Control systems, control methods, control programs

Abstract

The present invention provides a control system capable of suppressing temperature fluctuations inside a warehouse where multiple autonomous devices enter and exit. [Solution] The control system has a processor and controls platooning of multiple autonomous devices capable of autonomous driving. The processor is configured to acquire size information for multiple autonomous devices that are scheduled to pass through an opening area where an air curtain is formed by blowing air in a warehouse where the internal temperature is adjusted to be different from the external temperature. The processor is configured to control the platoon configuration of the multiple autonomous devices that pass through the opening area in a platoon according to the size information, so as to keep the heat loss that occurs inside when passing through the opening area within an acceptable range.

Description

[Technical Field]

[0001] This disclosure relates to control technology for controlling an autonomous device capable of autonomous driving. [Background technology]

[0002] Patent Document 1 discloses a logistics control system for controlling logistics by intelligent mobile robots. This logistics control system plans a travel path for the intelligent mobile robot via an automatic door. The logistics control system opens the automatic door if the surplus distance of the intelligent mobile robot to the automatic door on the travel path is less than a threshold, and closes the automatic door once the robot has completed its passage through the automatic door. If there is another intelligent mobile robot following the intelligent mobile robot passing through the automatic door, the logistics control system closes the door only after the following intelligent mobile robot has completed its passage. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Patent No. 7250179 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] In a warehouse where the internal environment is regulated to a different temperature from the external environment, multiple autonomous devices capable of autonomous movement may enter and exit an opening area where an air curtain is formed. In this case, the air curtain may become disturbed as the multiple autonomous devices pass through the opening area, potentially leading to large changes in the internal temperature. Patent Document 1 does not disclose any control methods for autonomous devices that can respond to such internal temperature changes.

[0005] The object of this disclosure is to provide a control system capable of suppressing temperature changes inside a warehouse where multiple autonomous devices enter and exit. Another object of this disclosure is to provide a control device. Yet another object of this disclosure is to provide a control method. Yet yet another object of this disclosure is to provide a control program. [Means for solving the problem]

[0006] The following describes the technical means of solving the problem described in this disclosure. Note that the claims and the reference numerals in parentheses in this section indicate the correspondence with the specific means described in the embodiments detailed later, and do not limit the technical scope of this disclosure.

[0007] A first aspect of this disclosure is a control system having a processor (102) and controlling platooning of a plurality of autonomous devices (2) capable of autonomous driving, The processor is, In a warehouse (3) where the internal temperature is adjusted to be different from the external temperature, size information is obtained for multiple autonomous devices that are scheduled to pass through an opening region (30) where an air curtain is formed by the blowing of air, Regarding multiple autonomous devices that form a convoy (P) according to their respective size information and pass through the opening region, the convoy configuration is controlled to keep the heat loss generated inside during passage through the opening region within an acceptable range. It is configured to execute.

[0008] A second aspect of this disclosure is a control method performed by a processor (102) for controlling platooning of a plurality of autonomous devices (2) capable of autonomous driving, In a warehouse (3) where the internal temperature is adjusted to be different from the external temperature, size information is obtained for multiple autonomous devices that are scheduled to pass through an opening region (30) where an air curtain is formed by the blowing of air, Regarding multiple autonomous devices that form a convoy (P) according to their respective size information and pass through the opening region, the convoy configuration is controlled to keep the heat loss generated inside during passage through the opening region within an acceptable range. including

[0009] A third aspect of the present disclosure is a control program stored in a storage medium (101) and including instructions for causing a processor (102) to execute, for controlling platoon running by a plurality of autonomous devices (2) capable of executing autonomous running, acquiring size information regarding a plurality of autonomous devices scheduled to pass through an opening area (30) where an air curtain is formed by blowing air in a warehouse (3) whose interior is adjusted to a temperature different from the exterior, controlling the platoon formation of a plurality of autonomous devices that form a platoon (P) according to each size information and pass through the opening area, in such a form that heat loss generated inside during passage through the opening area is kept within an allowable range, including instructions for causing execution.

[0010] According to these first to third aspects, the platoon formation of the autonomous devices is controlled in order to keep the heat loss within an allowable range according to the size information of a plurality of autonomous devices scheduled to pass through the opening area of the warehouse. Therefore, the heat loss inside the warehouse when the platoon passes through the opening area can be suppressed within the allowable range. Accordingly, the temperature change inside the warehouse when passing through the opening area is suppressed.

Brief Description of the Drawings

[0011] [Figure 1] It is a block diagram showing the overall configuration of the first embodiment. [Figure 2] It is a schematic diagram showing the configuration of the autonomous device in the first embodiment. [Figure 3] It is a schematic diagram showing the configuration of the control system according to the first embodiment. [Figure 4] It is a block diagram showing the functional configuration of the processing device according to the first embodiment. [Figure 5] It is a flowchart showing the control flow according to the first embodiment. [Figure 6] It is a schematic diagram showing an example of the platoon formation according to the first embodiment. [Figure 7]This is a schematic diagram showing an example of a formation according to the first embodiment, viewed from the side. [Figure 8] This is a schematic diagram showing an example of a formation according to the second embodiment. [Figure 9] This is a schematic diagram showing an example of a formation according to the second embodiment, viewed from above. [Figure 10] This is a schematic diagram showing an example of a formation according to the third embodiment. [Figure 11] This is a schematic diagram showing the front row of the formation according to the third embodiment passing through the opening region. [Figure 12] This is a schematic diagram showing an example of a formation according to the fourth embodiment. [Figure 13] This is a schematic diagram showing an example of a formation according to the fourth embodiment, viewed from above. [Modes for carrying out the invention]

[0012] Hereinafter, several embodiments of this disclosure will be described with reference to the drawings. In each embodiment, the same reference numerals will be used for corresponding components, and redundant explanations may be omitted. Furthermore, if only a part of the configuration is described in each embodiment, the configuration of other embodiments described earlier may be applied to the other parts of that configuration. Moreover, not only the combinations of configurations explicitly stated in the description of each embodiment, but also the configurations of multiple embodiments may be partially combined even if not explicitly stated, as long as there are no particular problems with the combination.

[0013] (First Embodiment) The control system 1 of the first embodiment shown in Figure 1 is constructed in a facility such as a center to control multiple autonomous robots 2 capable of autonomous movement. The control system 1 performs driving support or driving control to enable the multiple autonomous robots 2 to perform tasks within a specific driving area.

[0014] Autonomous device 2 is an autonomous device that is a mobile body capable of autonomously moving in any direction, including forward, backward, left, and right. Autonomous device 2 can also be referred to as an autonomous vehicle. For example, autonomous device 2 is an automated guided vehicle (AGV) that performs a transport task of transporting goods G within a travel area. The transport task includes driving to a destination with goods G loaded, and driving back to receive the next goods G. Autonomous device 2 performs the transport task in a travel area where a warehouse 3 capable of storing goods G is installed. The travel area is, for example, a logistics facility. Different sized autonomous devices 2 may travel within the travel area.

[0015] As shown in Figure 2, the autonomous device 2 comprises a body 20, a sensor system 21, a communication system 24, a map database 25, a drive system 26, and a control system 29. The body 20 is formed from, for example, metal, resin, or a combination thereof.

[0016] The autonomous device 2 has a loading space S on which the item G is loaded. The loading space S may be a space formed on the upper surface of the body 20, for example. This loading space S may be formed by surrounding the front, rear, left, and right sides with a part of the body 20. Alternatively, the loading space S may be formed as a cargo compartment space inside the body 20 that can be closed to the outside by a door. Alternatively, the loading space S may be formed as a cargo compartment space that is always open to the outside without a door. Furthermore, the loading space S formed as a cargo compartment space that can be closed to the outside may be adjustable to a different temperature (e.g., low temperature) relative to the outside.

[0017] The sensor system 21 acquires sensing information available to the autonomous device 2 through external and internal sensing by the autonomous device 2. For this purpose, the components of the sensor system 21 are mounted on the body 20. Specifically, the sensor system 21 consists of an external sensor 22 and an internal sensor 23.

[0018] The external sensor 22 acquires external information as sensing information from the external environment surrounding the autonomous device 2. The external sensor 22 acquires external information by detecting objects present in the external environment of the autonomous device 2. The object detection type external sensor 22 is at least one of the following: a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, and sonar. The communication system 24 may be a positioning type that receives positioning signals from GNSS (Global Navigation Satellite System) satellites present in the external environment of the autonomous device 2. The positioning type communication system 24 is, for example, a GNSS receiver.

[0019] The internal environment sensor 23 acquires internal environment information as sensing information from the internal environment, which is the internal environment of the autonomous device 2. The internal environment sensor 23 may acquire internal environment information by detecting an object G on the loading space S of the autonomous device 2. An object detection type internal environment sensor 23 is at least one of the following: a weight sensor, a pressure sensor, a camera, and an RFID (Radio Frequency Identifier) ​​reader. The internal environment sensor 23 may acquire internal environment information by detecting a specific kinetic physical quantity in the internal environment of the autonomous device 2. A motion detection type internal environment sensor 23 is at least one of the following: a velocity sensor, an acceleration sensor, and a yaw rate sensor. The internal environment sensor 23 may acquire internal environment information by detecting the state of equipment mounted on the autonomous device 2. An equipment detection type internal environment sensor 23 is at least one of the following: a battery sensor that detects the remaining charge of the battery 26a, and an actuator sensor that detects the driving state of the drive system 26.

[0020] The communication system 24 acquires usable communication information via wireless communication from the control system 29. The communication system 24 may be a V2X type that transmits and receives communication signals with a V2X system existing in the outside world of the autonomous device 2. A V2X type communication system 24 is at least one of the following: a DSRC (Dedicated Short Range Communications) communication device, a cellular V2X (C-V2X) communication device, etc. The communication system 24 may also be a terminal communication type that transmits and receives communication signals with a terminal existing in the inside world of the autonomous device 2. A terminal communication type communication system 24 is at least one of the following: a Bluetooth® device, a Wi-Fi device, an infrared communication device, etc.

[0021] The map database 25 stores map information available to the control system 29. The map database 25 is composed of at least one type of non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media. The map database 25 may also be a database for a locator that estimates self-state quantities, including the self-position of the autonomous device 2. The map database 25 may also be a database for a navigation unit that navigates the driving route of the autonomous device 2. The map database 25 may be composed of a combination of multiple types of these databases.

[0022] The map database 25 acquires and stores the latest map information, for example, through communication with an external center via a V2X type communication system 24. Here, the map information is digitized in three dimensions as information representing the driving environment of the autonomous device 2. In particular, it is preferable to use high-precision digital map data as the three-dimensional map data. The map information may include driving path information that represents at least one type of thing, such as the location, shape, and road surface condition of the driving path within the driving area. The map information may also include structural information that represents at least one type of thing, such as the location and shape of buildings or installations within the driving area.

[0023] The drive system 26 comprises a battery 26a, an electric actuator 26b, and wheels 26c. The battery 26a is mounted, for example, in the lower part of the body 20. The battery 26a is mainly composed of a rechargeable battery, such as a lithium-ion battery. The battery 26a stores power supplied to the electrical components mounted on the autonomous device 2 by external charging through discharge. The battery 26a may also store regenerative power from the electric actuator 26b. The battery 26a is connected to the electric actuator 26b, sensor system 21, communication system 24, and control system 29 via wire harnesses or the like so as to be able to supply power.

[0024] The electric actuator 26b is mounted inside the body 20. The electric actuator 26b is mainly composed of individual electric motors corresponding to each wheel 26c. The electric actuator 26b independently rotates multiple wheels 26c. The electric actuator 26b rotates the wheels 26c at a motor speed corresponding to the control command from the control system 29. The electric actuator 26b may be equipped with a brake unit that applies braking to each wheel 26c while it is rotating. The electric actuator 26b may be equipped with a lock unit that locks each wheel 26c when it is stopped.

[0025] Multiple wheels 26c are supported by the body 20. Each wheel 26c is configured to rotate independently. The wheels 26c are, for example, Mecanum wheels or omni wheels, and are capable of turning due to the difference in rotational speed between the wheels 26c. Some of the wheels 26c may not be driven by the electric actuator 26b, but may be driven wheels that rotate in conjunction with other driven wheels 26c.

[0026] The control system 29 is connected to the sensor system 21, communication system 24, map database 25, and drive system 26 via at least one of the following: a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line. The control system 29 is comprised of at least one dedicated computer.

[0027] The dedicated computer constituting the control system 29 has at least one memory 29a and one processor 29b. The memory 29a is at least one type of non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media, which non-temporarily stores programs and data that can be read by the computer. Here, storage may be accumulation in which data is retained even when the autonomous device 2 is turned off, or temporary storage in which data is erased when the autonomous device 2 is turned off. The processor 29b includes at least one type as a core, such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), RISC (Reduced Instruction Set Computer)-CPU, CISC (Complex Instruction Set Computer)-CPU, DFP (Data Flow Processor), and GSP (Graph Streaming Processor).

[0028] In the control system 29, the processor 29b executes a number of instructions included in the driving control program stored in memory 29a to control the driving of the autonomous device 2. As a result, the control system 29 performs platoon driving in accordance with the control commands from the control system 1, which will be described later. In platoon driving, the control system 29 drives in cooperation with other autonomous devices 2 at its position within the platoon P based on the control commands, based on sensor information, communication information, map information, etc. For example, the control system 29 acts as a lead device that leads other autonomous devices 2 within the platoon P, performing lead driving based on the control commands. Alternatively, the control system 29 acts as a follow device that follows the lead device within the platoon P, performing follow driving based on the control commands.

[0029] As shown in Figures 1 and 6, the warehouse 3 located in the travel area where the autonomous device 2 travels has an opening area 30 that allows the autonomous device 2 to enter and exit the warehouse 3. The opening area 30 is, for example, rectangular. In the following description, of the edges bordering the opening area 30, the edge located to the right from the perspective of the convoy P is referred to as the right edge 30r, the edge located to the left is referred to as the left edge 30l, the edge located above is referred to as the upper edge 30u, and the edge located below is referred to as the lower edge 30d.

[0030] Furthermore, warehouse 3 is provided with an air blowing device 31. The air blowing device 31 blows air to form an air curtain, which is a partition of airflow, in the opening area 30. The air blowing device 31 is mainly composed of a blower, for example. In this embodiment, the air blowing device 31 is positioned with its outlet facing downwards to form the upper edge 30u of the opening area 30. As a result, the air blowing device 31 blows air in the height direction DH, and in this embodiment, downwards, to form an air curtain. The air blowing device 31 may also be provided near the edge of the opening area 30.

[0031] The airflow rate of the air blowing device 31 is controlled by a control device (not shown) which includes a dedicated computer having at least one memory and one processor. The control device controls the airflow rate to be substantially constant during operation, for example. The control device may also be able to change the airflow rate in response to control commands from the control system 1.

[0032] The control system 1, which manages the state of the autonomous device 2, is configured to include a communication system 11 and a processing unit 100, as shown in Figure 3, for example.

[0033] The communication system 11 is mainly composed of communication equipment that forms at least a part of a V2X system capable of communicating with the communication system 24 of each autonomous device 2. The communication system 11 is connected to the processing unit 100 via at least one of the following: a LAN line, a wire harness, an internal bus, and a wireless communication line. The communication system 11 acquires information transmitted from the autonomous device 2 via wireless communication. The communication system 11 also transmits control commands output from the processing unit 100 to the autonomous device 2 via wireless communication. Regarding the future driving of each autonomous device 2, target driving information acquired through the communication system 11, including, for example, destination information, driving route information, and schedule information related to driving control such as acceleration / deceleration control and turning control, is provided to the processing unit 100 as needed. Alternatively, the target driving information may be planned by the processing unit 100 as needed.

[0034] The processing unit 100 is comprised of at least one dedicated computer. The dedicated computer comprising the processing unit 100 is, for example, a management server that comprehensively manages the operation of multiple autonomous devices 2 within a driving area. The dedicated computer comprising the processing unit 100 may be comprised of multiple servers, and its functions may be distributed among them.

[0035] The dedicated computer comprising the processing unit 100 has at least one memory 101 and at least one processor 102. The memory 101 is at least one type of non-transitional physical storage medium, such as a semiconductor memory, magnetic medium, and optical medium, which non-temporarily stores programs and data that can be read by the computer. Here, storage may be an accumulation in which data is retained even when the control system 1 is turned off, or it may be a temporary storage in which data is erased when the control system 1 is turned off. The processor 102 includes at least one type as a core, such as a CPU, GPU, RISC-CPU, CISC-CPU, DFP, and GSP.

[0036] In the processing unit 100, the processor 102 executes multiple instructions contained in a control program stored in memory 101 to control the platooning of multiple autonomous devices 2. This allows the processing unit 100 to construct multiple functional blocks for managing the operation of the autonomous devices 2. These functional blocks, as shown in Figure 4, include an acquisition block 110, a setting block 120, and a remote control block 130.

[0037] The acquisition block 110 acquires information usable for platoon control of the autonomous devices 2 via the communication system 11. The acquisition block 110 acquires at least size information (described later) for multiple autonomous devices 2 that are scheduled to pass through the opening area 30.

[0038] The configuration block 120 sets the formation configuration for the multiple autonomous devices 2 that are scheduled to pass through the opening region 30, according to their respective size information when forming a formation P. Details of the formation configuration will be described later.

[0039] The remote control block 130 outputs a control command for platooning, corresponding to the platoon configuration set by the setting block 120, to at least one of the autonomous devices 2 that make up the platoon P. In this way, the remote control block 130 remotely controls the platoon configuration of the multiple autonomous devices 2 that make up the platoon P.

[0040] Through the combined efforts of these blocks 110, 120, and 130, the control method by which the control system 1 controls the platooning of multiple autonomous devices 2 is executed according to the control flow shown in Figure 5. This control flow is executed repeatedly while the control system 1 is running. In this control flow, each "S" represents multiple steps executed by multiple instructions included in the control program.

[0041] First, in S10, the acquisition block 110 determines whether or not there is a device scheduled to pass through the opening area 30, which is an autonomous device 2. In the determination process, the acquisition block 110 acquires target driving information for each autonomous device 2 operating within the driving area, and performs a search for devices scheduled to pass through based on said target driving information.

[0042] Specifically, acquisition block 110 extracts autonomous devices 2 from among multiple autonomous devices 2 for which a travel path passing through the opening area 30 has been set, as devices scheduled to pass. Acquisition block 110 may also extract autonomous devices 2 for which a travel path passing through the opening area 30 has been set and which are predicted to reach the opening area 30 within a set time, as devices scheduled to pass. If the search results determine that there are devices scheduled to pass, this flow proceeds to S20.

[0043] In S20, acquisition block 110 acquires size information of the opening area 30 related to the device to be passed through. When passing through an opening area 30 that opens and closes vertically, the size information includes the length, which is the size of the autonomous device 2 in the front-to-back direction, the width, which is the size in the lateral direction, and the height, which is the size in the height direction.

[0044] Furthermore, if the device scheduled to pass is an autonomous device 2 whose size changes depending on the loading state of the item G, the acquisition block 110 acquires size information corresponding to the loading state. An autonomous device 2 having an open loading space S corresponds to an autonomous device 2 whose size changes. For example, if the autonomous device 2 places an item G on the top surface of the body 20, its height may change depending on the loading state of the item G. In the case of such a device scheduled to pass, the acquisition block 110 acquires the overall size information, including the size of the loaded item G, when there are no plans to load any new items G before passing through the opening area 30. In other words, even with the same autonomous device 2, the acquisition block 110 acquires new size information each time it passes through the opening area 30.

[0045] The acquisition block 110 may acquire the size information of the devices scheduled to pass by referring to data (e.g., a table) that defines the correspondence between the identification information and size information of each autonomous device 2, which is stored in advance in a storage medium such as the memory 101. Alternatively, the acquisition block 110 may acquire the size information held by the devices scheduled to pass by from the devices via wireless communication or the like.

[0046] In S30, the remote control block 130 performs standby control on the device scheduled to pass, instructing it to wait before passing through the opening area 30. Specifically, the remote control block 130 generates a control command to the device scheduled to pass, instructing it to travel from the opening area 30 to within the standby distance range and then stop within that range. The standby distance range is the range within or less than the threshold distance from the opening area 30.

[0047] Furthermore, the waiting positions of devices scheduled to pass within the waiting distance range may be set so that those that arrive earlier are closer to the opening area 30. Alternatively, the waiting positions of devices scheduled to pass may be defined according to size information. For example, the waiting positions may be provisionally set to positions corresponding to the convoy configuration described later. Specifically, among the operating autonomous devices 2, devices scheduled to pass that are relatively tall may have their waiting positions set in the intermediate area within the waiting distance range, while devices scheduled to pass that are relatively short may have their waiting positions set in the area in front of or behind the intermediate area.

[0048] If a negative result is obtained in S10, or after processing in S30, this flow proceeds to S40. In S40, the acquisition block 110 determines whether the passage conditions are met for the device scheduled to pass through the opening area 30. For example, the passage conditions are met by either a numerical condition relating to the number of autonomous devices 2 waiting within the waiting distance range, or a time condition relating to the waiting time of any of the autonomous devices 2 that are waiting. Here, the numerical condition is that the number of autonomous devices 2 waiting within the waiting distance range reaches the allowable waiting number. The time condition is that the waiting time of any of the autonomous devices 2 that are waiting exceeds the allowable waiting time.

[0049] If it is determined that the passing conditions are not met, this flow returns to S10. On the other hand, if it is determined that the passing conditions are met, this flow proceeds to S50.

[0050] In S50, the setting block 120 sets the formation configuration for the formation P of the autonomous devices 2. In this embodiment, the formation P is composed of multiple horizontal rows of autonomous devices 2 arranged in the horizontal direction DW, arranged in the vertical direction DD. Here, the vertical direction DD is the direction that coincides with the direction of travel of the formation P. The vertical direction DD is, for example, the direction perpendicular to the width direction of the opening area 30. The horizontal direction DW is the direction perpendicular to the vertical direction DD, for example, the direction along the horizontal plane. The direction perpendicular to the vertical direction DD and the horizontal direction DW is the height direction DH.

[0051] In the formation configuration, the placement position of each of the multiple autonomous devices 2 constituting the formation P in the vertical direction DD and horizontal direction DW within the formation is defined. In the following, the i-th horizontal row from the front in the vertical direction DD will be referred to as the i-th row. Furthermore, the width of the horizontal direction DW of the i-th row will be referred to as the formation width w. i This is how it is written. And the maximum width of the horizontal DW in formation P is expressed as the maximum formation width w. f This is denoted as follows. In addition, the longest length of the column, which is the length from the front end to the rear end of column P in the vertical direction DD, is called the maximum column length l. fThis is how it is expressed. Furthermore, the height of the tallest autonomous device 2 in the i-th column is expressed as the column height h in the i-th column. i This is how it is written. And the maximum column height h in the entire column. i The maximum column height h f This is how it is written.

[0052] The setting block 120 sets the formation configuration so that the heat loss generated inside the warehouse 3 when the formation P passes through the opening region 30 is kept within an acceptable range. Heat loss is the amount of heat inflow or outflow that changes the internal temperature of the warehouse 3 towards the external temperature relative to the set temperature. In other words, in the case of the warehouse 3 in which the internal temperature is adjusted to be lower than the external temperature, as in this embodiment, heat loss is the amount of heat flowing in from the outside. The acceptable range is the range in which the heat loss is below or less than the threshold.

[0053] More specifically, heat loss is the amount of heat that flows into the interior of warehouse 3 due to the disruption of the air curtain caused by changes in the airflow forming the air curtain as the convoy P passes through. As the convoy P passes through, the airflow in the air curtain is disrupted, bending in the direction of the convoy P's passage (vertical direction DD) compared to before. This disruption makes it easier for the air inside warehouse 3 and the outside air to mix near the opening area 30. Therefore, the amount of heat flowing into the interior becomes larger than before the convoy passed through. In particular, the negative pressure generated as each autonomous device 2 moves behind it during passage tends to increase the amount of heat flowing in.

[0054] The heat loss due to turbulence in the air curtain, as described above, correlates with the cross-sectional area through which the queue P passes in the opening region 30. Specifically, the heat loss due to turbulence in the air curtain increases as the cross-sectional area through which it passes increases.

[0055] Furthermore, the heat loss due to air curtain turbulence correlates with the observation time from the start of the passage of the convoy P to the recovery of the air curtain. Specifically, the heat loss due to air curtain turbulence increases with longer observation time. Here, the state in which the air curtain has recovered is defined as the state in which the degree of turbulence in the air curtain compared to before the passage is expected to have subsided to an acceptable level. Therefore, even if the air curtain has not recovered to substantially the same airflow state as before the passage, it may be defined as the air curtain having recovered. For example, the observation time may be a time determined by empirical rules. Alternatively, the observation time may be a time determined according to the results of experiments or simulations. When the observation time is determined according to the results of experiments or simulations, the degree of air curtain turbulence may be defined by the degree of change in wind direction, the degree of change in wind speed, the magnitude of the difference in temperature distribution, etc., compared to before the passage of the convoy P in the opening region 30.

[0056] Furthermore, in situations where the time of interest elapses before the total transit time of the convoy P (from the start to the end of its passage), the heat loss due to air curtain turbulence correlates with the transit time. Specifically, the heat loss due to air curtain turbulence increases with longer transit times. This situation can occur when the acceptable degree of air curtain turbulence after restoration is relatively large. In other words, with respect to the time elapsed from the start of the convoy P's passage, the heat loss due to air curtain turbulence correlates with the longer of the transit time of the convoy P and the time of interest.

[0057] To keep these heat losses within an acceptable range, the setting block 120 sets the formation configuration of the formation P. In the case of the opening region 30 in which an air curtain is formed by air blown in the height direction DH, as in this embodiment, the formation configuration is such that the formation height h increases from the front end to the rear end of the formation P in the vertical direction DD. i The height configuration is set to a lower height configuration. Furthermore, the formation configuration is set to a height configuration in which the variation in height of the autonomous devices 2 within each row is within the allowable variation range. The allowable variation range is, for example, the range in which the height deviation is less than or equal to the threshold deviation value.

[0058] In addition, the queue form is set to a width form that allows the maximum queue width w to pass through the opening area 30. f That is, the queue form is set to a width form in which the maximum queue width w f is less than the width w of the opening area 30. d Furthermore, the queue form is set to a length form in which the maximum queue length l is minimized under the above height form and width form. f That is, the setting block 120 searches for a length form in which the maximum queue length l is minimized within the range where the above width form and height form are satisfied as constraints. Thereby, the setting block 120 optimizes the queue form. Note that the intervals between adjacent autonomous devices 2 in the queue P in the front-back direction and the left-right direction may be set to be as small as possible.

[0059] That is, the setting block 120 searches for a length form in which the maximum queue length l is minimized within the range where the above width form and height form are satisfied as constraints. Thereby, the setting block 120 optimizes the queue form. Note that the intervals between adjacent autonomous devices 2 in the queue P in the front-back direction and the left-right direction may be set to be as small as possible. f That is, the setting block 120 searches for a length form in which the maximum queue length l is minimized within the range where the above width form and height form are satisfied as constraints. Thereby, the setting block 120 optimizes the queue form. Note that the intervals between adjacent autonomous devices 2 in the queue P in the front-back direction and the left-right direction may be set to be as small as possible.

[0060] In FIGS. 6 and 7, an example of the queue form set as a result of optimization is shown. In FIGS. 6 and 7, different horizontal rows are distinguished by the presence or absence of dot hatching or the density of dot hatching. In this example, a queue form in which three horizontal rows are arranged in the vertical direction DD is set. In this queue form, among each horizontal row, the queue height h1 of the first row, which is the front row in the vertical direction DD, is the highest. And in this queue form, behind the first row, the queue heights h i become lower in the order of the second row and the third row.

[0061] In the subsequent S60, the remote control block 130 performs queue running control in the set queue form for a plurality of standby autonomous devices 2. Specifically, the remote control block 130 outputs a control command so as to execute queue running by forming a queue P according to the queue form. <​​The remote control block 130 may output a corresponding control command to each of the autonomous devices 2 that make up the convoy P. Alternatively, the remote control block 130 may output a control command to a specific autonomous device 2 among the multiple autonomous devices 2 that make up the convoy P. In this case, the autonomous device 2 that receives the control command outputs a driving instruction based on the control command to the other autonomous devices 2. In either case, the multiple autonomous devices 2 in standby form the convoy P by driving to their respective positions according to the convoy configuration. The multiple autonomous devices 2 perform convoy driving while appropriately performing wireless communication with other autonomous devices 2 to realize convoy driving. The driving speed of the convoy P may be predetermined. Alternatively, the driving speed of the convoy P may be determined according to the set convoy configuration so as to keep heat loss within an acceptable range.

[0063] According to the first embodiment described above, the formation of the autonomous devices 2 is controlled in order to keep heat loss within an acceptable range, according to the size information of the multiple autonomous devices 2 that are scheduled to pass through the opening area 30 of the warehouse 3. Therefore, when the formation P passes through the opening area 30, the heat loss inside the warehouse 3 can be suppressed to an acceptable range. Consequently, temperature changes inside the warehouse 3 are suppressed when passing through the opening area 30.

[0064] Furthermore, according to the first embodiment, the formation is controlled in such a way that the heat loss correlated with the longer of the passage time of the formation P and the attention time from the start of the formation's passage until the air curtain is restored, and the passage cross-sectional area of ​​the autonomous device 2 in the opening region 30, is kept within an acceptable range. Therefore, the formation can be further optimized to suppress the heat loss correlated with the passage time or attention time and the passage cross-sectional area within an acceptable range. Consequently, temperature changes inside the warehouse 3 can be suppressed more effectively.

[0065] Furthermore, according to the first embodiment, when passing through the opening region 30 where an air curtain is formed by air blown in the height direction DH, the queue height h increases as you move from the front end of the queue to the rear end of the queue in the vertical direction DD. iThe formation is controlled to a form in which the temperature decreases. Therefore, as the rear end of the formation increases, the distance between the outlet and the top end of the formation P increases, making it easier for airflow turbulence to subside sooner. Consequently, it becomes possible to effectively suppress temperature changes in the opening region 30 from which air is blown in the height direction DH.

[0066] (Second Embodiment) As shown in Figures 8 and 9, the second embodiment is a modified version of the first embodiment.

[0067] In the second embodiment, as shown in Figure 8, the air blowing device 31 is configured to blow air in the width direction of the opening region 30, i.e., in the lateral direction DW. In this embodiment, the air blowing device 31 is provided with its outlet facing left at the right edge 30r of the opening region 30 when viewed from the convoy P side. As a result, the air blowing device 31 forms an air curtain by blowing air in the lateral direction DW, and in this embodiment, particularly to the left.

[0068] In this embodiment, the acquisition block 110 in S20 only needs to acquire at least the length and width of the autonomous device 2 as size information.

[0069] In S50 of this embodiment, the convoy configuration is the maximum convoy width w that can pass through the opening region 30. f This width configuration, i.e., the maximum column width w, is the resulting width configuration. f The width w d The width is set to less than [value]. In addition, the formation width w increases from the front end to the rear end of formation P in the vertical direction DD. i The width configuration is set to decrease. Furthermore, the formation configuration satisfies the above-mentioned width configuration and has a maximum formation length l f It is set to the length form that minimizes it.

[0070] In other words, the setting block 120 is constrained by the width configuration described above, and the maximum column length l within the range where this constraint is met. f The formation is optimized by searching for the length form that minimizes w. This constraint means that the formation width w1 of the first column is equal to the maximum formation width w. f This is the result.

[0071] Furthermore, the position of each row in the lateral direction DW in the formation configuration is set according to the blowing direction of the air blowing device 31. For example, the position of each row in the lateral direction DW is set so that the formation length increases as it moves away from the outlet along the blowing direction of the air blowing device 31. In this embodiment, when air is blown to the left at the right edge 30r, the position of the autonomous device 2 in each row is set such that the formation length at the right end of the formation P in the lateral direction DW is the minimum length of the entire formation P, and the formation length increases as it moves to the left. As a result, the formation length at the left end of the formation P in the lateral direction DW is the maximum formation length l f This is the result.

[0072] Furthermore, the position of the formation P relative to the opening area 30 is set to a position as far away as possible from the air outlet side. In this embodiment, the setting block 120 is set so that the autonomous device 2 at the left end of each row in the formation P is close to the left edge of the opening area 30 while ensuring a margin. As a result, the formation P is as far away as possible from the right edge 30r, which is the air outlet side.

[0073] Figures 8 and 9 show an example of a formation configuration set as a result of optimization. In this example, a formation is set with four horizontal rows arranged vertically DD. In this formation configuration, the formation width w1 of the first row, which is the front end in the vertical direction DD, is the largest. Then, in this formation configuration, behind the first row, the formation width w1 of the second, third, and fourth rows is the largest. i It becomes smaller.

[0074] According to the second embodiment described above, when passing through the opening region where an air curtain is formed by air blown out in the width direction, the formation is controlled such that the formation width decreases as it moves from the front end of the formation to the rear end in the direction of travel. Therefore, as the rear end of the formation approaches, the distance between the outlet and the outlet end of the formation P increases, making it easier for turbulence in the airflow to subside sooner. Consequently, it becomes possible to effectively suppress temperature changes in the opening region 30 from which air is blown out in the width direction.

[0075] (Third embodiment) As shown in Figures 10 and 11, the third embodiment is a modified version of the second embodiment.

[0076] In the third embodiment, the air blowing device 31 is configured to blow air in the lateral direction DW. Specifically, the air blowing device 31 forms an air curtain by blowing air to the left, similar to the second embodiment.

[0077] In this embodiment, the acquisition block 110 in S20 only needs to acquire the length, width, and height of the autonomous device 2 as size information. In S50, the formation configuration is the maximum formation width w that can pass through the opening area 30. f This width configuration, i.e., the maximum column width w, is the resulting width configuration. f The width w d The width configuration is set to be less than 1. In addition, the formation configuration is set to a height configuration in which the height of the autonomous device 2 increases as it moves further away from the air outlet side of the air blowing device 31 in the lateral direction DW. In particular, the formation configuration of this embodiment is set to a height configuration in which the height of the autonomous device 2 increases as you move from the right end to the left end in each row. Furthermore, the formation configuration satisfies the above-mentioned width configuration and height configuration, and the maximum formation length l f It is set to the length form that minimizes it.

[0078] In other words, the setting block 120 is constrained by the width and height configurations described above, and the maximum column length l within the range where these constraints are met. f The formation configuration is optimized by searching for the length configuration that minimizes the value. Furthermore, the setting block 120 may also have width and height configurations similar to those in the second embodiment added as constraints. Also, the position of each row in the formation configuration in the lateral direction DW may be set according to the blowing direction of the air blower 31, similar to the second embodiment.

[0079] Figures 10 and 11 show an example of a formation configuration set as a result of optimization. In this example, a formation P is set with three horizontal rows arranged vertically DD. In this formation configuration, for each horizontal row, the height of the autonomous device 2 increases from the right end to the left end in the horizontal direction DW. In addition, in this formation configuration, similar to the second embodiment, the formation width w increases from the front end to the rear end in the vertical direction DD. i It is also set to a width format where the width becomes smaller.

[0080] According to the third embodiment described above, when passing through the opening region 30 where an air curtain is formed by air blown out in the width direction, the formation is controlled in such a way that the height of the autonomous device 2 increases as it moves further away from the air outlet side in the width direction. Therefore, it becomes possible to place the autonomous device 2, which can easily block the airflow, on the side of the opening region 30 that is relatively difficult for air to reach in the width direction. Consequently, it becomes easier to suppress turbulence in the airflow.

[0081] (Fourth Embodiment) As shown in Figures 12 and 13, the fourth embodiment is a modified version of the first embodiment.

[0082] In S50 of the fourth embodiment, the formation is the maximum formation width w that can pass through the opening region 30. f This width configuration, i.e., the maximum column width w, is the resulting width configuration. f The width w d The width is set to less than [a certain value]. In addition, the formation shape is such that the formation width w increases from the front end to the middle of the formation P in the vertical direction DD. i The width increases as you move from the middle to the rear of the formation. i The width configuration is set to be small. Furthermore, the formation configuration satisfies the above width configuration and has a maximum formation length l f It is set to the length form that minimizes it.

[0083] The setting block 120 is constrained by the width configuration described above, and the maximum column length l within the range where the constraint is met. fThe formation configuration is optimized by searching for the length configuration that minimizes [the specified value]. Furthermore, the setting block 120 may also have a height configuration similar to that in the first embodiment added as a constraint.

[0084] Figures 12 and 13 show an example of a formation configuration set as a result of optimization. In Figures 12 and 13, different rows are distinguished by the presence or absence of hatching, the type of hatching, or the density of hatching. In this example, a formation P is set with 7 rows arranged vertically DD. In this formation configuration, the formation width w is calculated from the first row at the front to the fourth row in the middle, in the order of the first, second, third, and fourth rows. i The width increases. And from the 4th column in the middle to the 7th column at the rear, the column width increases in the order of 4th column, 5th column, 6th column, and 7th column. i The width becomes smaller. In this formation, the column width w4 of the 4th column is the maximum column width w f This is the result. Furthermore, if the number of rows is even, the middle columns can be defined as the two middle columns in the vertical DD. Alternatively, either one of the two middle columns may be defined as the middle columns.

[0085] According to the fourth embodiment described above, the column width w increases from the front of the column towards the middle of the column in the direction of travel. i The formation is controlled to a form in which the width increases. Therefore, the air curtain is relatively less disturbed at the beginning of passage. Then, the formation width gradually increases. i As the size increases, the air curtain can be gradually disturbed, making it less likely for the disturbance to become too large.

[0086] Furthermore, according to the fourth embodiment, the column width w increases from the middle of the column towards the rear of the column in the direction of travel. i The formation is controlled to become smaller. Therefore, the formation width gradually decreases. i By reducing the size of the air curtain, the turbulence in the air curtain can be allowed to gradually subside, making it less likely for the turbulence to become large.

[0087] (Other embodiments) Although several embodiments have been described above, this disclosure is not limited to those embodiments and can be applied to various embodiments and combinations without departing from the spirit of this disclosure.

[0088] In the modified examples, the passing conditions may consist only of numerical conditions, or only of time conditions, or may include subconditions other than numerical and time conditions.

[0089] In the modified example, the warehouse 3 may be configured such that its internal temperature is higher than the external temperature. In such a warehouse 3, the heat loss is the amount of heat that flows out from the outside through the opening 30.

[0090] In the modified example, the dedicated computer constituting the processing unit 100 may have at least one of the digital circuit and the analog circuit as a processor. Here, the digital circuit is at least one of the following, for example, ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Furthermore, such a digital circuit may have a memory that stores a program.

[0091] In a modified example, the processing unit 100 in the control system 1 may be implemented as a control device configured to be mounted on the autonomous device 2 and having at least one processor 102 and one memory 101. Specifically, the above-described embodiments and modifications may be implemented in the form of a processing circuit (e.g., a processing ECU) or a semiconductor device (e.g., a semiconductor chip).

[0092] (Disclosure of technical ideas) This specification discloses several technical concepts, as listed in the following paragraphs. Some paragraphs are written in a multiple dependent form, where subsequent paragraphs optionally refer to preceding paragraphs. Furthermore, some paragraphs are written in a multiple dependent form, referring to other multiple dependent forms. These paragraphs written in multiple dependent forms define several technical concepts.

[0093] (Technical thought 1) A control system having a processor (102) and controlling platooning of multiple autonomous devices (2) capable of autonomous driving, The aforementioned processor, In a warehouse (3) where the internal temperature is adjusted to be different from the external temperature, size information is obtained for a plurality of autonomous devices that are scheduled to pass through an opening region (30) where an air curtain is formed by the blowing out of air, With respect to the multiple autonomous devices that pass through the opening region in a formation (P) according to the respective size information, the formation is controlled in such a way that the heat loss generated inside when passing through the opening region is kept within an acceptable range. A control system configured to perform the following actions.

[0094] (Technical thought 2) Controlling the aforementioned formation configuration is A control system according to technical idea 1, which includes controlling the longer of the passage time of the procession and the attention time from the start of the procession's passage to the restoration of the air curtain, and the passage cross-sectional area of ​​the autonomous device in the opening region, to keep the heat loss within an acceptable range.

[0095] (Technical Thought 3) Controlling the aforementioned formation configuration is A control system according to technical concept 1 or technical concept 2, which includes controlling the formation of a convoy so that the convoy height decreases as it moves from the front end to the rear end of the convoy in the direction of travel, when passing through the opening region where the air curtain is formed by the air blown out in the vertical direction.

[0096] (Technical Thought 4) Controlling the aforementioned formation configuration is A control system according to any one of Technical Ideas 1 to 3, which includes controlling the formation of a convoy so that the convoy width decreases as it moves from the front end to the rear end of the convoy in the direction of travel, when passing through the opening region where the air curtain is formed by the air blown out in the width direction.

[0097] (Technical Thought 5) Controlling the aforementioned formation configuration is A control system according to any one of Technical Ideas 1 to 4, which includes controlling the formation of the autonomous device such that the height of the autonomous device increases as it moves away from the air outlet side when passing through the opening region where the air curtain is formed by the air blown out in the width direction.

[0098] (Technical Thought 6) Controlling the aforementioned formation configuration is A control system according to any one of Technical Ideas 1 to 5, which includes controlling the formation of the formation so that the formation width increases from the front of the formation towards the middle of the formation in the direction of travel.

[0099] (Technical Thought 7) Controlling the aforementioned formation configuration is A control system according to technical concept 6, which includes controlling the formation of the convoy so that the width of the convoy decreases as it moves from the middle of the convoy towards the rear of the convoy in the direction of travel.

[0100] Furthermore, the above technical concepts 1 to 7 may be implemented in the form of control methods and control programs. [Explanation of Symbols]

[0101] 1: Control system, 2: Autonomous device, 3: Warehouse, 30: Open area, 101: Memory (storage medium), 102: Processor, P: Formation

Claims

1. A control system that controls platooning by a plurality of autonomous devices (2) having a processor (102) and capable of autonomous driving, The aforementioned processor, In a warehouse (3) where the internal temperature is adjusted to be different from the external temperature, size information is obtained for a plurality of autonomous devices that are scheduled to pass through an opening region (30) where an air curtain is formed by the blowing out of air, With respect to the multiple autonomous devices that pass through the opening region in a formation (P) corresponding to each of the size information, the formation is controlled in such a way that the heat loss generated inside when passing through the opening region is kept within an acceptable range. A control system configured to perform the following actions.

2. Controlling the aforementioned formation configuration is The control system according to claim 1, which includes controlling the longer of the time the procession passes and the time observed from the start of the procession's passage to the restoration of the air curtain, and the cross-sectional area through which the autonomous device passes in the opening region, to keep the heat loss within an acceptable range.

3. Controlling the aforementioned formation configuration is The control system according to claim 1, which includes controlling the formation of the convoy such that the convoy height decreases as it moves from the front end to the rear end in the direction of travel, when passing through the opening region where the air curtain is formed by the air blown out in the vertical direction.

4. Controlling the aforementioned formation configuration is The control system according to claim 1, which includes controlling the formation of a convoy so that the width of the convoy decreases as it moves from the front end to the rear end of the convoy in the direction of travel, when passing through the opening region where the air curtain is formed by the air blown out in the width direction.

5. Controlling the aforementioned formation configuration is The control system according to claim 1, which includes controlling the formation of the autonomous device such that the height of the autonomous device increases as it moves away from the air outlet side when passing through the opening region where the air curtain is formed by the air blown out in the width direction.

6. Controlling the aforementioned formation configuration is The control system according to claim 1, which includes controlling the formation of the convoy so that the width of the convoy increases from the front of the convoy towards the middle of the convoy in the direction of travel.

7. Controlling the aforementioned formation configuration is The control system according to claim 6, which includes controlling the formation of the convoy so that the width of the convoy decreases as it moves from the middle of the convoy towards the rear of the convoy in the direction of travel.

8. A control method performed by a processor (102) to control platooning of multiple autonomous devices (2) capable of autonomous driving, In a warehouse (3) where the internal temperature is adjusted to be different from the external temperature, size information is obtained for a plurality of autonomous devices that are scheduled to pass through an opening region (30) where an air curtain is formed by the blowing out of air, With respect to the multiple autonomous devices that pass through the opening region in a formation (P) corresponding to each of the size information, the formation is controlled in such a way that the heat loss generated inside when passing through the opening region is kept within an acceptable range. A control method including

9. A control program, which includes instructions to be executed by a processor (102) and is stored in a storage medium (101) for controlling platooning by multiple autonomous devices (2) capable of autonomous driving, In a warehouse (3) where the internal temperature is adjusted to be different from the external temperature, size information is obtained for a plurality of autonomous devices that are scheduled to pass through an opening region (30) where an air curtain is formed by the blowing out of air, With respect to the multiple autonomous devices that pass through the opening region in a formation (P) corresponding to each of the size information, the formation is controlled in such a way that the heat loss generated inside when passing through the opening region is kept within an acceptable range. A control program that includes the instruction to execute the aforementioned instruction.

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