Control device, mobile device, control system, and control method

Abstract

The challenge is to improve throughput in environments where multiple mobile devices are operating. [Solution] The system includes group setting units 102a and 102b that set up groups of multiple mobile bodies M based on their respective positions and destinations, and movement rule setting units 103a and 103b that set movement rules 113 common to the mobile bodies M belonging to the groups set by the group setting units 102a and 102b, wherein the movement rule setting units 103a and 103b set the movement rules 113 so that the mobile bodies M belonging to the groups move in a common movement pattern.

Description

Technical Field

[0004] , , ,

[0001] The present invention relates to the technologies of control devices, mobile bodies, control systems, and control methods.

Background Art

[0002] With the expansion of the EC (Electronic Commerce) market, automation technologies in the logistics field have been developing remarkably. In particular, many robots have been introduced for the automation of in-warehouse operations. On the other hand, in the logistics industry, a collaborative logistics method in which assets related to logistics transportation are shared among multiple shippers has begun to spread due to a serious labor shortage. Therefore, in next-generation warehouses, automation technologies and robot control technologies that can be flexibly applied to dynamic changes such as various shippers, products, and quantities are required.

[0003] The conveyance method in a warehouse is roughly classified into conveyance by fixed facilities such as conveyors or conveyance by non-fixed facilities (hereinafter referred to as a conveyance system) such as AGVs and AMRs. AGV is an abbreviation for Automatic Guided Vehicle. Also, AMR is an abbreviation for Autonomous Mobile Robot. Even for movable facilities such as conveyance devices, conventionally, only a conveyance system of a specific vendor operates for each process / area in the warehouse. However, in the future, in order to flexibly respond to the above-described dynamic changes, it is expected that conveyance systems of various vendors will be mixed and operated. Therefore, a cooperative control technology that enables mixed operation of a conveyance system in which a plurality of vendors and a plurality of types of conveyance devices are operating in the same space becomes important.

[0004] Such cooperative control technologies have already been partly put into practical use. These realize mixed operation by previously setting markers that can be commonly recognized by both conveyance systems and a path on which both can commonly travel. However, such an operation requires a great deal of preliminary design work such as marker placement, path design, establishment of a common communication interface, and construction of a unified control server. Moreover, since the space in which mixed operation is possible is also limited, there is room for improvement from the viewpoints of flexibility and productivity improvement.

[0005] Therefore, Patent Document 1 proposes a control technology that enables more efficient coordinated operation of multiple transport systems without relying on the aforementioned prior design. Patent Document 1 discloses a transport system, control method, and control device, stating that "because there is no mechanism in place to share information such as the travel plan of transport devices between multiple transport systems manufactured by different manufacturers, if a collision avoidance function is activated between transport devices belonging to the first transport system and transport devices belonging to the second transport system, the transport time will be longer than initially expected, and the transport efficiency will decrease. The transport system (1) includes a first transport device (11) used for work involving the transport of materials and a control device (12). The control device (12) includes a prediction unit (121) that predicts the travel status of a second transport device (21) used for the aforementioned work based on progress information representing the progress of the work, a determination unit (122) that determines the travel plan of the first transport device (11) according to the travel status of the second transport device (21) predicted by the prediction unit (121), and a control unit (123) that controls the first transport device (11) based on the travel plan." [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] International Publication No. 2021 / 229746 [Overview of the project] [Problems that the invention aims to solve]

[0007] The integrated management system described in Patent Document 1 is a mechanism that takes the destination and immediate planned route of a group of transport devices under the management of the second (or first) transport system as input, and sequentially replans the route of any transport device (one transport device) under the management of the first (or second) transport system based on the predicted long-term action plan.

[0008] In other words, the technology described in Patent Document 1 is set up as a problem of resolving the coordination of actions between a self-conveying device (one conveying device) and other groups of conveying devices (multiple conveying devices). In this case, depending on the number and density of conveying devices, the number of mediations may increase, causing each conveying device to slow down or stop to take a detour, leading to a decrease in productivity. As an example, consider a case where two groups of conveying devices pass each other in a somewhat coordinated manner, such as a group of conveying devices from one direction and a group of conveying devices from the second conveying system from another direction. In this case, a single mediation resolution based on any conveying device may propagate to create mediation points between other conveying devices, resulting in the separation of both groups of conveying devices that were moving as a "certain group," forcing a large number of conveying devices to take a detour.

[0009] Considering these examples, the integrated management system proposed in Patent Document 1 has room for improvement from the perspective of overall optimization (efficiency). Furthermore, it is conceivable that the frequency of deadlock situations, where specific transport devices become locked together and continuous operation becomes impossible, may increase due to the increase in the number and density of transport devices mentioned above. In addition, the increase in the number of arbitrations may increase the computational load on the integrated management system. Therefore, Patent Document 1 has room for improvement not only in terms of overall system productivity but also in terms of system availability and computational load. These issues are also true in environments other than those where multiple types of transport devices (mobile bodies) or transport devices from multiple vendors are mixed, that is, in environments where multiple transport devices (mobile bodies) of a single type are in operation.

[0010] In light of this background, the present invention was made, and its objective is to improve throughput in environments where multiple mobile objects are in operation. [Means for solving the problem]

[0011] To solve the aforementioned problems, the present invention comprises a group setting unit that sets up groups of moving bodies based on the positions and destinations of each of the multiple moving bodies, and a movement rule setting unit that sets movement rules common to the moving bodies belonging to the groups set up by the group setting unit for the moving bodies belonging to the groups, wherein the movement rule setting unit sets the movement rules so that the moving bodies belonging to the groups move in a common movement pattern. Other solutions will be described as appropriate in the embodiments. [Effects of the Invention]

[0012] According to the present invention, it is possible to improve throughput in environments where multiple mobile objects are in operation. [Brief explanation of the drawing]

[0013] [Figure 1] This figure shows an example of the configuration of a functional block in the control system according to this embodiment. [Figure 2] This figure shows an example of the operating environment of a control system in a warehouse or factory as envisioned in this embodiment. [Figure 3] This diagram shows an overview of the AGV driving environment. [Figure 4] This is a conceptual diagram of block control and mutual exclusion control performed in an AGV system. [Figure 5] This diagram shows an overview of the AGF driving environment. [Figure 6] This is a conceptual diagram of the AGV used in this embodiment. [Figure 7] This is a functional block diagram of the AGV. [Figure 8] This is a conceptual diagram of the AGF used in this embodiment. [Figure 9] This is a functional block diagram of AGF. [Figure 10] This diagram shows an example of the configuration of a functional block in an AGV system. [Figure 11] This figure shows an example of the configuration of a functional block in the AGF system. [Figure 12]It is a conceptual diagram showing an example of group formation. [Figure 13] It is a conceptual diagram showing an example of group dissolution processing. [Figure 14] It is a diagram (part 1) showing a specific example of movement rules. [Figure 15] It is a diagram (part 2) showing a specific example of movement rules. [Figure 16] It is a diagram (part 3) showing a specific example of movement rules. [Figure 17] It is a diagram (part 4) showing a specific example of movement rules. [Figure 18] It is a diagram (part 5) showing a specific example of movement rules. [Figure 19] It is a diagram (part 6) showing a specific example of movement rules. [Figure 20] It is a flowchart (part 1) showing the procedure of the control method according to this embodiment. [Figure 21] It is a flowchart (part 2) showing the procedure of the control method according to this embodiment. [Figure 22] It is a flowchart (part 3) showing the procedure of the control method according to this embodiment. [Figure 23] It is a diagram showing an example of an AGV incorporating a control device. [Figure 24] It is a diagram showing an example of an AGF incorporating a control device. [Figure 25] It is a diagram showing the hardware configuration of a computer.

Embodiments for Carrying Out the Invention

[0014] Next, embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described in detail with appropriate reference to the drawings.

[0015] Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 25. In this embodiment, as an example, the description is made for the conveyance between processes in a warehouse and a factory.

[0016] <Control System Z> Figure 1 shows an example of the configuration of the functional block of the control system Z according to this embodiment.

[0017] The control system Z consists of a control device 1, a mobile body control device 40a, a mobile body control device 40b, an AGV 2, and an AGF 3.

[0018] <agv2> AGV2 comprises an on-board controller 210 and a drive unit 220. The on-board controller 210 transmits control commands to the drive unit 220 according to the route 711 received from the mobile control device 40a. As a result, AGV2 moves according to the route 711. Further details of AGV2 will be described later. Note that "AGV" is an abbreviation for Automatic Guided Vehicle.

[0019] <agf3> The AGF3 comprises an on-board controller 310 and a drive unit 320. The on-board controller 310 transmits control commands to the drive unit 320 according to a route 712 received from the mobile control device 40b. As a result, the AGF3 moves according to the route 712. Further details about the AGF3 will be described later. "AGF" is an abbreviation for Automated Guided Forklift.

[0020] <Control device 1> The control device 1 controls multiple mobile bodies M and includes an AGV position / state aggregation unit 101a (AGF position / state aggregation unit 101b) and a group setting unit 102a (group setting unit 102b). The control device 1 also includes a movement rule setting unit 103a (movement rule setting unit 103b) and a communication unit 104. Thus, in this embodiment, prioritizing ease of explanation, the control device 1 has a configuration for AGV2 and a configuration for AGF3. In other words, the control device 1 is provided with a configuration for AGV2 consisting of the AGV position / state aggregation unit 101a to the movement rule setting unit 103a. The control device 1 is also provided with a configuration for AGF3 consisting of the AGF position / state aggregation unit 101b to the movement rule setting unit 103b. However, this embodiment is not limited to this, and the functions for AGV2 and AGF3 may be common, that is, the configurations for AGV2 and AGF3 may not be distinguished and may be provided in the control device 1. In this embodiment, AGV2 and AGF3 are collectively referred to as mobile unit M as appropriate.

[0021] The following sections will mainly describe the overview of the AGV position / state aggregation unit 101a to the movement rule setting unit 103a. Details of the processing performed by the AGV position / state aggregation unit 101a to the movement rule setting unit 103a will be described later. Furthermore, the AGF position / state aggregation unit 101b to the movement rule setting unit 103b are the same as the AGV position / state aggregation unit 101a to the movement rule setting unit 103a except for processing AGF3, so their explanation will be omitted.

[0022] (AGV position / status aggregation unit 101a) The AGV position / state aggregation unit 101a receives the current position (position and orientation) and current destination 720 (see Figure 3) of each AGV2 from the mobile device control device 40a via the communication unit 104, and updates the past information. The AGF position / state aggregation unit 101b performs the same processing for AGF3.

[0023] (Group setting section 102a) The group setting unit 102a groups together multiple AGV2s that are located in close proximity and moving in the same direction into a single group 800 (see Figure 12) (clustering). In this way, the group setting unit 102a sets up groups 800 of multiple mobile objects M based on their respective positions and destinations 720. Setting up groups 800 includes forming groups 800 and disbanding groups 800. Details of forming and disbanding groups 800 will be described later. At this time, the group setting unit 102a sets the maximum number of mobile objects M managed by one group 800 by the maximum number of mobile objects 112a (maximum number of mobile objects 112). In other words, the group setting unit 102a can also form groups 800 according to the maximum number of mobile objects 112a. Furthermore, if multiple types of mobile objects M are mixed together, the group setting unit 102a assigns mobile objects M of the same type to the same group 800.

[0024] Furthermore, if a mobile body M that satisfies a pre-set release condition 111a (release condition 111) exists in group 800, the group setting unit 102a releases the mobile body M that satisfies release condition 111a from group 800. Details of release condition 111a will be described later.

[0025] (Movement rule setting unit 103a)

[0026] The movement rule setting unit 103a sets a common movement rule 113a (movement rule 113) for each of the AGV2s that have been grouped into the same group 800 (see Figure 12) as a result of the group formation of AGV2s. The movement rule setting unit 103a sets the movement rule 113a common to the mobile bodies M belonging to the group 800 formed by the group setting unit 102a for the mobile bodies M belonging to the group 800. At this time, the movement rule setting unit 103a sets the movement rule 113a so that the mobile bodies M belonging to the group 800 move in a common movement pattern. Details of movement rule 113a will be described later.

[0027] <Mobile device control device 40a> The mobile control device 40a controls multiple grouped mobile objects M, which are AGV2s, based on the movement rules 113a set by the movement rule setting unit 103a. The mobile control device 40a includes a communication unit 408a and a destination setting unit 405a, etc. The mobile control device 40a communicates with the control device 1 and the AGV2s via the communication unit 408a, and the destination setting unit 405a sets the destination 720 (see Figure 3) for the AGV2s. Then, the mobile control device 40a generates a route 711 (see Figure 3) for each AGV2 based on the set destination 720. Details of the mobile control device 40a will be described later.

[0028] <Mobile device control device 40b> The mobile control device 40b controls the AGF3, which are a group of multiple mobile bodies M, based on the movement rule 113b set by the movement rule setting unit 103b. The mobile control device 40b includes a communication unit 408b and a destination setting unit 405b, etc. The mobile control device 40b communicates with the control device 1 and the AGF3 via the communication unit 408b, and the destination setting unit 405b sets the destination 720 (see Figure 5) for the AGF3. Then, the mobile control device 40b generates a route 712 (see Figure 5) for each AGF3 based on the set destination 720. Details of the mobile control device 40b will be described later.

[0029] Next, before describing the distinctive features of this embodiment, we will explain the underlying technology of this embodiment with reference to Figures 2 to 11.

[0030] <Operational environment 5> Figure 2 shows an example of the operating environment 5 of the control system Z in a warehouse / factory as assumed in this embodiment.

[0031] In this embodiment, as described in the background art, it is assumed that multiple AGV2s and AGF3s are operated together in the same space. In this embodiment, "different types" refers to AGV2s and AGF3s. In this embodiment, a differential two-wheel AGV2 is used as one form of transport work. However, the form of AGV2 is not limited to this, and a drive configuration such as an AGV2 equipped with Mecanum wheels that can move in all directions may be used. In addition, in this embodiment, AGF3s are also used as a transport configuration different from that of AGV2s. Compared to AGV2s, AGF3s have a larger vehicle shape and can transport a larger amount of cargo 503 at once. AGF3s are assumed to have a configuration in which cargo 503 placed on a pallet 501 is transported. Thus, in this embodiment, an operating environment 5 is assumed in which two types of mobile bodies M, AGV2s and AGF3s, are operated together.

[0032] In this embodiment, it is assumed that multiple types of mobile devices M with different applications, such as AGV2 and AGF3, are in operation together. In other words, "multiple types" refers to multiple applications. However, for example, in an operating environment 5 where only AGV2 is in operation, multiple types of mobile devices M may be in operation by operating AGV2 with different driving performance. Alternatively, multiple types of mobile devices M may be in operation by operating AGV2 from different vendors. That is, "multiple types" may refer to multiple types of device specifications.

[0033] In the operation environment 5, an operation of appropriately transporting a collection of goods 503 received from a transport truck 51 to a storage shelf 521 in a warehouse is shown. At this time, the received goods 503 are placed on a pallet 501 as a collective load 502, such as several cardboard boxes, by an operator P. In the present embodiment, the collective load 502 refers to a load 503 stored in a cardboard box and further stored in a larger cardboard box or the like. The collective load 502 is transported by the AGF3 to a temporary placement area 511 together with the pallet 501.

[0034] After that, in the temporary placement area 511, the operator P performs an inspection operation and, if necessary, unpacks the collective load 502 placed on the pallet 501 into individual goods 503 (including the cardboard boxes). The individual goods 503 are transported by the AGV2 to the storage shelf 521 and are arranged and stored in an appropriate section of the storage shelf 521 by the operator P located around the storage shelf 521. If it is not necessary to unpack the collective load 502, it is conceivable to improve efficiency by transporting the collective load 502 together with the pallet 501 by the AGF3 to the vicinity of the storage shelf 521. Therefore, in the present embodiment, such an operation form is assumed, and it is assumed to realize the transportation of the (split) goods 503 by the AGV2 and the transportation of the collective load 502 by the AGF3 in the same space.

[0035] Note that, in the operation environment 5, the area where the storage shelf 521 is arranged is referred to as a storage area 531.

[0036] For example, as shown in FIG. 2, the destinations 720 (see FIGS. 3 and 5) of both the AGV2 and the AGF3 are concentrated around the grid 601 (node 611) of the storage area 531 and the temporary placement area 511 in the operation environment 5. Therefore, the control device 1, for example, regards the AGV2 heading to the storage area 531 as the same group candidate. Also, the control device 1, for example, regards the AGV2 heading to the temporary placement area 511 as the same group candidate.

[0037] <AGV Travel Environment 6> Figure 3 shows an overview of the AGV driving environment 6. The AGV driving environment 6 shows information related to the operation of AGV2 from the operating environment 5 shown in Figure 2.

[0038] In the AGV driving environment 6, the entire driving environment is demarcated by a rectangular (square) grid 601. The center of the grid 601 is called a node 611, and the information connecting each node 611 is called a link 612. A graph structure 610 is then created consisting of nodes 611 and links 612. In Figure 3, nodes 611 and links 612 (i.e., the graph structure 610) are shown only in part of the AGV driving environment 6, but in reality, nodes and links 612 are set up throughout the entire driving environment. Based on this graph structure 610, a route 711 to the final destination 721 of AGV2 (node ​​611 of the final destination 721) is generated. The route 711 is generated by selecting nodes 611 and links 612. Note that the route 711, together with the route 712 of AGF3 shown in Figure 5, will be appropriately referred to as route 710. Furthermore, the final destination 721 will be referred to as destination 720, together with the final destination 721 and sub-goal 722 of AGF3, which will be described later in Figure 5.

[0039] (Block control / mutual exclusion control) Figure 4 is a conceptual diagram of the block control and mutual exclusion control performed in AGV system 4a (see Figure 10).

[0040] In the AGV system 4a, in order to avoid collisions and interference between AGVs 2, a function is provided to occupy a specific section of the route 711 to the final destination 721, and to prevent other vehicles from entering the occupied section. Such control is generally called block control or exclusive control. Block control / exclusive control is a safety function that operates independently of the generation of the route 711 (route generation). Hereafter in this embodiment, it will be consistently referred to as block control.

[0041] In the example shown in FIG. 4, there are AGV 2a and AGV 2b, and the path 711 to the final destination 721a of AGV 2a and the path 711 to the final destination 721b by AGV 2b partially overlap. In contrast, AGV 2a blocks four grids 601a (grids 601 shown by grid-like hatching) among the grids 601 corresponding to the path 711 of AGV 2a. On the other hand, AGV 2b is in a situation where it is only permitted to travel up to the three forward grids 601b (grids 601 shown by horizontal-line hatching). The grid 601a is the blocked area 631 of AGV 2a, and the grid 601b is the blocked area 631 of AGV 2b. Thus, the blocked area 631 is an area exclusively occupied by the moving body M.

[0042] Also, in the example shown in FIG.  4, the grid 601c shown by the thick frame should be the common blocked area 631 for AGV 2a and AGV 2b, but in reality, it is assigned as the blocked area 631 of AGV 2a. This is because the blocked area 631 of AGV 2a was set first, or because the priority of AGV 2a is higher than the priority of AGV 2b. The reason why up to four grids 601 are set as the blocked area 631 is that the maximum blocked area length is set to "4".

[0043] The number (length) of the grids 601 in such a blocked area 631 greatly affects the productivity of the AGV system 4a. The length of the blocked area 631 needs to be appropriately set according to the performance of the movement control device 40a shown in FIG. 1 and the in-vehicle controller 210 and the number of AGVs 2. However, since the setting of the length of the blocked area 631 is not the main point of this embodiment, the description of the detailed blocked control design guidelines is omitted.

[0044] <AGF Traveling Environment 7> FIG. 5 is a diagram showing an overview of the AGF traveling environment 7. The AGF traveling environment 7 shows information related to the traveling of the AGF 3 among the operation environments 5 shown in FIG. 2.

[0045] In this embodiment, the AGF3 does not travel in sections demarcated by the grid 601 like the AGV2, but is configured to travel freely throughout the entire area of ​​a specific region. The reason why the AGF3 is configured to travel freely is that the number of AGF3s is less than the number of AGV2s. The AGF3s may move based on the grid 601 (links 612 and nodes 611) as shown in Figure 3, or the AGV2s may travel freely as shown in Figure 5 for the AGF3s.

[0046] More specifically, the path generation unit 406b (see Figure 11) calculates the path 712 (consisting of a time series of target position, attitude, and velocity information) for each AGF3 using model predictive control. The path 712 may be the path from the AGF3's current location to the final destination 721. Alternatively, to reduce the computational load, the path 712 may be the path from the AGF3's current location to an intermediate point (hereinafter referred to as a sub-goal 722). The final destination 721 is the location that the AGF3 ultimately reaches.

[0047] In this embodiment, the path generation unit 406b (see Figure 11) sequentially optimizes the path 712 of the AGF3 by model predictive control so as not to interfere with other AGF3s and obstacles (not shown). In this process, the path generation unit 406b performs sequential optimization of the path 712 using the paths 712 of other AGF3s and surrounding obstacle information as input information. Therefore, compared to the AGV system 4a, the AGF3 can travel to the destination 720 (final destination 721 or sub-goal 722) while avoiding other AGF3s and obstacles with a smoother path 712. The path generation by model predictive control will be briefly described in the outline of the path generation unit 406b in the mobile device control device 40b described later, but the details of the process are known technology and therefore will not be described in detail in this embodiment.

[0048] Next, the configurations of AGV2 and AGF3 will be described with reference to Figures 6 to 9.

[0049] (AGV2) Figure 6 is a conceptual diagram of the AGV2 used in this embodiment.

[0050] As shown in Figure 6, the AGV2 is driven by the drive wheels 21. In this embodiment, a differential two-wheel type AGV2 is used as an example. However, as mentioned above, it is not limited to this, and various drive types of AGV2 such as omni-wheel type and Mecanum wheel type may be used. Here, the position information of the AGV2 is (x, y, θ), where "x" and "y" represent the x and y coordinates of the AGV2, respectively. Also, "θ" represents the orientation (direction) of the AGV2. In the diagram shown in Figure 6, "θ" is the axial angle of the AGV2 with respect to the X axis. The self-position calculation unit 215, which will be described later in Figure 7, calculates its own position by calculating the current (x, y, θ) values.

[0051] (AGV2 Functional Block Diagram) Figure 7 is a functional block diagram of AGV2.

[0052] Each AGV2 is equipped with an on-board controller 210 and a drive unit 220 for performing control calculations. The on-board controller 210 includes a route management unit 211, an on-board sensor 212, a driving map management unit 213, a control command generation unit 214, a self-position calculation unit 215, and a communication unit 216. Of these, the communication unit 216 communicates with the mobile device control device 40a shown in Figure 10. The drive unit 220 includes a drive unit 221 and an encoder 222. The outlines of each function are described below.

[0053] The route management unit 211 receives the route 711 (see Figure 3) generated by the mobile device control device 40a via the communication unit 216. As shown above in Figure 3, the route 711 consists of a set of nodes 611 and links 612. The route management unit 211 receives the route 711 as it is sequentially updated from the mobile device control device 40a.

[0054] The on-board sensor 212 is an external sensor mounted on the AGV2. In this embodiment, as an example of the on-board sensor 212, a LiDAR is assumed to be mounted on the on-board controller 210. LiDAR stands for Light Detection And Ranging. LiDAR is a sensor that uses laser light to measure the distance to objects in the irradiation range. However, AR tags or RFID tags may be installed on the road surface or the like, not limited to LiDAR. The on-board controller 210 may then read these tags with a dedicated sensor (not shown) to obtain the driving position and direction of the AGV2. AR stands for Augmented Reality, and RFID stands for Radio Frequency Identification.

[0055] The driving map management unit 213 manages a driving map (a different image map from the AGV driving environment 6 shown in Figure 3: not shown) that shows obstacle information in the aforementioned operating environment 5 (see Figure 2). The driving map is created in advance by SLAM before the start of operation, using measurement data of the AGV2 during operation and input information of the AGV2's travel distance. The measurement data of the AGV2 during operation is acquired from the on-board sensor 212 (LiDAR in the example shown in this embodiment). The travel distance information is obtained from the encoder 222 provided in the drive unit 220. Incidentally, SLAM is an abbreviation for Simultaneous Localization and Mapping. The creation of the driving map by SLAM is a known technology, so an explanation is omitted.

[0056] The self-position calculation unit 215 combines measurement data obtained from the on-board sensor 212 and encoder 222 to estimate the self-position of AGV2 relative to an arbitrary coordinate system on the driving map. The self-position is expressed as the position coordinates (coordinate values ​​x, y) and orientation θ of AGV2. Specifically, the self-position calculation unit 215 estimates the self-position using map matching technology. Since the self-position estimation technology using map matching is a known technology, a detailed explanation is omitted.

[0057] The control command generation unit 214 is a function that performs calculations related to the driving control of AGV2. The control command generation unit 214 takes the path 711 and its own position as input information and performs calculations to determine the control command for the vehicle to follow the path 711. "The vehicle" refers to the mobile body M (AGV2, AGF3) itself, which is controlled by the onboard controller 210 or the onboard controller 310 shown in Figure 9. For example, the control command generation unit 214 sets the nearest node 611 relative to its own position, which constitutes the path 711, as the target node, and sequentially calculates the speed "v" and angular velocity "ω" to reach this target node. Specifically, the control command generation unit 214 determines the control command using methods such as the pure pursuit method. Since such a method for determining control commands is publicly known, a detailed explanation is omitted.

[0058] The drive unit 221 converts the command values ​​(velocity "v" and angular velocity "ω") included in the control command input from the control command generation unit 214 into predetermined current values ​​in order to transmit power to the drive wheels 21 (see Figure 6) of the AGV2. The encoder 222 acquires the amount of rotation of the drive wheels 21 and estimates the distance traveled and the current speed of the AGV2. The encoder 222 then transmits the estimated values ​​(distance traveled and current speed) as response values ​​from the drive unit 221 to the self-position calculation unit 215.

[0059] The above is an overview of the functions of AGV2. Next, we will explain the configuration of AGF3, focusing only on the differences from AGV2.

[0060] (AGF3) Figure 8 is a conceptual diagram of the AGF3 used in this embodiment.

[0061] The AGF3 used in this embodiment is a forklift consisting of fixed wheels 31 on the fork side and drive wheels 32 and driven wheels (casters) 33 on the bumper side, but it can also handle various other drive configurations. Here, the state variables of the AGF3 are expressed as (x, y, θ) in the same way as in the AGV2.

[0062] (AGF3 Functional Block Diagram) Figure 9 is a functional block diagram of AGF3.

[0063] Like the AGV2, the AGF3 is equipped with a drive unit 320 and an on-board controller 310 that performs control calculations for the drive unit 320. The following description will focus on the control command generation unit 314, which is unique to the AGF3. Other configurations are the same as those of the AGV2 and will therefore not be described.

[0064] (Control command generation unit 314) In the AGF system 4b shown in Figure 11, the mobile control device 40b is characterized by calculating the path 712 (see Figure 5: time-series information of state variables (x, y, θ)) for each AGF3. Therefore, the onboard controller 310 does not need to generate target control input information. The control command generation unit 314 then transmits the control input information (information on velocity "v" and angular velocity "ω") of the first step of the path 712 to the drive unit 321. In the AGF3, since the path 712 is transmitted sequentially from the mobile control device 40b, only the first step of the path 712 is transmitted to the drive unit 321 repeatedly.

[0065] The above describes the configuration of AGV2 and AGF3. Next, with reference to Figures 10 and 11, the configuration of the control functions (AGV system 4a and AGF system 4b) that manage AGV2 and AGF3 will be described.

[0066] (AGV system 4a) Figure 10 shows an example of the configuration of the functional blocks of the AGV system 4a.

[0067] In this embodiment, the AGV system 4a consists of a mobile control device 40a and a plurality of AGVs 2. As described above, an on-board controller 210 is provided in each AGV 2. The mobile control device 40a includes a position / state / performance storage unit 401a, a graph structure storage unit 402a, a blockage state storage unit 403a, and a blockage control unit 404a. Furthermore, the mobile control device 40a includes a destination setting unit 405a, a route generation unit 406a, a route determination unit 407a, and a communication unit 408a. Also, in Figures 10 and 11, the lines with arrows represent the flow of data. Hereafter, an overview of each functional block provided by the mobile control device 40a will be described based on the configuration example in Figure 10.

[0068] (Location, state, and performance memory unit 401a) The position / state / performance memory unit 401a stores the current position, attitude, current state, and basic information of the AGV2. The current state may include the AGV2's battery level and the loading status of the load 503 (see Figure 2) (loaded / empty). This information is updated sequentially by receiving it from the on-board controller 210 installed in the AGV2 via the communication unit 408a. Specific examples of basic information include dimensions related to the AGV2's shape, such as its width, length, height, and wheelbase. Furthermore, specific examples of basic information may include values ​​related to the AGV2's driving capabilities, such as its maximum (minimum) speed, maximum (minimum) angular velocity, and maximum (minimum) acceleration. The position / state / performance memory unit 401a also manages the AGV2's maximum battery capacity and the maximum weight of the load 503 that can be carried. Furthermore, the position, state, and performance memory unit 401a also manages the maximum block section length, which will be handled by the block control unit 404a described later.

[0069] (Graph structure storage unit 402a) The graph structure storage unit 402a manages the graph structure 610, which is composed of nodes 611 and links 612 (see Figure 3 for the graph structure 610). Weights can be assigned to the links 612 as needed when the AGV2 passes through them. For example, each link 612 is assigned a weight, and the AGV2 preferentially moves in the direction of the link 612 with the greater weight. Furthermore, in the example shown in this embodiment, the grid 601 constituting the travel environment is square, as shown in Figure 3, and there is no difference in travel distance in the forward, backward, and left-right directions of the AGV2. In other words, the length of each link 612 is the same in all directions.

[0070] In this embodiment, as an example, a weight of "1.0" is set for each of the links 612. Also in this embodiment, in the layout shown in Figure 3, the grid 601 corresponding to the storage area 531 and the temporary storage area 511 is set as the final destination 721. The AGV2 then repeatedly performs the operation of traveling back and forth between the storage area 531 and the temporary storage area 511.

[0071] (Destination setting section 405a) The destination setting unit 405a determines the destination 720 for each AGV2 based on the task information requested for the entire AGV system 4a. There is also a method of changing the order of destinations 720 to maximize productivity within a given time, according to the content of the tasks. However, since this method is not a core part of this embodiment, in this embodiment, tasks are assigned to AGV2s in task waiting state in order from the top of the task group list. The task group is a collection of tasks that are input to the mobile control device 40a by the user. The destination 720 may be the position coordinates of the final destination 721 corresponding to the task, or it may be a sub-goal 722 which is an intermediate point (waypoint) between the current position and the final destination 721.

[0072] (Route generation unit 406a) The route generation unit 406a generates a route 711 (see Figure 3) for each AGV2 from its own position to the destination 720 in a unified manner. The route generation unit 406a generates the route 711 using the graph structure 610, the current position and current state of each AGV2, and the destination 720 (grid 601) as input information. The graph structure 610 is information managed by the graph structure storage unit 402a, and the current position and current state of each AGV2 are information managed by the position / state / performance storage unit 401a. The destination 720 (grid 601) is information output from the destination setting unit 405a.

[0073] There are many existing methods for route generation, such as Dijkstra's algorithm and the A* (A-star) algorithm. While a detailed explanation is omitted, this embodiment uses an algorithm based on the A* algorithm. The generated route 711 is represented as a set of links 612 that the AGV2 will traverse, as described above. The AGV2's journey through these links 612 in order guarantees arrival at the destination 720. The route 711 shown in Figure 3 is an example of a generated route 711. The generated route 711 is transmitted to the block control unit 404a.

[0074] (Blocked state storage unit 403a and blocked control unit 404a) The details of the block control performed by the block control unit 404a are as described above in the explanation of block control using Figure 4. Based on the maximum block section length managed by the position / state / performance storage unit 401a, the block control unit 404a calculates how far the route 711 generated by the route generation unit 406a can occupy the grid 601. The maximum block section length is the maximum length of grid 601 that can be secured as the block area 631 (see Figure 4). The range that can be traveled changes each time depending on the block status of other AGV2s, but the block control unit 404a is designed to always block the grid 601 corresponding to the current position in order to avoid collisions with other vehicles. The grid 601 corresponding to the current position is the grid 601 where the AGV2 is located. In this way, the block control unit 404a sets the block area 631 based on the route 711.

[0075] The blockage state storage unit 403a manages which grid 601 each AGV2 is currently blocking (occupying) (blockage information). Since the blocked area 631 of each AGV2 changes moment by moment, the blockage information managed by the blockage state storage unit 403a is updated sequentially in conjunction with the input / output information of the path generation unit 406a and the blockage control unit 404a, which will be described later.

[0076] (Route determination unit 407a) The route 711 generated by the route generation unit 406a is sent to the block control unit 404a, where the block control unit 404a sets the block region 631. The route determination unit 407a transmits the route 711, which has been processed by the block control unit 404a, to the on-board controller 210 of each AGV2 via the communication unit 408a. The transmitted route 711 is acquired by the route management unit 211 provided in the on-board controller 210 of the AGV2.

[0077] (AGF System 4b) Figure 11 shows an example of the configuration of the functional blocks of the AGF system 4b.

[0078] In this embodiment, the AGF system 4b consists of a mobile device control unit 40b and AGF3. As described above, the on-board controller 310 is provided in each AGF3. The configuration of the mobile device control unit 40b is generally the same as that of the mobile device control unit 40a. Hereafter, only the route generation unit 406b, route management unit 411, and control input determination unit 412, which are the differences in configuration from the mobile device control unit 40a, will be described. The configurations other than the route generation unit 406b, route management unit 411, and control input determination unit 412 are the same as those of the mobile device control unit 40a, so their description will be omitted.

[0079] (Path generation unit 406b) The path generation unit 406b determines a path 712 (see Figure 5) leading to the destination 720 set by the destination setting unit 405b using model predictive control. The path 712 is represented by a set (time series) of target positions (xt, yt, θt) for each arbitrary time step and target control inputs (vt, ωt) to realize these states. The path generation unit 406b uses a model that mathematically expresses the operating characteristics of the AGF3 drive unit 320 to generate a path 712, which is time-series information of optimal control inputs for reaching the target state (in this case, the destination) (model predictive control). In this process, the path generation unit 406b generates a path 712 that does not interfere with other AGF3s by adding the paths 712 of other AGF3s as non-interference regions as constraints for the optimization calculation by model predictive control. The paths 712 of other AGF3s are input from the path management unit 411, which will be described later. Details of the model predictive control are omitted as they are known technologies. The generated route 712 is transmitted to the route management unit 411 and the control input determination unit 412.

[0080] (Route Management Unit 411) The route management unit 411 aggregates and manages the routes 712 for each AGF3 that are generated by the route generation unit 406b. Since the processing performed by the route generation unit 406b is performed periodically, each AGF3's route 712 is updated each time a route 712 is generated.

[0081] (Control input determination unit 412) The control input determination unit 412 transmits the control input information for the first step in the route 712 generated by the route generation unit 406b to the in-vehicle controller 310 of the AGF3 that is the target of the route 712, via the communication unit 408b. The transmitted control input information is the velocity "vt" and angular velocity "ωt" information for the first step in the route 712.

[0082] The above is an overview of the AGV system 4a and the AGF system 4b. The following describes the processing performed by the control system Z, which is the main focus of this embodiment.

[0083] <Objective of this embodiment> In an environment where multiple types of mobile objects M (AGV2 and AGF3 in this embodiment) coexist, the following issues may occur. For example, if the AGV system 4a and the AGF system 4b cannot understand (share) each other's precise control methods or the accuracy of their route tracking 710, it is necessary to predict both routes 710 to some extent and coordinate their actions. The tracking accuracy varies depending on the arrival time to each destination 720 and the possibility of route changes.

[0084] When behavioral mediation involving prediction is performed, each AGV2 and AGF3 will take actions to avoid collisions, such as pausing or avoiding other mobile objects M. Therefore, depending on the number and density of mobile objects M, frequent deceleration and stopping for detours may occur, potentially leading to a decrease in overall productivity. Furthermore, it is possible that the resolution of one behavioral mediation may propagate, causing further mediation to be required at other locations. In addition, the computation time required for behavioral mediation may increase with the number of mobile objects M.

[0085] <Group 800> Next, the features of this embodiment will be explained with reference to Figures 12 to 22. In this embodiment, group formation processing is performed in both AGV2 and AGF3, but in Figures 12 to 19, unless otherwise noted, the explanation will primarily focus on AGF3 for clarity. The processing related to group 800 in AGV2 is the same as in AGF3.

[0086] Figure 12 is a conceptual diagram illustrating an example of group formation. Refer to Figure 1 as appropriate.

[0087] In Figure 12, AGF3a and AGF3b, which are in close proximity to each other and traveling toward the storage area 531 (see Figure 2), are grouped together as the same group 801 (group 800). Also in Figure 12, AGF3c and AGF3d, which are in close proximity to each other and traveling toward the temporary storage area 511 (see Figure 2), are grouped together as the same group 802 (group 800). As AGF3c and AGF3d continue traveling, they will approach AGF3e, which is traveling in the same direction. Therefore, the group setting unit 102b updates group 800 to group 803 (group 800), which includes AGF3e, in a process several steps (several seconds) ahead. In this embodiment, once a group of mobile bodies M is formed, it will maintain the same group 800 unless it falls under the conditions for disgrouping shown below.

[0088] While various grouping logics (clustering logics) are possible, in this embodiment, grouping is performed based on the location of the AGF3 and its proximity to the destination 720. Based on proximity to the destination 720 means that AGF3s heading toward adjacent destinations 720 are added to the same group 800. Specifically, the group setting unit 102b performs the following two types of calculations and assigns the same group ID to AGF3s that are set as group candidates in both calculations.

[0089] (A1) Proximity of AGF3 locations: The group setting unit 102b takes the current location of each AGF3 as input information and designates AGF3s whose distance from each other is within a specific threshold as candidates for the same group. The specific threshold is, for example, 5m. The current location of each AGF3 is acquired by the AGF location / state aggregation unit 101b.

[0090] (A2) Proximity of destination 720: The group setting unit 102b groups the AGF3s based on the location of the destination 720 for each AGF3. In this case, the group setting unit 102a considers the AGF3s to be candidates for the same group if the distance between the respective destination locations is within a certain threshold or if they are located in the same area. The location of the destination 720 for each AGF3 is obtained by the AGF location / state aggregation unit 101b.

[0091] Furthermore, since there are no other AGF3s that satisfy the conditions (A1) and (A2) described above, AGF3f to 3h are individually formed into groups 804 to 806 (group 800).

[0092] The occlusion region 631 of group 800 (see Figure 4) will be described later, but the type of occlusion region 631 can be arbitrarily set by the user in advance.

[0093] Furthermore, if a large number of mobile bodies M (AGF3 in the example of Figure 12) are managed and formed as a single group 800, one group 800 (a collection of mobile bodies M) will occupy a large blockage area 631. As a result, other mobile bodies M may be forced to take excessive detours. Therefore, the maximum number of mobile bodies M managed by one group 800 may be set by the maximum number of mobile bodies 112b shown in Figure 1. By setting the maximum number of mobile bodies 112b, it is possible to prevent one group 800 from becoming excessively large, and to prevent other mobile bodies M from being forced to take excessive detours.

[0094] <Ungroup> The movement rule setting unit 103b assigns common or adjacent destinations 720 (see Figure 5) to mobile bodies M (AGF3 in the example shown in Figure 12) belonging to the same group 800. As a result, mobile bodies M belonging to the same group 800 travel in the same direction and in close proximity to each other. On the other hand, each mobile body M will ultimately reach a different destination 720. Therefore, at some point it is necessary to disband the group 800 and assign each mobile body M a destination 720. In this embodiment, if the position of any one of the mobile bodies M belonging to the same group 800 becomes within a predetermined distance (for example, 3m) of the destination 720, the group setting unit 102b disbands the group 800.

[0095] Figure 13 is a conceptual diagram showing an example of a group ungrouping process.

[0096] In the example shown in Figure 13, group 800 has a common final destination 721, and AGF3A and AGF3B, which are moving in parallel toward the common final destination 721, belong to this group. After passing the sub-goal 722, when AGF3A and AGF3B approach a certain distance from their respective final destinations 721A and 721B, the group setting unit 102b disbands group 800. That is, if the moving bodies M (AGF3A, 3B) are within a predetermined range from the destination 720, the group setting unit 102b determines that the disbanding condition 111 is met and disbands group 800. As a result, AGF3A and 3B move toward their respective final destinations 721A and 721B. At this time, the movement rule setting unit 103b switches the control of the moving bodies M, which have been disbanded from group 800, from following the common movement rule 113 to controlling each individual moving body M. This allows each mobile unit M (AGF3 in the example shown in Figure 13) to reach the correct destination 720. The release condition 111b (release condition 111) shown in Figure 1 contains a predetermined distance to the destination 720 set in group 800.

[0097] In this way, the group setting unit 102b determines whether or not the pre-set release condition 111 is met based on the position of the moving object M. The group setting unit 102b then determines that the release condition 111 is met if the moving object M is within a predetermined range from the destination 720.

[0098] The above describes the group formation and degrouping performed by the group setting unit 102b. In this embodiment, the group setting unit 102a also performs the same processing for AGV2.

[0099] <Movement Rule 113> Then, the movement rule setting unit 103b sets common movement rules 113 for the moving objects M that have been grouped into the same group 800 (see Figure 12) as a result of group formation for the moving objects M. The following six specific examples of movement rules 113 are set.

[0100] (B1) Relative speed / velocity. In other words, the movement rule setting unit 103b sets a common running speed or a common relative speed as movement rule 113 (movement rule 113b) for the moving bodies M (AGF3) belonging to group 800. As a result, the moving bodies M belonging to the same group 800 move at roughly the same speed as each other, that is, at a small relative speed. This makes it possible for the moving bodies M belonging to the same group 800 to move without changing the size of group 800.

[0101] (B2) Direction. In other words, mobile objects M belonging to the same group 800 move in the same direction (clockwise, counterclockwise, etc.).

[0102] (B3) Sub-goal 722 (see Figure 5). In other words, the position coordinates of a common sub-goal 722 and the position coordinates of nearby sub-goals 722 are set for mobile units M belonging to the same group 800. Incidentally, it is also possible to set sub-goal 722 for AGV2.

[0103] (B4) Final destination 721 (see Figure 5). In other words, the position coordinates of a common final destination 721, or the position coordinates of a nearby final destination 721, are set for mobile bodies M belonging to the same group 800.

[0104] According to (B3) and (B4), the movement rule setting unit 103b sets a common destination 720f (see Figure 17) or nearby destinations 720e, 720g (see Figure 17) for the moving bodies M (AGF3) belonging to group 800. That is, the movement rule setting unit 103b sets the common destination 720f, which is the common destination 720, as the common movement rule 113 (movement rule 113b). Alternatively, the movement rule setting unit 103b sets the nearby destinations 720e, 720g, which are nearby destinations 720, as the common movement rule 113 for the moving bodies M belonging to group 800. As a result, each of the moving bodies M belonging to group 800 moves together in a common direction.

[0105] (B5) Blocked area 631 (see Figure 4). The movement rule setting unit 103b sets a blocked area 631 that includes a group of multiple moving bodies M. The movement rule setting unit 103b then sets the movement rule 113 (movement rule 113b) within the set blocked area 631 for the moving body M (AGF3) belonging to group 800. As a result, the control device 1 does not need to manage the blocked area 631 for each individual moving body M, thus reducing the computational load on the control device 1.

[0106] For AGV2, the occluded area 631 is set based on the grid 601 shown in Figure 4. However, for AGF3, the occluded area 631 is set without relying on the grid 601 by setting a predetermined movable area and an entry-restricted area (obstacle area).

[0107] (B6) Relative distance. In other words, the movement rule setting unit 103b sets the movement rule 113 so that the relative distance between the moving bodies M (AGF3) belonging to group 800 remains constant. As a result, the speed of each moving body M is set so that the moving bodies M belonging to the same group 800 travel as close together as possible without colliding with each other. As a result, the moving bodies M belonging to group 800 can move together without colliding with each other.

[0108] Note that these movement rules 113b (movement rule 113) cannot always be set and depend on the control characteristics of the AGF system 4b (or AGV system 4a). For example, regarding (B4) final destination 721 among the movement rules 113b mentioned above, if it is set in advance by the mobile device control device 40b (mobile device control device 40a) and cannot be changed (updated) from the outside, it cannot be treated as movement rule 113b (movement rule 113a).

[0109] Furthermore, all of the aforementioned (B1) to (B6) may be set in group 800. Alternatively, the user may select any movement rule 113 from (B1) to (B6) depending on the situation, and the selected movement rule 113 may be set in group 800. Alternatively, the movement rule setting unit 103b may set a specific movement rule 113 from (B1) to (B6) in group 800 depending on the situation of the moving object M. For example, the movement rule 113 set may differ depending on the type of moving object M, such as only (B1) for AGV2 and (B3) + (B5) for AGF3. In such cases, the movement rule 113 set manually is selected. Alternatively, the movement rule 113 applied by the vendor of AGV2 or AGF3 may be selected. Alternatively, when a group is formed, only the movement rule 113 (B1) may be set for AGF3, which is close to the final destination 721, while (B1) to (B3) may be set for the others. In other cases, the movement rule 113 may be set dynamically according to the state of the moving object M.

[0110] When movement rule 113 is set, it means that movement rule 113 is set for each of the mobile units M (AGV2 and AGF3) belonging to group 800.

[0111] Figures 14 to 19 show specific examples of the movement rule 113 described above.

[0112] The conceptual diagrams shown in Figures 14 and 15 illustrate the conceptual diagrams of (B1) and (B6) of the aforementioned movement rules 113. Figure 14 shows the behavior of AGF3 immediately after grouping and before movement rules 113 are set. In the state shown in Figure 14, each AGF3 belonging to group 811 (group 800) is traveling at a different speed (velocity vectors 901, 902).

[0113] In contrast, Figure 15 shows a state where movement rule 113b (movement rule 113) has been set for group 811 (group 800). In this case, the movement rule setting unit 103b causes the AGF3 belonging to group 811 to move as a single unit as possible. That is, the movement rule setting unit 103b unifies the speed (velocity vector 903) of each AGF3 belonging to group 811 and adjusts the speed to set the relative speed to 0. The movement rule setting unit 103b also sets movement rule 113b to maintain the relative distance 911 between moving bodies M belonging to group 800 at a constant interval.

[0114] In this way, the movement rule setting unit 103b sets a common running speed or a common relative speed as a movement rule 113 for each moving body M belonging to group 800, as shown by the velocity vector 903.

[0115] Figures 16 and 17 show conceptual diagrams of (B3) or (B4) of the aforementioned movement rule 113b. In Figures 16 and 17, groups 812 and 813 are shown to represent the differences in movement for each group 800.

[0116] Figure 16 shows the state immediately after grouping, before movement rule 113 has been set. In addition, AGV2 is shown in Figure 16 in addition to AGF3 to explain how to set destination 720.

[0117] In the state shown in Figure 16, each AGF3j,3k and AGV2j,2k moves toward a different destination 720 (destinations 720a to 720d in the example shown in Figure 16). In the example shown in Figure 16, AGV2j, belonging to group 812, is moving toward destination 720a, while AGV2k is moving toward destination 720b, which is adjacent to destination 720a. Also, AGF3j, belonging to group 813, is moving toward destination 720c, while AGF3k is moving toward destination 720d.

[0118] However, as shown in Figure 17, after grouping, the movement rule setting unit 103a sets the destination 720 for each AGV2 so that the AGV2s belonging to the same group 800 travel as a single unit as much as possible. Similarly, the movement rule setting unit 103b sets the destination 720 for each AGF3 so that the AGF3s belonging to the same group 800 travel as a single unit as much as possible. Specifically, the movement rule setting units 103a and 103b set a common destination or a nearby destination 720 for the mobile bodies M belonging to the same group 800.

[0119] For example, as mentioned above, AGV2j and 2k are grouped together in group 812. As shown in Figure 3, AGV2 moves based on a path 711 that is based on links 612 and nodes 611 set in grid 601. In other words, AGV2 can only move forward, backward, or left or right, and has a low degree of freedom in direction of movement. If a common destination 720 is set for AGV2 that moves in this way, from the standpoint of block control, it is expected that one of the AGV2s belonging to group 800 will decelerate or stop. In other words, if a common destination 720 is set for multiple AGV2s, it is expected that the AGV2s will decelerate or stop in order to avoid collisions between them. For this reason, for AGV2, instead of a common destination 720 as shown in Figure 17, the destination 720 for each AGV2 is set in an adjacent grid 601. In the example shown in Figure 17, the movement rule setting unit 103a sets adjacent destinations 720g and 720e for AGV2k and 2j, respectively. Adjacent destinations 720g and 720e are set as destination 720e in the adjacent (nearby) grid 601. Then, the control device 1 instructs the mobile body control device 40a to update AGV2j's path 712 toward destination 720e. Similarly, the control device 1 instructs the mobile body control device 40a to update AGV2k's path 712 toward destination 720g. As a result, AGV2j and 2k move in a common direction (arrow A1).

[0120] On the other hand, as mentioned above, AGF3j and 3k are grouped into group 813. In this embodiment, route generation is performed for AGF3 using model predictive control. With such model predictive control, it is possible to adjust the behavior of AGF3 (speed, direction of movement, etc.) in accordance with the behavior of other AGF3. Therefore, with respect to AGF3, it is possible to set a common destination 720 for multiple AGF3, as shown in destination 720f in Figure 17. In other words, the movement rule setting unit 103b sets a common destination 720 for AGF3 belonging to the same group 800. By setting a common destination 720 for AGF3 belonging to the same group 800 in this way, AGF3 belonging to the same group 800 can travel in parallel with each other. In the example shown in Figure 17, common destination 720f is set as a common destination 720 for AGF3j and 3k belonging to the same group 800. Then, control device 1 instructs mobile body control device 40b to update the paths 712 of AGF3j and AGF3k toward destination 720f. As a result, AGF3j and AGF3k move in a common direction (arrow A2).

[0121] Figures 18 and 19 show conceptual diagrams of (B5) Blocked area 631 (operable area, no-entry area (obstacle area)) of movement rule 113.

[0122] Figure 18 shows the state immediately after grouping, before movement rule 113 is set. Before movement rule 113 is set, AGV2 belonging to group 814 and AGF3 belonging to group 815 are each running with different occluded areas 631 set. However, after movement rule 113 is set, AGV2 and AGF3 belonging to the same group 800 will run as a single unit as much as possible. Therefore, a common occluded area 631, i.e., occluded areas 631c and 631d that include multiple grouped mobile bodies M, is set for AGV2 and AGF3 belonging to group 800. As shown in Figure 19, the occluded area 631 is also an area that prevents other mobile bodies M from entering, and its shape may be rectangular as shown in occluded area 631c. Alternatively, a polygonal occluded area 631 may be set as shown in occluded area 631d. Alternatively, although not shown in Figure 19, an elliptical occluded area 631 may be set. For AGV2 and AGF3 belonging to such group 800, the movement rule setting unit 103a and movement rule setting unit 103b set a common block area 631 for the vehicles belonging to group 800. Such settings are performed by a predetermined algorithm. For example, the block area 631c shown in Figure 19 is configured by combining the block areas 631 of the two AGV2 in Figure 18 and then matching the length in the direction of travel of the AGV2 and the length in the opposite direction of travel. Also, the block area 631d shown in Figure 19 is set to include a common destination 720 (destination 720f in Figure 17) for the two AGF3s and to include the paths 712 of the two AGF3s.

[0123] However, a common occlusion region 631 may not be set for the mobile bodies M belonging to group 800, and the occlusion region 631 set for each individual mobile body M (AGV2, AGF3) may be used. For example, a common occlusion region 631 may not be set for AGV2, but a common occlusion region 631 may be set for AGF3. The movement rule setting units 103a and 103b set an appropriate shape according to the region shape (rectangle or polygon) that can be set in the AGV system 4a or AGF system 4b. In this way, the movement rule setting units 103a and 103b set occlusion regions 631c and 631d that include the grouped mobile bodies M.

[0124] In this embodiment, as shown in Figure 1, group control is performed on the AGF3 side (AGF position / state aggregation unit 101b to movement rule setting unit 103b). AGF3 (group 800) avoids AGV2 (group 800) by the obstacle detection and avoidance function of the mobile control device 40b. In other words, AGF3 (group 800) avoids AGV2 (group 800) by considering AGV2 as an obstacle. The same applies to AGV2.

[0125] In this way, by setting movement rule 113 (movement rules 113a, 113b), each of the moving objects M belonging to group 800 moves in a common movement pattern.

[0126] <Control Method> Figures 20 to 22 are flowcharts showing the procedure of the control method according to this embodiment.

[0127] In the control method shown in this embodiment, a common or adjacent subgoal 722 is set for AGV2 and AGF3 as the movement rule 113 for group 800 (B3). Note that the processing shown in Figures 20 to 22 is just an example, and any of the movement rules 113 (B1) to (B6) described above may be set. In addition, different movement rules 113 may be set for AGV2 and AGF3.

[0128] First, in step S101 of Figure 20, the AGV system 4a is started, and in step S102, the AGF system 4b is started. Furthermore, in step S103, the control device 1 is started. Note that the start-up order is not limited to steps S102 to S103; any order is acceptable.

[0129] Next, in step S111, the movement rule setting unit 103a determines which of the aforementioned movement rules 113a (B1) to (B6) to apply to AGV2. As described above, in this embodiment, the movement rule 113a relating to subgoal 722 is applied. Similarly, in step S112, the movement rule setting unit 103b determines which of the aforementioned movement rules 113b (B1) to (B6) to apply to AGF3. In this embodiment, the movement rule 113b relating to subgoal 722 is also set for AGF3. Note that the order of processing in steps S111 and S112 is not limited to the order shown in Figure 20, and any order is acceptable. Also, the determination of the movement rule 113 in steps S111 and S112 may be done manually by the user. Alternatively, if a method for determining the movement rule 113 (such as (B1) to (B3) for AGV2 and (B4) to (B6) for AGF3) has been set in advance, the control device 1 may make the determination according to that determination method.

[0130] Next, in step S121, the destination setting unit 405a of the mobile control device 40a acquires a task group for each AGV2. The task group is a collection of tasks (=destinations 720) and is set by the user via an input device (not shown) of the mobile control device 40a.

[0131] Similarly, in step S122, the destination setting unit 405b of the mobile control device 40b acquires a set of tasks for each AGF3. The processing in step S122 is the same as on the AGV2 side (step S121). Note that the processing order for steps S121 and S122 is not limited to the order shown in Figure 20, and can be any order.

[0132] The subsequent processing will be partially performed by the control device 1, but the processing will be executed for AGV2 and AGF3 respectively. The processing for AGV2 will be steps S201 to S233, and the processing for AGF3 will be steps S301 to S333. In this case, steps S301 to S333 may be executed after steps S201 to S233, or both processes may be executed in parallel at their respective cycles, like in multithreading.

[0133] Hereafter, "task standby state" and "driving state" are defined as expressions that indicate a state of the vehicle. "Task standby state" refers to the state in which the mobile vehicle M is stopped when the AGV system 4a or AGF system 4b is started or after the current task is completed (destination 720 is reached) until the next task is received. "Driving state" refers to the state in which the mobile vehicle M is driving after receiving a task.

[0134] (Control on the AGV2 side) First, in step S201 of Figure 21, the AGV position / state aggregation unit 101a acquires the current position (initial position) of each AGV2. When the AGV system 4a starts operating, the drive unit 220 and the on-board controller 210 in the AGV2 also start operating. At that time, the AGV position / state aggregation unit 101a acquires the current position of each AGV2 by obtaining the calculation result of the self-position calculation unit 215 of the on-board controller 210.

[0135] Next, in step S202, the destination setting unit 405a sets a destination 720 for each AGV2. As mentioned above, the destination 720 is stored as a task in the task group. In step S202, the destination setting unit 405a assigns tasks to the AGV2s from the task group acquired in step S121 in the order in which the tasks were registered. In this way, the destination setting unit 405a assigns the position coordinates of the destination 720 to be executed to the AGV2s. Basically, when the AGV system 4a is started, it is expected that all AGV2s are in a task waiting state. Therefore, the destination setting unit 405a first compares the current position (waiting position) of each AGV2 acquired in step S201 with the position of the destination 720. Then, the destination setting unit 405a assigns tasks to the AGV2s in order of proximity to the destination 720. In this flowchart, it is assumed that a sub-goal 722 is stored in the task, and that the sub-goal 722 is set in step S202.

[0136] Once all tasks, i.e., destination 720 (sub-goal 722), have been assigned to AGV2, the process moves to step S203. Note that once AGV2 reaches destination 720, it transitions to a waiting state to receive the next destination 720. Therefore, steps S202 to S233 are executed sequentially until all tasks in the task group are completed.

[0137] Next, in step S203, the destination setting unit 405a of the mobile device control device 40a determines whether all tasks in the task group have been completed.

[0138] If all tasks are completed (S203 → YES), the AGV system 4a terminates control.

[0139] If not all tasks are completed (S203 → NO), the control system Z proceeds to step S211. Not all tasks are completed if there are still executable tasks remaining, or if any of the AGV2s are in a driving state.

[0140] Then, in step S211, the control device 1 starts generating routes for each AGV2. The processes shown in steps S211 to S233 are executed at regular intervals.

[0141] Step S212 is a process performed by the AGV position / state aggregation unit 101a, and step S213 is a process performed by the mobile body control device 40a. Steps S221 and S222 are processes performed by the control device 1. Steps S231 and S232 are processes performed by the mobile body control device 40a and the on-board controller 210. Therefore, although Figure 21 is a flowchart showing the flow of processing, each process is executed by a different computer C (see Figure 25), so it is assumed that the calculation cycles will be different for each process. On the other hand, in this embodiment, for the sake of simplicity, all computers C are assumed to be executed synchronously at, for example, 10 Hz.

[0142] First, in step S212, the AGV position / state aggregation unit 101a obtains the current position of AGV2. The process is the same as in step S201. The purpose of this process is to obtain the updated self-position coordinates of AGV2 according to the operation of AGV2 in accordance with the path generation described later (steps S231, S232).

[0143] Next, in step S213, the destination setting unit 405a of the mobile control device 40a determines whether or not there is an AGV2 that has reached the destination 720 (sub-goal 722 in this flowchart). The processing in step S213 is performed based on the self-position calculated by the self-position calculation unit 215. The determination result is sent to the control device 1. The destination 720 is the position coordinate determined in step S202. In this embodiment, as an example, if the distance between the position coordinate of the destination 720 and the AGV2 becomes 0.1m or less, the destination setting unit 405a determines that the vehicle has reached the destination 720.

[0144] If there is an AGV2 that has reached destination 720 (S213 → YES), the control system Z transitions the AGV2 that has reached destination 720 to a task waiting state. Then, the control system Z moves the process back to step S202. The destination setting unit 405a then extracts the next task from the task group and sets the next destination 720. Note that an AGV2 that has transitioned to the task waiting state does not need to be included in the group formation, route generation, and operation update processes from step S221 onwards until it receives the next destination 720 and enters a driving state.

[0145] If no AGV2 has reached destination 720 (S213 → NO), the control system Z proceeds to step S221.

[0146] In step S221, the group setting unit 102a updates the group 800 of the AGV2s. Step S221 is the "group setting step". The group 800 update is performed based on the destination 720 of each AGV2 set in step S202 and the current position of each AGV2 obtained in step S212. The group 800 update includes the formation and dissolution of groups 800. The formation or dissolution of groups 800 is as described in Figures 12 and 13. Specifically, the group 800 update includes the formation of a new group 800, as shown in group 803 in Figure 12, and the dissolution of AGV2s that have reached the vicinity of the destination 720, as shown in Figure 13.

[0147] Next, in step S222, the movement rule setting unit 103a updates the movement rule 113a (movement rule 113) for the group 800 formed in step S221. Step S222 is the "movement rule setting step". Specifically, the movement rule setting unit 103a sets a common movement rule 113a for each of the AGV2s belonging to group 800. Alternatively, the movement rule setting unit 103a removes the movement rule 113a for AGV2s that have been removed from group 800. As mentioned above, in this flowchart, it is assumed that (B3), that is, the common subgoal 722, is set among the movement rules 113a. The setting of movement rule 113a is as shown in Figures 16 and 17.

[0148] The configured movement rule 113a (the setting of the common subgoal 722 in the example shown in this flowchart) is transmitted via the communication units 104 and 408a to the destination setting unit 405a of the mobile device control device 40a. Subsequently, the control system Z proceeds to step S231.

[0149] Next, in step S231, the route generation unit 406a of the mobile device control device 40a generates routes for each AGV2 based on the destination 720 (sub-goal 722) set by the movement rule 113a. Prior to the processing in step S231, the destination setting unit 405a sets the destination 720 set based on the movement rule 113a as the new destination 720 for the AGV2. In this flowchart, destination 720 is the sub-goal 722. In step S231, the destination setting unit 405a generates a new route 711 based on the set destination 720. As a result, route 711 is updated to route 711 based on the movement rule 113a. Details of route generation are as described above in Figure 10.

[0150] The generated route 711 is transmitted via the communication units 408a and 216 to the route management unit 211 of the AGV2's onboard controller 210. The control system Z then proceeds to step S232.

[0151] Next, in step S232, the control command generation unit 214 of the in-vehicle controller 210 executes the movement based on the updated route 711. Details of step S232 are as shown in the control command generation unit 214 in Figure 7.

[0152] This completes the route generation for each AGV2 (S233). Thereafter, the control system Z repeatedly executes steps S211 to S233 until all AGV2s reach their respective destinations.

[0153] (Control on the AGF3 side: Steps S301~S33 in Figure 22) The control of AGF3 is the same as the control process of AGV2 described above (S201 to S233 in Figure 21), so we will omit the explanation.

[0154] Furthermore, in step S203 in Figure 21 and step S303 in Figure 22, if all tasks for both AGV2 and AGF3 are completed, the control system Z terminates the overall process.

[0155] The above describes the contents of the control system Z proposed in this embodiment for use in an environment where different types of mobile bodies M are operated together.

[0156] <Variation> Next, with reference to Figures 23 and 25, an example of a mobile unit M incorporating the control device 1 is shown.

[0157] Figure 23 shows an example of an AGV2Z with a built-in control device 1.

[0158] AGV2Z comprises a control device 1, a mobile body control device 40a, an on-board controller 210, and a drive device 220. Control device 1 has the functions of control device 1 shown in Figure 1, and mobile body control device 40a has the functions of mobile body control device 40a shown in Figure 10. Control device 1 shown in Figure 23 may have the functions of the AGV position / state aggregation unit 101a to the movement rule setting unit 103a of control device 1 shown in Figure 1. Thus, AGV2Z incorporates control device 1, and control device 1 controls AGV2Z, which is the mobile body M, based on the set movement rule 113a.

[0159] Such an AGV2Z functions as a command center for other AGV2s.

[0160] Figure 24 shows an example of an AGF3Z with a built-in control device 1.

[0161] The AGF3Z comprises a control device 1, a mobile body control device 40b, an on-board controller 310, and a drive unit 320. The control device 1 has the functions of the control device 1 shown in Figure 1, and the mobile body control device 40b has the functions of the mobile body control device 40b shown in Figure 11. The control device 1 shown in Figure 24 may also have the functions of the AGF position / state aggregation unit 101b to the movement rule setting unit 103b of the control device 1 shown in Figure 1. Thus, the AGF3Z incorporates the control device 1, and the control device 1 controls the AGV3Z, which is the mobile body M, based on the set movement rule 113b.

[0162] Such an AGF3Z functions as a command center for other AGF3s.

[0163] <Hardware Configuration> Figure 25 shows the hardware configuration of computer C. Computer C consists of control unit 1, mobile control unit 40a, mobile control unit 40b, and in-vehicle controllers 210 and 310.

[0164] Computer C includes memory D1, arithmetic unit D2, storage device D3, communication device D4, etc. Memory D1 consists of RAM, etc. Arithmetic unit D2 consists of CPU, GPU, etc. Storage device D3 consists of HDD, SSD, ROM, etc. RAM stands for Random Access Unit, CPU stands for Central Processing Unit, and GPU stands for Graphics Processing Unit. Similarly, HDD stands for Hard Disk Drive, SSD stands for Solid State Drive, and ROM stands for Read Only Memory.

[0165] When computer C is control unit 1, mobile device control unit 40a, and mobile device control unit 40b, storage device D3 is often an HDD or SSD. When computer C is an in-vehicle controller 210 or 310, storage device D3 is often a ROM.

[0166] Communication device D4 corresponds to communication unit 104 in Figure 1, communication unit 216 in Figure 7, communication unit 316 in Figure 9, communication unit 408a in Figure 10, and communication unit 408b in Figure 11.

[0167] Then, the program stored in the memory device D3 is loaded into memory D1, and the loaded program is executed by the arithmetic unit D2. This brings into practice the AGV position / state aggregation unit 101a to the movement rule setting unit 103a, 103b shown in Figure 1. Similarly, the route management unit 211, the driving map management unit 213 to the self-position calculation unit 215 shown in Figure 7, and the map information management unit 313 to the self-position calculation unit 315 shown in Figure 9 are brought into practice. Furthermore, the block control unit 404a to the route determination unit 407a shown in Figure 10, and the destination setting unit 405b to the control input determination unit 412 shown in Figure 11 are brought into practice.

[0168] <Effects> In this embodiment, in an environment where multiple types of mobile bodies M are present, the control device 1 groups the mobile bodies M that are in the vicinity of it. A common movement rule 113 is then set for each mobile body M belonging to the same group 800 (see Figure 12). As a result of setting the movement rule 113 for each of the grouped mobile bodies M, the mobile bodies M belonging to group 800 can move together to a certain extent.

[0169] This allows multiple mobile objects M moving in the same direction to move together to a certain extent. This reduces the number of mediations with other mobile objects M, improving productivity and availability in environments where multiple types of mobile objects M coexist, while enabling cooperative control that reduces the computational load associated with action mediation, thereby improving throughput.

[0170] Thus, according to this embodiment, the number of decelerations and stops associated with the aforementioned behavioral mediation can be reduced, contributing to improved throughput, productivity, and availability. Furthermore, by grouping, multiple vehicles are mediated as a single unit, thus reducing the computational load. In other words, even when many moving objects M pass each other in a group, the number of behavioral mediations can be reduced, and the frequency of deadlock situations can be decreased.

[0171] These effects can also be achieved when the technology of this embodiment is applied to operating environments 5 in which different types of mobile devices M are not mixed, such as an operating environment 5 with only AGV2 or an operating environment 5 with only AGF3.

[0172] Furthermore, while the mobile units M belong to group 800, each mobile unit M cannot reach its original destination 720. In this embodiment, by releasing the mobile units M from group 800, each mobile unit M becomes able to reach its destination 720.

[0173] In this embodiment, two types of mobile devices M, AGV2 and AGF3, are used in a mixed operation. However, this embodiment is not limited to this configuration and can also be applied to environments where three or more types of mobile devices M are used in a mixed operation.

[0174] Furthermore, while this embodiment focuses on a mobile unit M intended for inter-process transport within a warehouse or factory, it is not limited to this, and could also be a control system Z in which multiple mobile units M are in operation. For example, the mobile unit M could be a cleaning robot, an agricultural robot, or the like.

[0175] Furthermore, in this embodiment, different types of mobile devices M, such as AGV2 and AGF3, are in mixed operation. However, as mentioned above, by grouping by vendor, for example, this embodiment can also be applied to environments where a single mobile device M is in operation. In this case, "multiple types" refers to the types of vendors.

[0176] In this embodiment, AGV2 units are grouped with other AGV2 units, and AGF3 units are grouped with other AGF3 units to form a group 800. In other words, an operating environment 5 is assumed in which multiple types of mobile units M are mixed together. The group setting units 102a and 102b process mobile units M of the same type to belong to the same group 800. However, if the conditions are met, AGV2 and AGF3 may be mixed in a single group 800. However, by forming groups 800 with mobile units M of the same type, or with mobile units M from the same vendor, it is possible to form groups 800 that take into account differences in the driving performance of the mobile units M. This makes it possible to suppress differences in driving performance among mobile units M with different driving performance differences within a group 800.

[0177] Furthermore, in this embodiment, the control device 1 performs group control on the AGV2 side (AGV position / state aggregation unit 101a to movement rule setting unit 103a). Similarly, on the AGF3 side, group control is performed on the AGF3 side (AGF position / state aggregation unit 101b to movement rule setting unit 103b). For example, AGV2 (group 800) avoids AGF3 (group 800) by considering AGF3 as an obstacle. Similarly, AGF3 (group 800) avoids AGV2 (group 800) by considering AGV2 as an obstacle.

[0178] However, the AGV2 may also possess location information, route information, and information about the blocked area 631 of the AGF3. The group setting unit 102a and the movement rule setting unit 103a may form groups 800 or set movement rules 113a considering the route 712 and blocked area 631 of the AGF3. Similarly, the group setting unit 102b and the movement rule setting unit 103b may form groups 800 or set movement rules 113b considering the route 711 and blocked area 631 of the AGV2.

[0179] Furthermore, there are cases where the release condition 111 is not set in advance. For example, if a group of mobile units M all have the same final destination 721 and travel in a chain-like manner, after arriving at that destination, each mobile unit M may release the group 800 in order to proceed sequentially to the next destination 720. Also, the condition for releasing the group 800 may be dynamically changed depending on the distance between the final destinations 721 of each group of mobile units M. Therefore, the release condition 111 may or may not be set in advance. In addition, the movement rule setting units 103a and 103b may provide a common destination 720 within the blocked area 631.

[0180] The present invention is not limited to the embodiments described above, and various modifications are included. For example, the embodiments described above are described in detail to illustrate the present invention clearly, and are not necessarily limited to those having all the configurations described.

[0181] Furthermore, some or all of the above-mentioned configurations, functions, storage devices D3, etc., may be implemented in hardware, for example by designing them as integrated circuits. Similarly, some or all of the AGV position / state aggregation units 101a to movement rule setting units 103a, etc., may be implemented in hardware, for example by designing them as integrated circuits. And some or all of the AGF position / state aggregation units 101b to movement rule setting units 103b, etc., may be implemented in hardware, for example by designing them as integrated circuits. Furthermore, some or all of the position / state / performance storage units 401a to path determination units 407a, etc., may be implemented in hardware, for example by designing them as integrated circuits. Similarly, some or all of the position / state / performance storage units 401b to control input determination units 412, etc., may be implemented in hardware, for example by designing them as integrated circuits. Furthermore, the route management unit 211 to the self-position calculation unit 215, the map information management unit 313 to the self-position calculation unit 315, etc., may be implemented in hardware, for example, by designing some or all of them as integrated circuits.

[0182] Furthermore, as shown in Figure 25, each of the above-mentioned configurations and functions may be implemented in software by a processor such as a CPU interpreting and executing programs that realize each function. Information such as programs, tables, and files that realize each function can be stored not only in the HD, but also in memory D1, a recording device such as an SSD, or a recording medium such as an IC (Integrated Circuit) card, an SD (Secure Digital) card, or a DVD (Digital Versatile Disc).

[0183] Furthermore, in each embodiment, only those control lines and information lines deemed necessary for explanation are shown, and not all control lines and information lines are necessarily shown in the actual product. In practice, it can be assumed that almost all components are interconnected. [Explanation of symbols]

[0184] 1 Control device 2,2j,2k,2Z AGV 3,3a~3k,3A,3B,3Z AGF 40a Mobile device control system 40b Mobile device control system 101a, 101b AGV position / status aggregation unit 102a, 102b Group setting section 102a, 102b Group setting section 111,111a,111b Cancellation conditions 112,112a,112b Maximum number of moving objects Movement rules for 113, 113a, and 113b. 631 Occlusion area 631c, 631d: Closed region including multiple grouped moving objects 720a~720d Destination 720e Nearby destination 720f common destination 720g Nearby destination Groups 800, 801-806, 811-815 903 Velocity vector (velocity, relative velocity) 911 Relative distance S221 AGV Group Update (Group Setup Step) S222 Movement group update (Movement rule setting step) S321 AGF Group Update (Group Setup Step) S322 Update Movement Group (Movement Rule Setting Step)

Claims

1. A group setting unit that sets up groups of multiple moving objects based on the position and destination of each of the moving objects, A movement rule setting unit sets movement rules common to the moving objects belonging to the group set by the group setting unit for the moving objects belonging to the group, Equipped with, The movement rule setting unit sets the movement rules so that the moving objects belonging to the group move in a common movement pattern. Control device.

2. The aforementioned moving objects consist of multiple types. The group setting unit is, The same type of mobile body is assigned to the same group. The control device according to feature 1.

3. If a moving object that satisfies the release condition is present in the group, the group setting unit releases the moving object that satisfies the release condition from the group. The control device according to feature 1.

4. The group setting unit is, Based on the position of the moving body, it is determined whether or not a preset release condition is met. The control device according to claim 3.

5. The group setting unit is, If the moving object is located within a predetermined range from the destination, it is determined that the release condition has been met. The control device according to feature 4.

6. The aforementioned movement rule setting unit, The control of the moving bodies that have been separated from the group is switched from following a common movement rule to controlling each of the moving bodies individually. The control device according to claim 3.

7. The group setting unit is, Set the maximum number of mobile units, which is the maximum number of mobile units managed by one of the aforementioned groups. The control device according to feature 1.

8. The aforementioned movement rule setting unit, A blockage region is set that includes a group of the aforementioned moving bodies, The movement rule within the defined blockage area is set for the moving body belonging to the group. The control device according to feature 1.

9. The aforementioned movement rule setting unit, A common travel speed or a common relative speed is set as the movement rule for the moving bodies belonging to the aforementioned group. The control device according to feature 1.

10. The aforementioned movement rule setting unit, The movement rules are set such that the relative distance between the moving objects belonging to the group remains constant. The control device according to feature 1.

11. The aforementioned movement rule setting unit, For the mobile bodies belonging to the group, a common destination is set as a common movement rule, or for the mobile bodies belonging to the group, a nearby destination is set as a common movement rule. The control device according to feature 1.

12. The control device described in claim 1 is incorporated, The control device controls the moving body based on the set movement rules. A mobile object.

13. The control device according to claim 1, A mobile body control device that controls a group of mobile bodies based on the movement rules set by the movement rule setting unit of the control device, A control system equipped with the following features.

14. A control device that controls multiple moving objects, A group setting step in which a group of the moving objects is set based on the position and destination of each of the multiple moving objects, A movement rule setting step is to set movement rules common to the moving objects belonging to the group set in the group setting step for the moving objects belonging to the group, Equipped with, In the movement rule setting step, the control device sets the movement rules so that the moving objects belonging to the group move in a common movement pattern. Control method.

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