Vehicle control system and vehicle control method

Abstract

The present invention provides a vehicle control system and a vehicle control method that enable the safe movement of a vehicle without relying heavily on the accuracy of positioning. [Solution] The invention comprises a server and a transport vehicle that communicates wirelessly with the server, wherein the server includes a storage unit for storing map information, a movement path information generation means for generating movement path information relating to a first movement path of the transport vehicle based on the map information, a projection image data generation means for generating projection image data showing the first movement path based on the movement path information, and a transmission means for transmitting the projection image data to the transport vehicle, wherein the transport vehicle includes a receiving means for receiving the projection image data, a projection means for projecting a projection image based on the projection image data onto a floor surface, an imaging means for capturing a floor surface image including the floor surface onto which the projection image has been projected, and a movement control means for controlling the movement of the transport vehicle to follow the first movement path based on the floor surface image.

Description

Technical Field

[0001] The present invention relates to a transport vehicle control system and a transport vehicle control method.

[0002] With the recent increase in communication speed, centrally controlled trackless automatic guided transport vehicles have begun to be introduced in, for example, factories and warehouses. Here, a trackless automatic guided transport vehicle refers to a transport vehicle that moves without fixed rails or tracks and transports goods and components.

[0003] In conventional trackless automatic guided transport vehicles, a movement route is instructed from a server to the transport vehicle via wireless communication, and the transport vehicle moves according to the instructed movement route. However, the conventional method requires highly accurate position measurement of the transport vehicle, and there is a problem that the travel route of the transport vehicle becomes unstable when the positioning error is large.

[0004] Here, a technology disclosing an automatic guided transport vehicle guidance system and an automatic guided transport vehicle guidance method that can easily guide an automatic guided transport vehicle is disclosed in, for example, Patent Document 1.

[0005] Specifically, Patent Document 1 discloses a technology that uses one or a plurality of markers attached to signs arranged inside or outside a building to acquire distance information and posture information of the automatic guided transport vehicle relative to the markers, thereby guiding the automatic guided transport vehicle.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0007] However, the technology disclosed in Patent Document 1 requires highly accurate positioning to acquire distance and attitude information of the automated guided vehicle relative to the marker. Therefore, there was still a problem in that the vehicle's travel path was unstable when the positioning error was large.

[0008] The present invention was devised in view of the above-mentioned problems, and its objective is to provide a transport vehicle control system and a transport vehicle control method that can safely move a transport vehicle without relying heavily on the accuracy of positioning. [Means for solving the problem]

[0009] The transport vehicle control system according to the first invention comprises a server and a transport vehicle that communicates wirelessly with the server, wherein the server has a storage unit for storing map information relating to the range in which the transport vehicle moves, a movement path information generation means for generating movement path information relating to a first movement path of the transport vehicle based on the map information stored in the storage unit, a projection image data generation means for generating projection image data indicating the first movement path based on the movement path information generated by the movement path information generation means, and a transmission means for transmitting the projection image data generated by the projection image data generation means to the transport vehicle, wherein the transport vehicle has a receiving means for receiving the projection image data transmitted by the transmission means, a projection means for projecting a projection image based on the projection image data received by the receiving means onto a floor surface, an imaging means for capturing a floor surface image including the floor surface onto which the projection image has been projected by the projection means, and a movement control means for controlling the movement of the transport vehicle to follow the first movement path based on the floor surface image captured by the imaging means.

[0010] The transport vehicle control system according to the second invention is characterized in that, in the first invention, the movement path information generation means updates the movement path information based on the floor surface image captured by the imaging means, and the projection image data generation means newly generates the projection image data based on the movement path information updated by the movement path information generation means.

[0011] The transport vehicle control system according to the third invention further comprises, in the first invention, a detection means for detecting the intersection of first movement paths of a plurality of transport vehicles based on the floor surface image captured by the imaging means, and a priority information acquisition means for acquiring priority information indicating the priority of movement between the plurality of transport vehicles when the detection means detects an intersection between the first movement paths relating to the plurality of transport vehicles, and the projection means controls the projection of the projection image based on the priority information acquired by the priority information acquisition means.

[0012] The transport vehicle control system according to the fourth invention further comprises, in the first invention, an independent projection means for projecting a second movement path of the transport vehicle onto the floor surface, and a detection means for detecting the projection of the second movement path onto the floor surface by the independent projection means based on a floor surface image captured by the imaging means, wherein the movement control means controls the movement of the transport vehicle so as to prioritize following the second movement path when the projection of the second movement path onto the floor surface is detected by the detection means.

[0013] The fifth invention relates to a transport vehicle control method, which is a method for controlling the movement of a transport vehicle, and is characterized by comprising: a storage step in which a server stores map information relating to the range in which the transport vehicle moves; a movement path information generation step in which a movement path information generation step in which a movement path information generation step in which a movement path information generation step in which a movement path generation step in which a movement path generation step in which a projection image data generation step in which a projection image data generation step in which a projection image data generation step in which a projection image data generation step in which a projection image data generation step in which a projection image data generation step in which a projection image data is transmitted in which a projection image data is transmitted in which a projection image data is transmitted in which a projection image data is transmitted in which a projection image data is transmitted in which a projection image data is transmitted in which a projection image data is received in which a projection image data is transmitted movement control step in which a movement control step in which a movement control step in which a transport vehicle moves in accordance with the first movement path is transmitted. [Effects of the Invention]

[0014] According to the first to fourth inventions, the transmitting means transmits projected image data indicating a first movement path to the transport vehicle, the projection means projects a projection image based on the projected image data onto the floor surface, and the movement control means controls the movement of the transport vehicle to follow the first movement path based on the floor surface image including the floor surface onto which the projected image is projected. As a result, the transport vehicle control system can move the transport vehicle to follow a first movement path displayed on the floor surface, similar to a track-type transport vehicle. This makes it possible for the transport vehicle control system to move the transport vehicle safely without relying heavily on the accuracy of positioning.

[0015] Furthermore, according to the first invention, the projection means projects a projection image based on the projection image data onto the floor surface. As a result, workers near the transport vehicle can visually understand the path the transport vehicle is moving along. This makes it possible for the transport vehicle control system to prevent accidents from occurring within the range of the transport vehicle's movement.

[0016] In particular, according to the second invention, the movement path information generation means updates the movement path information based on the floor image captured by the imaging means, and the projection image data generation means newly generates projection image data based on the movement path information updated by the movement path information generation means. Therefore, the transport vehicle control system can update the projection image each time the imaging means captures a floor image, so that the first movement path is correctly displayed on the floor. As a result, the transport vehicle control system can move the transport vehicle safely without relying heavily on the accuracy of positioning.

[0017] In particular, according to the third invention, the detection means detects the intersection of first movement paths of multiple transport vehicles based on a floor image, the priority information acquisition means acquires priority information indicating the priority of movement between the multiple transport vehicles when the detection means detects an intersection of first movement paths relating to multiple transport vehicles, and the projection means controls the projection of the projection image based on the priority information acquired by the priority information acquisition means. As a result, the transport vehicle control system can stop the projection of projection images for transport vehicles other than those that are to be moved with priority. This makes it possible for the transport vehicle control system to move the transport vehicles safely even when there is an intersection of first movement paths among multiple transport vehicles.

[0018] In particular, according to the fourth invention, the independent projection means projects the second movement path of the transport vehicle onto the floor surface, and the movement control means controls the movement of the transport vehicle so as to prioritize following the second movement path. As a result, the transport vehicle control system can move the transport vehicle to follow the second movement path. This makes it possible for the transport vehicle control system to move along a predetermined path in intersections and narrow passages by providing the independent projection means.

[0019] According to the fifth invention, the transmitting step transmits projection image data indicating a first movement path to the transport vehicle, the projecting step projects a projection image based on the projection image data onto a floor surface, and the movement control step controls movement of the transport vehicle so as to follow the first movement path based on a floor surface image including the floor surface on which the projection image is projected. For this reason, the transport vehicle control system can move the transport vehicle so as to follow the first movement path displayed on the floor surface, like a track-type transport vehicle. This allows the transport vehicle control method to safely move the transport vehicle without strongly depending on the positioning accuracy of position measurement. [Brief Description of the Drawings]

[0020] [Figure 1] Figure 1 is a schematic diagram showing an example of the overall configuration of a transport vehicle control system to which the present invention is applied. [Figure 2] Figure 2 is a schematic diagram showing an example of the hardware configuration of a server. [Figure 3] Figure 3 is a schematic diagram showing an example of the hardware configuration of a transport vehicle. [Figure 4] Figure 4 is a schematic diagram showing an example of the functional configuration of the transport vehicle control system. [Figure 5] Figure 5 is a flowchart showing an example of the steps of the transport vehicle control method according to the first embodiment. [Figure 6] Figure 6 is a flowchart showing an example of the steps of the transport vehicle control method according to the second embodiment. [Figure 7] Figure 7 is a schematic diagram showing an example of a case where intersection of first movement paths occurs in a plurality of transport vehicles. [Figure 8] Figure 8 is a flowchart showing an example of the steps of the transport vehicle control method according to the third embodiment. [Modes for Carrying Out the Invention]

[0021] Hereinafter, embodiments of the transport vehicle control system 100 to which the present invention is applied will be described in detail with reference to the drawings.

[0022] <Transport vehicle control system 100> Figure 1 is a schematic diagram showing an example of the overall configuration of a transport vehicle control system 100 to which the present invention is applied.

[0023] The transport vehicle control system 100 is a system that controls the transport vehicles 2. The transport vehicle control system 100 may include a server 1, transport vehicles 2a and 2b, and an independent projection device 3, as shown in Figure 1. The number of transport vehicles 2 may be one or three or more. In Figure 1, the first movement path 4a is the first movement path projected by transport vehicle 2a, and the first movement path 4b is the first movement path projected by transport vehicle 2b. The second movement path 5 is the second movement path of transport vehicle 2 projected by the independent projection device 3.

[0024] Hereafter, when referring to transport vehicles collectively, they will be written as "transport vehicle 2," and when referring to individual transport vehicles separately, they will be written as "transport vehicle 2a" or "transport vehicle 2b." Also, when referring to the first movement path collectively, they will be written as "first movement path 4," and when referring to individual first movement paths separately, they will be written as "first movement path 4a" or "first movement path 4b."

[0025] In the transport vehicle control system 100, server 1 transmits projected image data to transport vehicles 2a and 2b. Transport vehicles 2a and 2b display a first movement path on the floor surface by projecting the image data received from server 1 onto the floor surface, and then move based on the floor surface image projected onto the floor surface.

[0026] Here, the projected image is the image that the transport vehicle 2 projects onto the floor, and when projected onto the floor, it visually displays the first movement path 4. The projected image data is the data for sending and receiving the projected image as packets. The first movement path 4 and the second movement path 5 are the paths that the transport vehicle 2 travels within its movement range.

[0027] The following explains each element in Figure 1.

[0028] <Server 1> Server 1 is a device that transmits projected image data to transport vehicles 2a and 2b. Figure 2 is a schematic diagram showing an example of the hardware configuration of Server 1.

[0029] Server 1 includes, for example, a chassis 111, a CPU 101, a ROM 102, a RAM 103, a storage device 104, and I / F 105-107. The CPU 101, ROM 102, RAM 103, storage device 104, and I / F 105-107 are connected by an internal bus 110.

[0030] The CPU 101 controls the entire server 1. The ROM 102 may store, for example, information for starting the entire server 1. The ROM 102 may also store the operating code for the CPU 101. The RAM 103 is a work area used when the CPU 101 is operating. Various data is stored in the storage device 104. The storage device 104 may be a data storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), SD card, or miniSD card. The operating code for the CPU 101 may be stored in the storage device 104. For example, the server 1 may have a GPU (Graphics Processing Unit) which is not shown. The I / F 105 is an interface for sending and receiving data with the transport vehicle 2 via the antenna 112.

[0031] I / F106 is an interface for sending and receiving data with the input unit 108. For example, a keyboard is used as the input unit 108, and users of the server 1 input various data or control commands for the server 1 via the input unit 108. I / F107 is an interface for sending and receiving various data with the display unit 109. The display unit 109 outputs various data stored in the storage device 104, or the processing status of the server 1. A display is used as the display unit 109, and may be a touch panel, for example.

[0032] <Transport vehicle 2> The transport vehicle 2 projects a projection image onto the floor surface based on the projection image data received from the server 1, captures a floor image including the projected projection image on the floor surface, and moves based on the captured floor image. The transport vehicle 2 may also send and receive data with the server 1. Figure 3 is a schematic diagram showing an example of the hardware configuration of the transport vehicle 2. Here, the floor image is an image of the floor surface onto which the projection image has been projected.

[0033] The transport vehicle 2 includes a communication device 201, a projection device 202, an imaging device 203, a movement control device 204, a trolley 205, and an antenna 206. The communication device 201 is connected to the projection device 202, the imaging device 203, and the antenna 206. The projection device 202 is connected to the communication device 201 and the imaging device 203. The imaging device 203 is connected to the communication device 201 and the projection device 202. The movement control device 204 is connected to the imaging device 203 and the trolley 205. The trolley 205 is connected to the movement control device 204.

[0034] The communication device 201 is a device that transmits and receives data with the server 1 via the antenna 206, and is, for example, a known communication unit. The communication device 201 also transmits and receives data with the projection device 202 and the imaging device 203. The projection device 202 is a device that projects a projection image onto the floor surface based on the projection image data received by the communication device 201 from the server 1, and is, for example, a projector using known technology. The imaging device 203 is a device that captures a floor surface image including the floor surface onto which the projection image by the projection device 202 has been projected, and is, for example, a camera using known technology. Since the projection image is projected onto the floor surface, the first movement path 4 is displayed on the floor surface, and therefore the floor surface image includes the display of the first movement path 4. The movement control device 204 is a device that controls the trolley 205 so that the transport vehicle 2 moves in accordance with the first movement path 4 based on the floor surface image captured by the imaging device 203, and includes, for example, a motor. The trolley 205 is a trolley that includes wheels for moving the transport vehicle 2 and a platform for transporting goods.

[0035] The transport vehicle 2 may be equipped with sensors not shown in Figure 3. For example, the transport vehicle 2 may be equipped with a known positioning sensor for determining the position of the transport vehicle 2.

[0036] <Independent projection device 3> The independent projection device 3 is a device that projects the second movement path 5 of the transport vehicle 2 onto the floor. The independent projection device 3 may be a fixed projector or a mobile projector. The independent projection device 3 may project an image onto the floor that visually displays the second movement path 5 when projected onto the floor.

[0037] Figure 4 shows an example of the functional configuration of a transport vehicle control system 100 to which the present invention is applied.

[0038] The transport vehicle control system 100 includes, for example, a storage unit 11, a movement path information generation unit 12, a projected image data generation unit 13, a transmission unit 14, a reception unit 15, a projection unit 16, an imaging unit 17, a movement control unit 18, a detection unit 19, a priority information acquisition unit 20, and an independent projection unit 21, as shown in Figure 4.

[0039] As shown in Figure 4, in the transport vehicle control system 100, the storage unit 11 is connected to the movement path information generation unit 12. The movement path information generation unit 12 is connected to the storage unit 11 and the projected image data generation unit 13. The projected image data generation unit 13 is connected to the movement path information generation unit 12 and the transmission unit 14. The transmission unit 14 is connected to the projected image data generation unit 13 and the reception unit 15. The reception unit 15 is connected to the transmission unit 14 and the projection unit 16. The projection unit 16 is connected to the reception unit 15, the imaging unit 17 and the priority information acquisition unit 20. The imaging unit 17 is connected to the projection unit 16, the movement control unit 18 and the detection unit 19. The movement control unit 18 is connected to the imaging unit 17 and the detection unit 19. The detection unit 19 is connected to the imaging unit 17, the movement control unit 18, the priority information acquisition unit 20 and the independent projection unit 21. The priority information acquisition unit 20 is connected to the projection unit 16 and the detection unit 19. The independent projection unit 21 is connected to the detection unit 19. The elements in Figure 4 will be explained below.

[0040] <Storage section 11> The memory unit 11 stores map information relating to the area in which the transport vehicle moves. The map information includes information such as the width of the passages and the relative positions of objects in the area in which the transport vehicle moves. The functions of the memory unit 11 may also be performed by the server 1 in Figure 1 or the storage device 104 in Figure 2.

[0041] <Movement path information generation unit 12> The movement path information generation unit 12 generates movement path information for the first movement path 4 of the transport vehicle 2 based on the map information stored by the storage unit 11. The movement path information is information about the first movement path 4 of the transport vehicle 2, and may be numerical information regarding the direction of movement and the distance traveled. Here, the first movement path 4 is the movement path of the transport vehicle 2. The function of the movement path information generation unit 12 may be executed on the server 1 in Figure 1.

[0042] <Projected image data generation unit 13> The projection image data generation unit 13 generates projection image data showing the first movement path 4 based on the movement path information generated by the movement path information generation unit 12. The functions of the projection image data generation unit 13 may be performed by the server 1 in Figure 1.

[0043] <Transmitting section 14> The transmitting unit 14 transmits the projection image data generated by the projection image data generation unit 13 to the transport vehicle 2. The functions of the transmitting unit 14 may be performed by the server 1 in Figure 1 or the antenna 112 in Figure 2.

[0044] <Receiver 15> The receiving unit 15 receives the projected image data transmitted by the transmitting unit 14. The functions of the receiving unit 15 may also be performed by the antenna 206 and communication device 201 shown in Figure 3.

[0045] <Projection section 16> The projection unit 16 projects a projection image onto the floor surface based on the projection image data received by the receiving unit 15. The function of the projection unit 16 may also be performed by the projection device 202 shown in Figure 3.

[0046] <Imaging Unit 17> The imaging unit 17 captures a floor image that includes the floor surface onto which the projected image is projected by the projection unit 16. The function of the imaging unit 17 may also be performed by the imaging device 203 shown in Figure 3.

[0047] <Movement control unit 18> The movement control unit 18 controls the movement of the transport vehicle 2 to follow the first movement path 4 based on the floor surface image captured by the imaging unit 17. The functions of the movement control unit 18 may also be performed by the movement control device 204.

[0048] <Detection unit 19> The detection unit 19 detects the intersection of the first movement path 4 in multiple transport vehicles 2 based on the floor image captured by the imaging unit 17. The detection unit 19 also detects the projection of the second movement path 5 onto the floor by the independent projection unit 21 based on the floor image captured by the imaging unit 17. The functions of the detection unit 19 may be performed in the server 1 or the transport vehicle 2.

[0049] <Priority information acquisition unit 20> When the detection unit 19 detects an intersection of the first movement paths 4 relating to multiple transport vehicles 2, the priority information acquisition unit 20 acquires priority information indicating the priority of movement between the multiple transport vehicles 2 for each of the multiple transport vehicles 2. The function of the priority information acquisition unit 20 may be executed on the server 1 or the transport vehicle 2.

[0050] <Independent projection section 21> The independent projection unit 21 projects the second movement path of the transport vehicle 2 onto the floor surface. Here, the second movement path is a movement path of the transport vehicle 2 that is different from the first movement path. The function of the independent projection unit 21 may also be performed by the independent projection device 3.

[0051] <First Embodiment: Transport Vehicle Control Method> Next, an example of the process of the transport vehicle control method having the above-described configuration will be explained as the first embodiment.

[0052] Figure 5 is a flowchart showing an example of the steps of the transport vehicle control method in the first embodiment. Each step in Figure 5 will be described below.

[0053] <Memory Step S11> In the storage step S11, the storage unit 11 stores map information relating to the range in which the transport vehicle 2 moves. Here, the storage device 104 may store various information relating to wireless communication between the server 1 and the transport vehicle 2. The map information may also be acquired based on previously obtained information relating to the range in which the transport vehicle 2 moves and information acquired by the positioning sensors equipped on the transport vehicle 2.

[0054] <Movement path information generation step S12> In the movement path information generation step S12, the movement path information generation unit 12 generates movement path information for the first movement path 4 of the transport vehicle 2 based on the map information stored in the storage step S11. In the movement path information generation step S12, the first movement path 4 may be determined based on the map information. The first movement path 4 and movement path information may be determined or generated based on information such as the map information, the current location of the transport vehicle 2, and the destination of the transport vehicle 2, so as to minimize the possibility of the transport vehicle 2 having an accident. In addition, the first movement path 4 and movement path information may be determined or generated based on information acquired by the positioning sensor equipped on the transport vehicle 2.

[0055] <Projected image data generation step S13> In the projection image data generation step S13, the projection image data generation unit 13 generates projection image data showing the first movement path 4 based on the movement path information generated in the movement path information generation step S12. The projection image data generation unit 13 generates projection image data such that the first movement path 4 is accurately displayed on the floor when the projection image based on the projection image data is projected onto the floor surface by the projection device 202. For example, the projection image data generation unit 13 may generate projection image data based on information such as the position and angle of the projection device 202.

[0056] <Transmission Step S14> In the transmission step S14, the transmission unit 14 transmits the projection image data generated in the projection image data generation step S13 to the transport vehicle 2. For the transmission in the transmission step S14, known data conversion techniques and communication techniques may be used.

[0057] <Receiving step S15> In the receiving step S15, the receiving unit 15 receives the projected image data transmitted in the transmitting step S14. Known communication techniques may be used for sending and receiving data in the transmitting step S14 and the receiving step S15.

[0058] <Projection step S16> In projection step S16, the projection unit 16 projects a projection image onto the floor surface based on the projection image data received in reception step S15. In projection step S16, the projection unit 16 may adjust the position and angle of the projection device 202 before projecting the image onto the floor surface.

[0059] <IMAGING step S17> In the imaging step S17, the imaging unit 17 captures a floor image that includes the floor surface onto which the projected image was projected in the projection step S16. At this time, since the projected image is projected onto the floor surface in the projection step S16, the first movement path 4 is displayed on the floor surface. Therefore, the floor image includes the display of the first movement path 4.

[0060] <Movement control step S18> In the movement control step S18, the movement control unit 18 controls the movement of the transport vehicle 2 to follow the first movement path 4 based on the floor image captured in the imaging step S17. The movement control unit 18 may also control the trolley 205 to make the transport vehicle 2 follow the first movement path 4 displayed on the floor using known techniques, such as line tracing techniques. The movement control unit 18 may also acquire information about the first movement path 4 based on the floor image. For example, the movement control unit 18 may acquire information about the speed and direction of the transport vehicle 2 to make the transport vehicle 2 follow the first movement path 4.

[0061] After the completion of steps S11 to S18, the transport vehicle control method according to the first embodiment may execute steps S11 to S18 again and repeat the process.

[0062] If steps S11 to S18 are repeated, in the second and subsequent movement path information generation step S12, the movement path information may be updated based on the floor surface image captured in the imaging step S17. For example, in the movement path information generation step S12, the movement path information generation unit 12 may update the first movement path 4 and update the movement path information related to the first movement path 4 so that the transport vehicle 2 does not collide with workers or obstacles.

[0063] Furthermore, in the second and subsequent projection image data generation step S13, new projection image data is generated based on the floor image captured in the imaging step S17 or the movement path information updated in the movement path information generation step S12. For example, the projection image data generation unit 13 may generate new projection image data so that the projection image projected onto the floor surface indicates the updated first movement path 4. Alternatively, the projection image data generation unit 13 may generate new projection image data by adjusting the projection image so that the first movement path 4 is correctly displayed on the floor surface when the projection image is projected onto the floor surface.

[0064] If new projection image data is generated in the projection image data generation step S13, the movement of the transport vehicle 2 may be controlled in steps S14 to S18 based on the newly generated projection image data.

[0065] The above steps complete the transport vehicle control method to which the first embodiment is applied.

[0066] The transport vehicle control method to which the first embodiment is applied allows the transport vehicle 2 to be moved safely without relying heavily on the accuracy of positioning.

[0067] According to the first embodiment, the transmission step S14 transmits projected image data showing the first movement path 4 to the transport vehicle 2, the projection step S16 projects a projection image based on the projected image data onto the floor surface, and the movement control step S18 controls the movement of the transport vehicle 2 to follow the first movement path 4 based on the floor surface image including the floor surface onto which the projected image is projected. As a result, the transport vehicle control method can move the transport vehicle 2 to follow the first movement path 4 displayed on the floor surface, similar to a rail-type transport vehicle. This makes it possible for the transport vehicle control method to which the first embodiment is applied to safely move the transport vehicle 2 without relying heavily on the accuracy of positioning.

[0068] Furthermore, according to the first embodiment, the projection unit 16 projects a projection image based on the projection image data onto the floor surface. As a result, workers near the transport vehicle 2 can visually understand the path the transport vehicle 2 is moving along. This makes it possible for the transport vehicle control method to which the first embodiment is applied to prevent accidents from occurring within the range of movement of the transport vehicle 2.

[0069] Furthermore, according to the first embodiment, the movement path information generation step S12 updates the movement path information based on the floor image captured by the imaging step S17, and the projection image data generation step S13 newly generates projection image data based on the movement path information updated by the movement path information generation step S12. Therefore, the transport vehicle control method can update the projection image each time the imaging step S17 captures a floor image, and adjust so that the first movement path 4 is projected correctly. As a result, the transport vehicle control method to which the first embodiment is applied can safely move the transport vehicle 2 without relying heavily on the accuracy of positioning.

[0070] <Second Embodiment: Transport Vehicle Control Method> Next, an example of the process of the transport vehicle control method having the above-described configuration will be explained as a second embodiment. The main difference between the second embodiment and the first embodiment is that it includes a detection step S22, a priority information acquisition step S23, and a projection control step S24.

[0071] Figure 6 is a flowchart showing an example of the process of the transport vehicle control method in the second embodiment. The steps in the transport vehicle control method shown in Figure 6 will be described below. The content described in the first embodiment will be omitted from this explanation.

[0072] <IMAGE step S21> First, in the imaging step S21, steps S11 to S17 in the first embodiment are executed. That is, the transport vehicle 2 projects the projection image onto the floor surface and then captures an image of the floor surface including the floor surface onto which the projection image has been projected. In the imaging step S21, each of the steps S11 to S17 in the first embodiment may be omitted or rearranged as appropriate.

[0073] <Detection step S22> In detection step S22, the detection unit 19 detects the intersection of the first movement paths of the multiple transport vehicles 2 based on the floor surface image captured in imaging step S21.

[0074] Figure 7 is a schematic diagram showing an example of a case where the first movement paths of multiple transport vehicles 2 intersect. As shown in Figure 7, transport vehicle 2a displays the first movement path 4a on the floor by projecting a projection image onto the floor. Transport vehicle 2b also displays the first movement path 4b on the floor by projecting a projection image onto the floor. At the location indicated by the circle in Figure 7, the first movement path 4a and the first movement path 4b intersect.

[0075] The detection unit 19 detects the intersection of the first movement path 4a and the first movement path 4b in Figure 7 based on the floor surface image. Known image analysis techniques may be used to detect the intersection.

[0076] <Priority information acquisition step S23> In priority information acquisition step S23, the priority information acquisition unit 20 acquires priority information for each of the multiple transport vehicles 2, indicating the priority order of movement between them.

[0077] For example, in detection step S22, if an intersection between the first movement path 4a and the first movement path 4b is detected as shown in Figure 7, the priority information acquisition unit 20 acquires priority information for each of the transport vehicles 2a and 2b. Here, the priority information is information indicating the priority of movement between the transport vehicles 2, and may be numerical information. The priority information may be an index in which the numerical value increases as the priority of movement of the transport vehicles 2 increases.

[0078] Priority information may include values ​​pre-set for transport vehicles 2a and 2b. Priority information may also be determined according to the path transport vehicle 2 is traveling. Priority information may also be determined according to the destination of transport vehicle 2. Priority information may also be determined according to what transport vehicle 2 is transporting. Priority information may also be determined to prioritize the movement of transport vehicle 2 when it is moving through an intersection. Priority information may also be determined by combining the above factors.

[0079] <Projection control step S24> In the projection control step S24, the projection unit 16 controls the projection of the projection image based on the priority information acquired in the priority information acquisition step S23.

[0080] For example, if the priority information value for transport vehicle 2 is lower than that of other transport vehicles, the projection unit 16 may stop projecting the image. Also, for example, if the priority information value for transport vehicle 2 is low, the projection unit 16 may change the brightness and color of the projected image. Here, the projection unit 16 may also project an indication on the floor that transport vehicle 2 has stopped moving.

[0081] If the priority information value for transport vehicle 2 is higher than that of other transport vehicles, the projection unit 16 does not need to change the projection of the projection image even if the detection unit 19 has detected an intersection of the first movement path 4. Also, if the priority information value for transport vehicle 2 is high, the projection unit 16 may project an image on the floor indicating that transport vehicle 2 is moving.

[0082] For example, in Figure 7, suppose numerical values ​​are used for priority information, with the priority information for transport vehicle 2a being high and the priority information for transport vehicle 2b being low. In this case, the projection unit 16 of transport vehicle 2a may not change the projection of the projected image, and the projection unit 16 of transport vehicle 2b may stop projecting the projected image. At this time, only the first movement path 4a related to transport vehicle 2a will be shown on the floor.

[0083] <Movement control step S25> In the movement control step S25, the movement control unit 18 performs the same processing as in the movement control step S18 in the first embodiment.

[0084] Furthermore, in the movement control step S25, the imaging unit 17 acquires a new floor image that includes the floor surface onto which the projected image was projected, and the movement control unit 18 controls the movement of the transport vehicle 2 based on the newly acquired floor image.

[0085] If the newly acquired floor image does not include the first movement path 4 corresponding to the transport vehicle 2, the movement control unit 18 may stop the movement of the transport vehicle 2.

[0086] For example, in projection control step S24, suppose the projection unit 16 of the transport vehicle 2a shown in Figure 7 continues to project the projection image, while the projection unit 16 of the transport vehicle 2b stops projecting the projection image. At this time, only the first movement path 4a related to the transport vehicle 2a will be shown on the floor. In this case, in movement control step S25, the movement control unit 18 of the transport vehicle 2a may control the movement of the transport vehicle 2a to follow the first movement path 4a. On the other hand, the movement control unit 18 of the transport vehicle 2b may stop the movement of the transport vehicle 2b because the first movement path 4b is not included in the floor image.

[0087] In this case, transport vehicle 2a will move before transport vehicle 2b. The projection unit 16 of transport vehicle 2b, which is stopped, may periodically project the projection image onto the floor surface for a short time while transport vehicle 2b is stopped. At this time, the detection unit 19 of transport vehicle 2b may check whether the intersection of the first movement path 4 has been resolved. After transport vehicle 2a moves and the intersection of the first movement path 4 has been resolved, transport vehicle 2b may resume projecting the projection image and move. In this way, the transport vehicle control method can move the transport vehicles 2 while avoiding collisions between them.

[0088] Furthermore, in the second embodiment, if the first movement paths 4 for three or more transport vehicles 2 intersect, priority information is acquired for each transport vehicle 2 in the same manner as described above. For example, the transport vehicle control method may control projection and movement so that transport vehicles move in order from those with higher priority information values.

[0089] The above steps complete the transport vehicle control method according to the second embodiment. Alternatively, after the completion of steps S21 to S25, the transport vehicle control method according to the second embodiment may be repeated by executing steps S21 to S25 again.

[0090] According to the second embodiment, the detection step S22 detects the intersection of the first movement paths 4 of the multiple transport vehicles 2 based on a floor image, the priority information acquisition step S23, if an intersection of the first movement paths of the multiple transport vehicles 2 is detected in the detection step S22, acquires priority information indicating the priority of movement between the multiple transport vehicles 2 for each of the multiple transport vehicles 2, and the projection control step S24 controls the projection of the projection image based on the priority information acquired by the priority information acquisition unit 20. Therefore, the transport vehicle control method to which the second embodiment is applied can stop the projection of projection images for transport vehicles other than the transport vehicle 2 that is to be moved with priority. As a result, the transport vehicle control method to which the second embodiment is applied can safely move the transport vehicles 2 even when there is an intersection of the first movement paths 4 of the multiple transport vehicles 2.

[0091] <Third Embodiment: Transport Vehicle Control Method> Next, an example of the process for controlling a transport vehicle with the above-described configuration will be explained as a third embodiment. The main difference between the third embodiment and the first embodiment is that the third embodiment includes an independent projection step S31 and a detection step S33.

[0092] Figure 8 is a flowchart illustrating an example of the process of the transport vehicle control method in the third embodiment. The steps in the transport vehicle control method shown in Figure 8 will be described below. Details of the first and second embodiments will be omitted.

[0093] <Independent projection step S31> In the independent projection step S31, the independent projection unit 21 projects the second movement path of the transport vehicle 2 onto the floor surface. Here, the second movement path may be different from the first movement path. The projection of the second movement path is performed by the independent projection device 3 shown in Figure 1. The independent projection device 3 may be installed in narrow passages, intersections, or places where there is a lot of traffic of the transport vehicle 2.

[0094] The projection of the second movement path may be projected after adjusting its brightness and color so that it can be distinguished from the first movement path. Alternatively, the independent projection device 3 may always project the same second movement path 5 onto the floor. Furthermore, for example, the independent projection device 3 may project different second movement paths 5 onto the floor depending on the time of day.

[0095] <Imaging step S32> First, in the imaging step S32, the transport vehicle control system 100 executes steps S11 to S17 in the first embodiment. That is, the transport vehicle 2 projects the projection image onto the floor surface and then captures an image of the floor surface including the floor surface onto which the projection image has been projected. In the imaging step S32, each of the steps S11 to S17 in the first embodiment may be omitted or rearranged as appropriate.

[0096] <Detection step S33> In detection step S33, the detection unit 19 detects the projection of the second movement path 5 onto the floor surface by the independent projection unit 21, based on the floor surface image captured in imaging step S32.

[0097] <Movement control step S34> In the movement control step S34, the movement control unit 18 controls the movement of the transport vehicle 2 based on the floor surface image.

[0098] If the projection of the second movement path onto the floor is detected in detection step S33, the projection unit 16 may stop the projection of the projected image 4 onto the floor, thereby stopping the display of the first movement path 4 on the floor. Alternatively, if the projection of the second movement path onto the floor is detected in detection step S33, the transport vehicle control system 100 may update the first movement path 4 to match the second movement path 5. Furthermore, if the projection of the second movement path onto the floor is detected in detection step S33, the projection unit 16 may change the form in which the projected image 4 is projected onto the floor. For example, the projection unit 16 may change the intensity or color of the light used for projection. The imaging unit 17 also acquires a new floor image after the projection unit 16 has stopped or changed the projection of the projected image onto the floor.

[0099] In the movement control step S34, if the projection of the second movement path 5 onto the floor surface is detected in the detection step S33, the movement control unit 18 controls the movement of the transport vehicle 2 to prioritize following the second movement path 5. For example, the movement control unit 18 may control the movement of the transport vehicle 2 to follow only the second movement path 5 based on the floor surface image newly acquired by the imaging unit 17. Alternatively, for example, the movement control unit 18 may control the movement of the transport vehicle 2 to move within a range between the second movement path 5 and the first movement path 4.

[0100] The above steps complete the transport vehicle control method to which the third embodiment is applied. Alternatively, after the completion of steps S31 to S34, the transport vehicle control method according to the third embodiment may be repeated by executing steps S31 to S34 again.

[0101] In particular, according to the third embodiment, the independent projection step S31 projects the second movement path 5 of the transport vehicle 2 onto the floor surface, and the movement control step S34 controls the movement of the transport vehicle 2 so as to prioritize following the second movement path 5. Therefore, the transport vehicle control method to which the third embodiment is applied can move the transport vehicle 2 to follow the second movement path 5. As a result, the transport vehicle control method to which the third embodiment is applied can use the independent projection unit 21 to make the transport vehicle 2 move along a fixed route in intersections and narrow passages.

[0102] While embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of Symbols]

[0103] 1: Server 2: Transport vehicle 2a: Transport vehicle 2b: Transport vehicle 3: Independent projection device 4: First movement path 4a: First movement path 4b: First movement path 5: Second migration route 11: Storage section 12: Movement path information generation unit 13: Projection Image Data Generation Unit 14: Transmitter 15: Receiving section 16: Projection section 17: Imaging Unit 18: Movement Control Unit 19: Detection unit 20:Priority information acquisition section 21:Independent projection section 100: Transport vehicle control system 101: CPU 102 :ROM 103: RAM 104: Storage device 105 :I / F 106: I / F 107: I / F 108: Input section 109:Display section 110: Internal bus 111: Cabinet 112: Antenna 201: Communication equipment 202: Projection device 203: Imaging device 204: Mobile control device 205: Dolly 206: Antenna S11: Memory Step S12: Step for generating travel path information S13: Projected image data generation step S14: Transmission Step S15: Receiving step S16: Projection step S17: Imaging step S18: Movement control step S21: Imaging step S22: Detection step S23: Priority information acquisition step S24: Projection control step S25: Movement control step S31: Independent projection step S32: Imaging step S33: Detection step S34: Movement control step

Claims

1. Server and The system comprises a server and a transport vehicle that communicates wirelessly with the server, The aforementioned server, A storage unit that stores map information relating to the range in which the transport vehicle moves, A movement path information generation means generates movement path information relating to the first movement path of the transport vehicle based on the map information stored in the memory unit, A projection image data generation means generates projection image data showing the first movement path based on the movement path information generated by the movement path information generation means, A transmission means for transmitting the projected image data generated by the projected image data generation means to the transport vehicle. It has, The aforementioned transport vehicle is A receiving means for receiving the projection image data transmitted by the transmitting means, A projection means for projecting a projection image based on the projection image data received by the receiving means onto the floor surface, An imaging means for capturing an image of the floor surface including the floor surface onto which the projected image is projected by the projection means, Movement control means that controls the movement of the transport vehicle to follow the first movement path based on the floor surface image captured by the imaging means. Having A transport vehicle control system characterized by the following.

2. The movement path information generation means updates the movement path information based on the floor surface image captured by the imaging means. The projection image data generation means generates new projection image data based on the movement path information updated by the movement path information generation means. A transport vehicle control system according to claim 1, characterized by the following:

3. A detection means for detecting intersections of first movement paths in a plurality of transport vehicles based on the floor surface image captured by the imaging means, In the detection means, when an intersection of first movement paths relating to a plurality of transport vehicles is detected, priority information acquisition means acquires priority information indicating the priority of movement between the plurality of transport vehicles for each of the plurality of transport vehicles. Furthermore, The projection means controls the projection of the projection image based on the priority information acquired by the priority information acquisition means. A transport vehicle control system according to claim 1, characterized by the following:

4. An independent projection means for projecting the second movement path of the transport vehicle onto the floor surface, The system further comprises a detection means for detecting the projection of the second movement path onto the floor surface by the independent projection means based on the floor surface image captured by the imaging means, The movement control means controls the movement of the transport vehicle so as to prioritize following the second movement path when the detection means detects the projection of the second movement path onto the floor surface. A transport vehicle control system according to claim 1, characterized by the following:

5. A method for controlling the movement of a transport vehicle, A storage step in which the server stores map information relating to the area in which the transport vehicle moves, A movement path information generation step generates movement path information relating to the first movement path of the transport vehicle based on the map information stored in the storage step, A projection image data generation step generates projection image data showing the first movement path based on the movement path information generated in the movement path information generation step, A transmission step of transmitting the projection image data generated by the projection image data generation step to the transport vehicle, A receiving step which receives the projected image data transmitted by the transmission step, A projection step in which a projection image based on the projection image data received in the receiving step is projected onto the floor surface, The imaging step includes capturing an image of the floor surface including the floor surface onto which the projection image was projected in the projection step, A movement control step controls the movement of the transport vehicle to follow the first movement path based on the floor surface image captured in the imaging step. Having A transport vehicle control method characterized by the following.

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