automated driving device 1 according to Embodiment 2 has the configuration of Embodiment 1 plus additionally stores route information. The route information includes information on the travel paths that the automated driving device 1 can travel on (travel path information), information on evacuation routes for workers in the event of an abnormality in facility W1 (evacuation route information), and information on the arrangement of equipment installed in facility W1 (equipment layout information).

[0046] When the detection processing unit 112 detects a notification related to an abnormality (such as an alarm sound, warning light flashing, or voice), the driving processing unit 111 controls the driving of the automatic driving device 1 based on the route information. For example, if the detection processing unit 112 detects the notification while the automatic driving device 1 is driving in the center of a travel path within facility W1, the driving processing unit 111 moves the automatic driving device 1 to the edge of the travel path (side of the path). The driving processing unit 111 then drives the automatic driving device 1 along the edge of the travel path. The driving processing unit 111 also refers to the equipment layout information and drives in a position that does not come into contact with equipment. The driving processing unit 111 may also slow down the automatic driving device 1 and drive along the edge of the travel path based on the notification pattern.

[0047] Furthermore, the driving processing unit 111 may move the automatic driving device 1 to the end of the driving lane and then stop it. For example, if the detection processing unit 112 detects a high-frequency alarm sound or a red warning light, the driving processing unit 111 may move the automatic driving device 1 to the end of the driving lane it is currently traveling on and then stop it.

[0048] Furthermore, for example, if the detection processing unit 112 detects the notification while the automatic driving device 1 is traveling along an evacuation route within facility W1, the driving processing unit 111 may move the automatic driving device 1 to a position away from the evacuation route and stop it. In another embodiment, if the detection processing unit 112 detects the notification while the automatic driving device 1 is traveling outside the evacuation route within facility W1, the driving processing unit 111 may stop the automatic driving device 1 in place.

[0049] According to the above configuration, if an abnormality occurs at facility W1, an evacuation route can be reliably secured. In addition, contact between the automatic driving device 1 and the equipment can be avoided.

[0050] In another embodiment, if an abnormality occurs in a predetermined area within the facility W1, the driving processing unit 111 may cause the automatic driving device 1 to drive in a manner that avoids the predetermined area. For example, if at least a portion of the set driving route is included in the predetermined area, the driving processing unit 111 may generate a detour route that avoids the predetermined area and cause the automatic driving device 1 to drive according to the detour route.

[0051] If the entire travel route is not included in the predetermined area, the travel processing unit 111 may cause the automatic travel device 1 to travel normally according to the set travel route. In this case, for example, when the automatic travel device 1 is traveling in the vicinity of the predetermined area, the travel processing unit 111 may cause the automatic travel device 1 to travel at a reduced speed.

[0052] [Embodiment 3] The automatic travel device 1 according to Embodiment 3 may further include a function to control travel according to the state of the automatic travel device 1, in addition to the configuration of Embodiment 1 or Embodiment 2. For example, as shown in Figure 6, if the automatic travel device 1 has a function to tow a trolley 2, the travel processing unit 111 will move the automatic travel device 1 to the end of the travel path and stop it if the automatic travel device 1 is towing the trolley when the detection processing unit 112 detects the notification. If the automatic travel device 1 is not towing the trolley when the detection processing unit 112 detects the notification, the travel processing unit 111 may make the automatic travel device 1 travel at a reduced speed in the center of the travel path.

[0053] Furthermore, the travel processing unit 111 may control the travel of the automatic travel device 1 according to the state of the cargo being transported by the automatic travel device 1 when the detection processing unit 112 detects the notification. Specifically, as shown in Figure 7, the automatic travel device 1 may be equipped with an arm section 3 for loading and unloading cargo. When the detection processing unit 112 detects the notification and the arm section 3 is set to a high position (see Figure 7), the travel processing unit 111 moves the arm section 3 to a lower position, as shown in Figure 8. In addition, the travel processing unit 111 may lower the position of the arm section 3 and also decelerate the automatic travel device 1.

[0054] For example, in the event of a large earthquake, the driving processing unit 111 lowers the position of the arm 3 and stops the automatic driving device 1. Also, for example, in the event of a moderate earthquake, the driving processing unit 111 lowers the position of the arm 3 and decelerates the automatic driving device 1. Also, for example, in the event of a small earthquake, the driving processing unit 111 lowers the position of the arm 3 and drives the automatic driving device 1 at normal speed.

[0055] According to the above configuration, for example, in the event of an earthquake, the center of gravity of the automatic driving device 1 can be lowered, thereby preventing the automatic driving device 1 from tipping over. Furthermore, since the driving can be controlled according to the magnitude of the earthquake, safety can be ensured and work efficiency can be maintained.

[0056] In another embodiment, if a fire occurs in the facility W1 while the automatic driving device 1 is transporting flammable cargo, the driving processing unit 111 may move the automatic driving device 1 to a location away from the source of the fire.

[0057] In another embodiment, if an abnormality occurs at the destination where the automatic driving device 1 is transporting the cargo, the driving processing unit 111 may reset the destination to a safe area registered in the map information in advance, and move the automatic driving device 1 to that destination. Alternatively, the driving processing unit 111 may move the automatic driving device 1 to a waiting area (see Figure 2).

[0058] [Automatic driving process] Figure 9 shows an example of the procedure for the automatic driving process performed by the control unit 11 of the automatic driving device 1.

[0059] This disclosure can be understood as an automated driving method (the automated driving method of this disclosure) that performs one or more steps included in the automated driving process. Furthermore, one or more steps included in the automated driving process described herein may be omitted as appropriate. In addition, the execution order of each step in the automated driving process may differ to the extent that similar effects are produced. Furthermore, although this description uses the case in which the control unit 11 executes each step in the automated driving process as an example, in other embodiments, one or more processors may distribute and execute each step in the automated driving process.

[0060] <Step S1> In step S1, when the control unit 11 receives a driving instruction from the management server, it starts automatic driving according to a pre-set driving route. The driving route includes information about the destination (stopping position).

[0061] <Step S2> In step S2, the control unit 11 determines whether or not it has detected an alarm related to an anomaly output from facility W1. For example, the alarm system of facility W1 outputs an alarm related to an anomaly when a disaster occurs or when equipment malfunctions. The alarm system also outputs alarm sounds, warning lights (lights), voice messages, etc. The control unit 11 detects the alarm via a detection unit 15 (microphone, optical sensor, etc.) provided in the automatic driving device 1. If the control unit 11 detects the alarm (S2: Yes), it moves the process to step S3. On the other hand, if the control unit 11 does not detect the alarm (S2: No), it moves the process to step S7.

[0062] <Step S3> In step S3, when the control unit 11 detects an alert output from facility W1, it identifies the alert pattern. For example, if the alert is an alarm sound, the control unit 11 identifies the frequency of the sound. Also, for example, if the alert is a warning light (light), the control unit 11 identifies the color of the light. Also, for example, if the alert is a voice message, the control unit 11 identifies the content of the message.

[0063] <Step S4> In step S4, the control unit 11 determines whether the identified notification pattern is a notification pattern for the vehicle under driving control. Specifically, the control unit 11 determines whether the frequency of the identified sound matches the frequency registered in the control information D1 (see Figure 4). In another embodiment, the control unit 11 determines whether the color of the identified light matches the color registered in the control information D2 (see Figure 5). If the control unit 11 determines that the identified notification pattern is a notification pattern for the vehicle under driving control (S4:Yes), it proceeds to step S5. On the other hand, if the control unit 11 determines that the identified notification pattern is not a notification pattern for the vehicle under driving control (S4:No), it proceeds to step S6.

[0064] <Step S5> In step S5, the control unit 11 changes the driving state of the automatic driving device 1. Specifically, the control unit 11 changes the driving state according to the driving control content associated with the identified notification pattern. For example, if a high-frequency alarm sound is output from facility W1, the control unit 11 stops the automatic driving device 1 in place, moves it to the end of the driving path and stops, or moves it outside the evacuation path and stops. Also, for example, if a low-frequency alarm sound is output from facility W1, the control unit 11 decelerates the automatic driving device 1, moves it to the end of the driving path and decelerates, or moves it outside the evacuation path and decelerates.

[0065] For example, if the warning light of facility W1 illuminates red, the control unit 11 will stop the automatic driving device 1 in place, move it to the end of the travel path and stop, or move it outside the evacuation route and stop. Also, for example, if the warning light of facility W1 illuminates yellow, the control unit 11 will decelerate the automatic driving device 1, move it to the end of the travel path and decelerate, or move it outside the evacuation route and decelerate.

[0066] For example, if an abnormality occurs in a predetermined area within facility W1, the control unit 11 generates a detour route to avoid the predetermined area and causes the automatic driving device 1 to travel along the detour route.

[0067] <Step S6> In step S6, the control unit 11 continues the normal operation of the automatic driving device 1.

[0068] <Step S7> In step S7, the control unit 11 determines whether the automatic driving device 1 has arrived at its destination. If the automatic driving device 1 has arrived at its destination (S7: Yes), the control unit 11 terminates the automatic driving process. On the other hand, if the automatic driving device 1 has not arrived at its destination (S7: No), the control unit 11 returns to step S2. Upon returning to step S2, the control unit 11 determines whether it has detected the notification output from facility W1 and executes the above process again. The control unit 11 repeatedly executes the above process until the automatic driving device 1 arrives at its destination.

[0069] As described above, the automatic driving device 1 automatically travels according to a pre-set travel route in facility W1. The automatic driving device 1 also detects notifications regarding abnormalities output from facility W1 and controls the operation of the automatic driving device 1 based on the detected notifications. For example, the automatic driving device 1 detects alarm sounds and voices input to the microphone. The automatic driving device 1 also detects light received by the light sensor.

[0070] The automatic driving device 1 is equipped with a storage unit (control information D1, D2) that stores notification patterns and driving control contents in correspondence with each other. The device obtains the driving control contents corresponding to the notification pattern of the notification by referring to the storage unit, and switches the automatic driving device 1 to the driving state of the obtained driving control contents (corresponding to Embodiment 1).

[0071] Furthermore, when the automatic driving device 1 detects the notification, it moves to the end of the currently running lane and stops. Also, when the automatic driving device 1 detects the notification and is running on an evacuation lane, it moves the automatic driving device 1 outside the evacuation lane and stops. Also, when the automatic driving device 1 detects the notification and is running outside the evacuation lane, it stops the automatic driving device 1 in place (corresponding to Embodiment 2).

[0072] Furthermore, when the automatic driving device 1 detects the notification, it controls its movement according to the state of the cargo it is transporting (corresponding to Embodiment 3).

[0073] According to the above configuration, if an abnormality occurs at facility W1, the movement of the automatic driving device 1 can be restricted (slowed down, stopped, etc.), thereby reducing the risk of workers being hindered from evacuating or coming into contact with the automatic driving device 1 during evacuation. Furthermore, for example, if a factory production line stops, it is possible to suppress the occurrence of congestion caused by the automatic driving device 1 continuing to move.

[0074] Furthermore, with the above configuration, there is no need to communicate data between the alarm system of facility W1 and the automatic driving device 1 via a network, eliminating the need for system modifications. Therefore, there are no man-hours or costs required to implement the above configuration. As a result, when an abnormality occurs in facility W1, the automatic driving device 1 can be controlled with a simple configuration. Thus, for example, it is possible to introduce the automatic driving device 1 without modifying the existing alarm system and without incurring significant costs or time (man-hours).

[0075] [Other embodiments] In another embodiment of this disclosure, as shown in Figure 10, the management server 5 may control the operation of the automatic driving device 1. Specifically, the management server 5 includes a control unit 51, a storage unit 52, a communication unit 53, a detection unit 55, and the like.

[0076] The communication unit 53 is a communication interface that wirelessly connects the management server 5 to the network and performs data communication with external devices such as the automatic driving device 1 via the network in accordance with a predetermined communication protocol.

[0077] The storage unit 52 is a non-volatile storage unit such as an HDD, SSD, or flash memory. The storage unit 52 stores control programs, such as an automatic driving program, which causes the control unit 51 to execute the automatic driving process (see Figure 9). For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a reader (not shown) provided by the management server 5, and stored in the storage unit 52. Alternatively, the automatic driving program may be distributed from a cloud server and stored in the storage unit 52.

[0078] Furthermore, the memory unit 52 stores control information D1 (see Figure 4) and control information D2 (see Figure 5).

[0079] The detection unit 55 is a detection device that detects abnormal notifications output from facility W1, and includes a microphone, optical sensor, etc. The detection unit 55 outputs the detection result to the control unit 51.

[0080] The control unit 51 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to allow the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The control unit 51 controls the management server 5 by executing various control programs stored in advance in the ROM or memory unit 52 using the CPU.

[0081] Specifically, as shown in Figure 10, the control unit 51 includes various processing units such as a driving processing unit 511 and a detection processing unit 512. The control unit 51 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as processing units.

[0082] The driving processing unit 511 causes the automatic driving device 1 to travel along the designated route. The driving processing unit 511 outputs route data and driving instructions to the automatic driving device 1.

[0083] The detection processing unit 512 detects notifications related to abnormalities output from the facility W1. For example, if the management server 5 is equipped with a microphone (an example of a detection unit 55), the detection processing unit 512 detects the alarm sound input to the microphone. Alternatively, if the management server 5 is equipped with a light sensor (an example of a detection unit 55), the detection processing unit 512 detects the light (warning light) received by the light sensor. In another embodiment, the detection processing unit 512 may acquire detection results (notifications) from a detection unit 15 (see Figure 3) provided in the automatic driving device 1.

[0084] When the detection processing unit 512 detects an abnormality notification, the driving processing unit 511 controls the driving of the automatic driving device 1 based on the notification. Specifically, the driving processing unit 511 refers to the control information D1 (see Figure 4) or control information D2 (see Figure 5) of the storage unit 52 to acquire the driving control content corresponding to the notification pattern of the notification detected by the detection processing unit 512, and switches the automatic driving device 1 to the driving state of the acquired driving control content.

[0085] The configuration of the driving control by the driving processing unit 511 is the same as the configuration of the driving control by the driving processing unit 111 (see Figure 3) according to the embodiment described above.

[0086] As described above, this disclosure allows the management server 5 to control the operation of the automatic travel device 1 when an abnormality occurs at facility W1. The management server 5 may also control the operation of multiple automatic travel devices 1. For example, the management server 5 may execute different operation controls for each automatic travel device 1 depending on the current position of each automatic travel device 1 when an abnormality occurs. The management server 5 may also execute different operation controls for each automatic travel device 1 depending on the state of each automatic travel device 1 when an abnormality occurs (e.g., traveling on a travel path, traveling on an evacuation path, towing a trolley, transporting cargo, etc.).

[0087] In other words, the automated driving system relating to this disclosure may consist of the management server 5 alone, or it may consist of the management server 5 and the automated driving device 1.

[0088] The control unit 11 of the automatic driving system 1 controls the entire automatic driving system 1. The control unit 11 realizes various functions by reading and executing various programs stored in the memory unit 12 (for example, storage or ROM). The control unit 11 may be realized by one or more control devices / arithmetic units (CPU (Central Processing Unit), SoC (System on a Chip)). In addition, the control unit 11 may be composed of one or more control circuits (electronic circuits).

[0089] Similarly, the control unit 51 of the management server 5 controls the entire management server 5. The control unit 51 implements various functions by reading and executing various programs stored in the storage unit 52 (e.g., storage or ROM). The control unit 51 may be implemented by one or more control devices / arithmetic units (CPU, SoC). The control unit 51 may also be composed of one or more control circuits (electronic circuits).

[0090] [Disclosure Note] The following is an overview of the disclosures extracted from the above-described embodiments. Note that each configuration and processing function described in the following notes can be selected and combined as desired.

[0091] <Note 1> An automated driving device that automatically drives according to a pre-set driving route within a facility, A detection processing unit that detects notifications regarding abnormalities output from the aforementioned facility, A driving processing unit controls the driving of the automatic driving device based on the notification detected by the detection processing unit, An automated driving system equipped with the following features.

[0092] <Note 2> The aforementioned automatic driving device is equipped with a microphone, The aforementioned notification is an alarm sound. The detection processing unit detects the alarm sound input to the microphone. The automatic driving device described in Appendix 1.

[0093] <Note 3> The aforementioned automatic driving device is equipped with a microphone, The aforementioned notification is in audio format. The detection processing unit detects the sound input to the microphone. The automatic driving device described in Appendix 1.

[0094] <Note 4> The aforementioned automatic driving device is equipped with a light sensor, The advance notice was light, The detection processing unit detects the light received by the light sensor. The automatic driving device described in Appendix 1.

[0095] <Note 5> The aforementioned automatic driving device includes a storage unit that stores notification patterns and driving control content in correspondence with each other. The driving processing unit refers to the storage unit to acquire driving control content corresponding to the notification pattern of the notification detected by the detection processing unit, and moves the automatic driving device to the driving state of the acquired driving control content. An automatic driving device as described in any of the appendices 1 to 4.

[0096] <Note 6> When the detection processing unit detects the notification, the driving processing unit moves the automatic driving device to the end of the currently running lane and stops it. An automatic driving device as described in any of the appendices 1 to 5.

[0097] <Note 7> The driving unit, when the detection unit detects the notification and the automatic driving device is traveling on the evacuation route, moves the automatic driving device outside the evacuation route and stops it. An automatic driving device as described in any of the appendices 1 to 6.

[0098] <Note 8> The aforementioned driving processing unit shall, when the detection processing unit detects the notification and the automatic driving device is traveling outside the evacuation route, stop the automatic driving device at that location. An automatic driving device as described in any of the appendices 1 to 7.

[0099] <Note 9> The driving processing unit controls the driving of the automatic driving device according to the state of the cargo being transported by the automatic driving device when the detection processing unit detects the notification. An automatic driving device as described in any of the appendices 1 to 8.

[0100] <Note 10> The aforementioned notification is output from the facility toward a person. An automatic driving device as described in any of the appendices 1 to 9.

[0101] <Note 11> An automated driving system that causes an automated driving device to automatically drive according to a pre-set driving route at a facility, A detection processing unit that detects notifications regarding abnormalities output at the aforementioned facility, A driving processing unit controls the driving of the automatic driving device based on the notification detected by the detection processing unit, An automated driving system equipped with [the following features].

[0102] <Note 12> An automated driving method for causing an automated driving device to automatically drive according to a pre-set driving route at a facility, To detect abnormality notifications output by the aforementioned facility, Based on the aforementioned notification, the operation of the automatic driving device is controlled, An automated driving method performed by one or more processors.

[0103] <Note 13> An automatic driving program that causes an automatic driving device to automatically drive according to a pre-set driving route at a facility, To detect abnormality notifications output by the aforementioned facility, Based on the aforementioned notification, the operation of the automatic driving device is controlled, An automated driving program for causing one or more processors to execute, or a non-temporary computer-readable recording medium on which the automated driving program is recorded. [Explanation of Symbols]

[0104] 1: Automatic driving system 11: Control Unit 12: Storage section 13: Communications Department 14: Rider Sensor 15: Detection unit 111: Driving section 112: Detection Processing Unit D1: Control information D2: Control information

Claims

1. An automated driving device that automatically drives according to a pre-set driving route within a facility, A detection processing unit that detects notifications regarding abnormalities output from the aforementioned facility, A driving processing unit controls the driving of the automatic driving device based on the notification detected by the detection processing unit, An automated driving system equipped with the following features.

2. The aforementioned automatic driving device is equipped with a microphone, The aforementioned notification is an alarm sound. The detection processing unit detects the alarm sound input to the microphone. The automatic driving device according to claim 1.

3. The aforementioned automatic driving device is equipped with a microphone, The aforementioned notification is in audio format. The detection processing unit detects the sound input to the microphone. The automatic driving device according to claim 1.

4. The aforementioned automatic driving device is equipped with a light sensor, The advance notice was light, The detection processing unit detects the light received by the light sensor. The automatic driving device according to claim 1.

5. The aforementioned automatic driving device includes a storage unit that stores notification patterns and driving control content in correspondence with each other. The driving processing unit refers to the storage unit to acquire driving control content corresponding to the notification pattern of the notification detected by the detection processing unit, and moves the automatic driving device to the driving state of the acquired driving control content. An automatic driving device according to any one of claims 1 to 4.

6. When the detection processing unit detects the notification, the driving processing unit moves the automatic driving device to the end of the currently running lane and stops it. An automatic driving device according to any one of claims 1 to 4.

7. The driving unit, when the detection unit detects the notification and the automatic driving device is driving on the evacuation route, moves the automatic driving device outside the evacuation route and stops it; when the detection unit detects the notification and the automatic driving device is driving outside the evacuation route, stops the automatic driving device in place. An automatic driving device according to any one of claims 1 to 4.

8. The aforementioned notification is output from the facility toward a person. An automatic driving device according to any one of claims 1 to 4.

9. An automated driving system that causes an automated driving device to automatically drive according to a pre-set driving route at a facility, A detection processing unit that detects notifications regarding abnormalities output at the aforementioned facility, A driving processing unit controls the driving of the automatic driving device based on the notification detected by the detection processing unit, An automated driving system equipped with [the following features].

10. An automated driving method for causing an automated driving device to automatically drive according to a pre-set driving route at a facility, To detect abnormality notifications output by the aforementioned facility, Based on the aforementioned notification, the operation of the automatic driving device is controlled, An automated driving method performed by one or more processors.

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