Autonomous guided vehicle management control device and management control system

Abstract

To provide a management controller and a management control system for an autonomous conveyance vehicle capable of efficient operation.SOLUTION: A management controller 100 for an autonomous conveyance vehicle includes: a simultaneous entry prohibited area setting part 110 which controls a plurality of autonomous conveyance vehicles 200 that travel in predetermined areas and sets a simultaneous entry prohibited area from the predetermined areas; a travel information acquisition part 120 which acquires travel information of the plurality of autonomous conveyance vehicles; an entry period calculation part 130 which calculates, based on the simultaneous entry prohibited area and the travel information, a period of entry of the plurality of autonomous conveyance vehicles into the simultaneous entry prohibited area; a simultaneous entry determination part 140 which determines, based on the entry period, whether or not two or more of the autonomous conveyance vehicles are simultaneously entering into the simultaneous entry prohibited area; and a travel instruction part 150 which, upon determination that the aforementioned autonomous conveyance vehicles are simultaneously entering, provides entry permission to any of the two or more autonomous conveyance vehicles with the fastest exit from the simultaneous entry prohibited area.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a management control device and a management control system for an autonomous guided vehicle. [Background technology]

[0002] In recent years, autonomous guided vehicles that travel autonomously along a route to a destination have become widespread. For example, in a factory or the like, multiple autonomous guided vehicles may travel within a specific area of ​​the factory to transport luggage.

[0003] When multiple autonomous guided vehicles are traveling, they need to avoid collisions with each other, and appropriate control such as priority driving or stopping is particularly important at intersections, narrow areas, and roads.

[0004] In Patent Document 1, an AGV detects a marker placed in front of an intersection area and asserts that it is in the intersection area by transmitting radio waves, and at the same time, determines whether a preceding AGV is in the intersection area by receiving radio waves transmitted by other AGVs. Then, the AGV moves or stops depending on whether or not radio waves are received and the frequency. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 3206314 [Patent Document 2] Patent No. 5448612 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the technique disclosed in Patent Document 1 requires the placement of a marker in front of the intersection area and the installation of equipment for transmitting and receiving radio waves on each automated guided vehicle.

[0007] In addition, in the technology disclosed in Patent Document 2, automated guided vehicles continue traveling or stop based on the order of arrival at the entrance to the intersection area, but depending on the shape of the intersection area, this may not be considered efficient operation. For example, in an intersection area where the distance is long in one direction and short in the other direction due to differences in the width of the intersecting travel paths, it may be possible to improve overall operation efficiency by giving priority to automated guided vehicles that arrive at the entrance to the intersection area last.

[0008] Therefore, an object of the present invention is to provide a management control device and a management control system for an autonomous guided vehicle that enables efficient operation. [Means for solving the problem]

[0009] An autonomous guided vehicle management control device according to one embodiment of the present invention is a management control device for autonomous guided vehicles that controls multiple autonomous guided vehicles traveling in a specified area, and includes: a simultaneous entry no-entry area setting unit that sets a simultaneous entry no-entry area within the specified area; a traveling information acquisition unit that acquires traveling information of the multiple autonomous guided vehicles; an entry period calculation unit that calculates an entry period for the multiple autonomous guided vehicles into the simultaneous entry no-entry area based on the simultaneous entry no-entry area and the traveling information of the multiple autonomous guided vehicles; a simultaneous entry determination unit that determines whether at least two or more of the multiple autonomous guided vehicles will be in a state of simultaneously entering the simultaneous entry no-entry area based on the entry period; and a traveling instruction unit that, when it is determined that the autonomous guided vehicles will be in a state of simultaneously entering, gives entry permission to the autonomous guided vehicle that is the fastest to escape from the simultaneous entry no-entry area, among the at least two or more autonomous guided vehicles.

[0010] According to this aspect, when the simultaneous entry prohibited area setting unit sets a simultaneous entry prohibited area and the simultaneous entry determination unit determines that multiple autonomous guided vehicles are entering the simultaneous entry prohibited area at the same time, the travel instruction unit gives entry permission to the autonomous guided vehicle that is the first to exit the simultaneous entry prohibited area among at least two or more autonomous guided vehicles. As a result, it is possible to avoid collisions between the autonomous guided vehicles in the simultaneous entry prohibited area and realize efficient operation.

[0011] In the above aspect, the entry period calculation unit may calculate the scheduled entry times of multiple autonomous guided vehicles into the simultaneous entry no-entry area and the scheduled exit times from the simultaneous entry no-entry area based on the simultaneous entry no-entry area and driving information of the multiple autonomous guided vehicles.

[0012] According to this aspect, the entry period calculation unit calculates the planned entry times and planned exit times of multiple autonomous guided vehicles, so that it is possible to properly determine the autonomous guided vehicle that will exit the simultaneous entry no-go area the earliest.

[0013] In the above aspect, the travel instruction unit may instruct, among the at least two or more autonomous guided vehicles, autonomous guided vehicles other than the autonomous guided vehicle to be given entry permission, to stop before the simultaneous entry prohibited area.

[0014] According to this aspect, the driving instruction unit issues a stop instruction to autonomous guided vehicles other than the autonomous guided vehicle that has been given permission to enter, in front of the simultaneous entry no-entry area, thereby preventing multiple autonomous guided vehicles from entering the simultaneous entry no-entry area at the same time and avoiding collisions between the autonomous guided vehicles in the simultaneous entry no-entry area.

[0015] In the above aspect, when the autonomous guided vehicle that has been given entry permission has left the simultaneous entry prohibited area, the travel instruction unit may give entry permission to the autonomous guided vehicle that has been given the stop instruction.

[0016] According to this aspect, when an autonomous guided vehicle that has been given permission to enter leaves the no-simultaneous-entry area, the driving instruction unit gives entry permission to the autonomous guided vehicle that has been given a stop instruction, thereby enabling efficient operation to be achieved while avoiding collisions between autonomous guided vehicles in the no-simultaneous-entry area.

[0017] In the above aspect, the driving instruction unit may grant entry permission to an autonomous guided vehicle other than the autonomous guided vehicle for which entry permission is granted, if, among at least two or more autonomous guided vehicles, the autonomous guided vehicle other than the autonomous guided vehicle for which entry permission is granted is on the same driving route as the autonomous guided vehicle for which entry permission is granted in a simultaneous entry no-entry area.

[0018] According to this aspect, when multiple autonomous guided vehicles are on the same driving route in a no-simultaneous-entry area, the driving instruction unit gives entry permission to the multiple autonomous guided vehicles, so that the following autonomous guided vehicles are not likely to collide in the no-simultaneous-entry area, and efficient operation can be achieved.

[0019] In the above aspect, the system may further include an abnormal condition determination unit that determines that an abnormal condition exists when an autonomous guided vehicle that has been given permission to enter is stopped continuously for a first predetermined time, or when driving information of an autonomous guided vehicle that has been given permission to enter cannot be obtained continuously for a second predetermined time.

[0020] According to this aspect, the abnormality determination unit determines whether the autonomous guided vehicle has stopped or has had a communication failure, and can therefore notify an operator of the abnormality, thereby encouraging the operator to take measures to restore proper operation.

[0021] In the above aspect, when the abnormal condition is resolved and there is an autonomous guided vehicle that has been instructed to stop before a simultaneous entry prohibited area, the driving instruction unit may give permission to enter the autonomous guided vehicle.

[0022] According to this aspect, when the abnormal condition is resolved, the driving instruction unit gives entry permission to an autonomous guided vehicle that has already been instructed to stop, so that the autonomous guided vehicle can resume operation appropriately.

[0023] A management and control system for autonomous guided vehicles according to one aspect of the present invention is a management and control system for autonomous guided vehicles having a plurality of autonomous guided vehicles traveling in a specified area and a management and control device that controls the plurality of autonomous guided vehicles, wherein each of the plurality of autonomous guided vehicles is equipped with a traveling control unit that controls the traveling of the autonomous guided vehicle, and a vehicle information acquisition unit that acquires traveling information of the autonomous guided vehicle, and the management and control device is configured to: The system includes an entry period calculation unit that calculates an entry period for multiple autonomous guided vehicles into the simultaneous entry no-entry area, a simultaneous entry determination unit that determines whether at least two or more of the multiple autonomous guided vehicles are entering the simultaneous entry no-entry area simultaneously based on the entry period, and a driving instruction unit that, when it is determined that they are entering simultaneously, gives entry permission to the autonomous guided vehicle that is the first to exit the simultaneous entry no-entry area out of the at least two or more autonomous guided vehicles, and the autonomous guided vehicle that has been given entry permission drives to enter the simultaneous entry no-entry area by the driving control unit of the autonomous guided vehicle.

[0024] According to this aspect, the simultaneous entry prohibited area setting unit sets a simultaneous entry prohibited area, the travel information acquisition unit acquires travel information from multiple autonomous guided vehicles, and the entry period calculation unit calculates an entry period to the simultaneous entry prohibited area based on the simultaneous entry prohibited area and the travel information of the multiple autonomous guided vehicles. When the simultaneous entry determination unit determines that multiple autonomous guided vehicles are entering the simultaneous entry prohibited area at the same time, the travel instruction unit gives entry permission to the autonomous guided vehicle that is the fastest to escape from the simultaneous entry prohibited area among at least two or more autonomous guided vehicles. As a result, efficient operation can be achieved while avoiding collisions between the autonomous guided vehicles in the simultaneous entry prohibited area. Effect of the Invention

[0025] According to the present invention, it is possible to provide a management control device and a management control system for an autonomous guided vehicle that enables efficient operation. [Brief description of the drawings]

[0026] [Figure 1] 1 is a system configuration diagram showing an overview of a management control system 10 for an autonomous guided vehicle according to an embodiment of the present invention. [Diagram 2] 1 is a functional block diagram showing the functions of a management control device 100 and an autonomous guided vehicle 200 in a management control system 10 for an autonomous guided vehicle according to one embodiment of the present invention. FIG. [Diagram 3] FIG. 13 is a diagram showing two autonomous guided vehicles 200A, 200B in which one is given permission to enter an intersection area A10 and the other is given an instruction to stop. [Figure 4] 1 is a flowchart showing a management and control method M100 for an autonomous guided vehicle executed by a management control device 100 in a management and control system 10 for an autonomous guided vehicle according to an embodiment of the present invention. [Diagram 5] 13 is a diagram showing an autonomous guided vehicle 200A stopped in an intersection area A10. [Figure 6] FIG. 13 is a diagram showing a state in which the vicinity of a narrow road where passing is difficult is set as a simultaneous entry prohibition area. [Figure 7] FIG. 13 is a diagram showing a state in which the vicinity of a cul-de-sac, where a narrow roadway leading to a dead end makes it difficult for vehicles to pass each other, is set as a no-entry area for simultaneous entry. [Figure 8] 13 is a diagram showing a state in which an area around a narrow road where passing each other is difficult is set as a no-entry area, and multiple autonomous guided vehicles 200 travel in the same direction through the no-entry area. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. Note that the embodiment described below is merely a specific example for carrying out the present invention, and is not intended to limit the interpretation of the present invention. In addition, in order to facilitate understanding of the description, the same reference numerals are used as far as possible for the same components in each drawing, and duplicated descriptions may be omitted.

[0028] <One embodiment> [System configuration of the management and control system for autonomous guided vehicles] Fig. 1 is a system configuration diagram showing an overview of a management control system 10 for an autonomous guided vehicle according to an embodiment of the present invention. As shown in Fig. 1, the management control system 10 has a management control device 100 and a plurality of autonomous guided vehicles 200A, 200B (hereinafter, sometimes collectively referred to as autonomous guided vehicles 200), which are connected to a network via wireless communication such as a wired LAN and WiFi (registered trademark). Furthermore, the management control system 10 may be provided with an electronic device such as a tablet 300 that can be connected to the network.

[0029] The management control device 100 performs overall management and control of the entire management control system 10, including data transmission / reception and management in the management control system 10. Specifically, the management control device 100 manages and controls the traveling of multiple autonomous guided vehicles 200 while transmitting and receiving data to and from multiple autonomous guided vehicles 200 traveling in a specified area.

[0030] The management control device 100 records map data of a specific area in which multiple autonomous guided vehicles 200 travel, and may be able to determine, based on the map data, the route that the multiple autonomous guided vehicles 200 will take to their destination.

[0031] The map data may be created by map creation software stored in the management control device 100, or map data created by another device or system may be recorded in the management control device 100.

[0032] The autonomous guided vehicles 200 travel within a factory, for example, and transport cargo to a set destination. The autonomous guided vehicles 200 transmit and receive data to and from the management control device 100, and are controlled to travel and stop based on operation instructions from the management control device 100, and travel autonomously without a human driver.

[0033] In addition, the multiple autonomous guided vehicles 200 may be equipped with map data, generate a driving route for the vehicle to travel to the destination, and travel along the generated driving route.

[0034] The tablet 300 is a terminal device operated by an operator, and may perform operations such as managing, confirming, and setting actions, tasks, and schedules while transmitting and receiving data to and from the management control device 100. The operator may also use the tablet 300 to perform operations such as setting destinations and driving conditions for multiple autonomous guided vehicles 200. Furthermore, if an abnormality occurs in the management control system 10, the tablet 300 is notified, and the operator may perform operations from the tablet 300 to resolve the abnormality.

[0035] In addition, the terminal device operated by the worker is not limited to the tablet 300, and may be, for example, a PC, a smartphone, a dedicated terminal, etc., as long as it is capable of sending and receiving data with the management control device 100 and the multiple autonomous guided vehicles 200 via a network.

[0036] [Functions of the autonomous vehicle management control system] Fig. 2 is a functional block diagram showing the functions of the management control device 100 and the autonomous guided vehicle 200 in the management control system 10 for an autonomous guided vehicle according to one embodiment of the present invention. As shown in Fig. 2, the management control system 10 has the management control device 100 and the autonomous guided vehicle 200, and is configured to be capable of communication as described above. While the management control device 100 and the autonomous guided vehicle 200 transmit and receive data, the management control device 100 manages and controls the running (stopping) of multiple autonomous guided vehicles 200 running in a specified area such as a factory.

[0037] The management control device 100 includes a simultaneous entry no-entry area setting unit 110, a driving information acquisition unit 120, an entry period calculation unit 130, a simultaneous entry determination unit 140, a driving instruction unit 150, and a map data recording unit 160. The autonomous guided vehicle 200 includes a host vehicle information acquisition unit 210, a route information generation unit 220, a driving control unit 230, and a map data recording unit 240.

[0038] The simultaneous entry prohibited area setting unit 110 sets a simultaneous entry prohibited area within a predetermined area. For example, map data of a factory in which the autonomous guided vehicle 200 travels is recorded in advance in the map data recording unit 160, and the simultaneous entry prohibited area setting unit 110 sets the simultaneous entry prohibited area based on the map data.

[0039] Here, the simultaneous entry prohibited area includes an area where there is a possibility of a collision if at least two or more autonomous guided vehicles 200 enter at the same time, such as an intersection area such as a crossroads, a T-junction, and a roundabout.

[0040] Note that simultaneous entry no-entry areas may exist in multiple locations within a factory shown in the map data, and each may be registered by adding unique identification information such as an ID. Furthermore, simultaneous entry no-entry areas may be registered by adding information regarding the type, entrance and exit information, and size (such as the distance and width) of the travel path.

[0041] The travel information acquisition unit 120 acquires travel information from a plurality of autonomous guided vehicles 200 .

[0042] Specifically, a destination point is set for each of the autonomous guided vehicles 200, for example, by an operator operating a tablet 300. In each autonomous guided vehicle 200, a route information generating unit 220 generates an appropriate driving route to the destination point based on map data recorded in a map data recording unit 240. Then, a driving control unit 230 controls the driving of the autonomous guided vehicle 200 along the driving route generated by the route information generating unit 220. Note that the destination point and the driving route may be transmitted to the management control device 100, or may be transmitted to a server such as a cloud, so that the information is shared between the management control device 100 and the autonomous guided vehicles 200.

[0043] Here, in each autonomous guided vehicle 200, the vehicle information acquisition unit 210 acquires driving information of the autonomous guided vehicle 200. The driving information may include, for example, the position of the autonomous guided vehicle 200, a traveling direction vector, a driving speed, a driving route, a battery state, information about the transported object, and information about the autonomous guided vehicle.

[0044] In each autonomous guided vehicle 200, the vehicle information acquisition unit 210 acquires travel information at predetermined intervals (for example, 0.1 seconds to several seconds) and transmits it to the management control device 100. In other words, the travel information acquisition unit 120 in the management control device 100 acquires the travel information of each autonomous guided vehicle 200 as synchronization data. Then, the management control device 100 manages and controls the travel of each autonomous guided vehicle 200 based on the synchronization data of that autonomous guided vehicle 200.

[0045] Note that, here, in each autonomous guided vehicle 200, the driving route is generated by the route information generating unit 220, but this is not limited to this, and for example, the driving route may be generated by the management control device 100 or another system.

[0046] In this way, each autonomous guided vehicle 200 travels to the destination along the travel route while being managed and controlled by the management control device 100, and for example, in an intersection area, the travel is appropriately controlled while avoiding collisions with other autonomous guided vehicles 200. The manner in which the travel of two autonomous guided vehicles 200 is controlled in the intersection area will be specifically described in detail.

[0047] 3 is a diagram showing two autonomous guided vehicles 200A, 200B in which one is given permission to enter an intersection area A10 and the other is instructed to stop. Note that the intersection area A10 is set in advance as a simultaneous entry prohibited area by the simultaneous entry prohibited area setting unit 110, as described above.

[0048] As shown in Fig. 3, when two autonomous guided vehicles 200A, 200B approach intersection area A10 (Fig. 3(a)), autonomous guided vehicle 200A is given priority while autonomous guided vehicle 200B is stopped just before intersection area A10 (Fig. 3(b)). After autonomous guided vehicle 200A passes through (exits) intersection area A10, autonomous guided vehicle 200B is allowed to resume traveling (Fig. 3(c)).

[0049] Specifically, the entry period calculation unit 130 calculates the entry period of the autonomous guided vehicles 200A and 200B into the intersection area A10 based on the intersection area A10 and the travel information of the autonomous guided vehicles 200A and 200B.

[0050] For example, the entry period calculation unit 130 calculates the scheduled time of entry into the intersection area A10 and the scheduled time of exit from the intersection area A10 of the autonomous guided vehicles 200A, 200B based on travel information such as the positions, travel direction vectors, and travel speeds of the autonomous guided vehicles 200A, 200B acquired by the travel information acquisition unit 120. Note that the entry period calculation unit 130 is aware of the map data recorded in the map data recording unit 160 and the intersection area A10 set by the simultaneous entry prohibited area setting unit 110, and therefore calculates the scheduled time of entry into the intersection area A10 and the scheduled time of exit from the intersection area A10 of the autonomous guided vehicles 200A, 200B by referring to this information as well.

[0051] In this embodiment, in order to grasp the entry period during which autonomous guided vehicles 200A, 200B are entering intersection area A10, entry period calculation unit 130 calculates the planned entry time and the planned exit time, but this is not limited to this. For example, entry period calculation unit 130 may grasp the entry period by calculating how many seconds after the current time autonomous guided vehicle 200 enters intersection area A10 and how many seconds after the entry or how many seconds after the current time it exits intersection area A10.

[0052] The simultaneous entry determination unit 140 determines whether or not at least two of the autonomous guided vehicles 200 are entering a simultaneous entry prohibited area at the same time, based on the entry period calculated by the entry period calculation unit 130. In the example shown in Fig. 3, the simultaneous entry determination unit 140 determines that the autonomous guided vehicles 200A and 200B are entering the intersection area A10 at the same time, based on the calculation result of the entry period calculation unit 130. Note that the simultaneous entry into the intersection area A10 means that the periods during which they stay in the intersection area A10 overlap.

[0053] When the simultaneous entry determination unit 140 determines that the autonomous guided vehicles 200 are entering simultaneously, the travel instruction unit 150 gives entry permission to the autonomous guided vehicle 200 that exits the simultaneous entry prohibited area the earliest among at least two or more autonomous guided vehicles 200. In the example shown in Fig. 3, it is assumed that the autonomous guided vehicle 200A exits the intersection area A10 earlier than the autonomous guided vehicle 200B, and the travel instruction unit 150 gives entry permission to the autonomous guided vehicle 200A. On the other hand, the travel instruction unit 150 gives an instruction to the autonomous guided vehicle 200B to stop just before the intersection area A10.

[0054] The autonomous guided vehicle 200A that has been granted permission to enter continues traveling, entering the intersection area A10 and passing through the intersection area A10.

[0055] The autonomous guided vehicle 200B that has been given the instruction to stop suspends traveling and stops just before the intersection area A10 without entering the intersection area A10.

[0056] Then, after autonomous guided vehicle 200A leaves intersection area A10, travel instruction unit 150 gives entry permission to autonomous guided vehicle 200B. Having been given entry permission, autonomous guided vehicle 200B resumes traveling, thereby entering intersection area A10 and passing through intersection area A10.

[0057] Whether or not the autonomous guided vehicle 200A has left the intersection area A10 is determined based on the above-mentioned synchronous data of the travel information of the autonomous guided vehicle 200A. For example, this may be determined based on the position of the autonomous guided vehicle 200A acquired by the travel information acquisition unit 120 in the management control device 100, the map data recorded in the map data recording unit 160, and the intersection area A10 set by the simultaneous entry prohibited area setting unit 110.

[0058] In this way, when two autonomous guided vehicles 200A, 200B approach intersection area A10, management control device 100 gives priority to autonomous guided vehicle 200A while stopping autonomous guided vehicle 200B just before intersection area A10, and allows autonomous guided vehicle 200B to travel after autonomous guided vehicle 200A has passed intersection area A10. This allows the two autonomous guided vehicles 200A, 200B to avoid a collision at intersection area A10, while also giving priority to autonomous guided vehicle 200A that is able to exit intersection area A10 first, thereby achieving efficient and appropriate operation.

[0059] [Management and control method for autonomous guided vehicles] Next, a management and control method for an autonomous guided vehicle executed by the management control device 100 in the management and control system 10 for an autonomous guided vehicle according to an embodiment of the present invention will be specifically described in detail.

[0060] 4 is a flowchart showing a management control method M100 for an autonomous guided vehicle executed by a management control device 100 in a management control system 10 for an autonomous guided vehicle according to one embodiment of the present invention. As shown in FIG. 4, the management control method M100 includes steps S110 to S160, and each step is executed by a processor included in the management control device 100.

[0061] In step S110, the simultaneous entry prohibited area setting unit 110 of the management control device 100 sets a simultaneous entry prohibited area within a predetermined area. As a specific example, map data of a factory where multiple autonomous guided vehicles 200 travel is recorded in advance in the map data recording unit 160, and the simultaneous entry prohibited area setting unit 110 sets a simultaneous entry prohibited area for an intersection area or the like based on the map data.

[0062] In step S120, the travel information acquisition unit 120 of the management control device 100 acquires travel information of the multiple autonomous guided vehicles 200. As a specific example, the travel information acquisition unit 120 acquires travel information including the position, a traveling direction vector, and a travel speed for each of the multiple autonomous guided vehicles 200 traveling in a factory. The travel information is acquired by the host vehicle information acquisition unit 210 of each of the multiple autonomous guided vehicles 200 at predetermined intervals and transmitted to the management control device 100 as synchronous data.

[0063] In step S130, the entry period calculation unit 130 of the management control device 100 calculates an entry period for the multiple autonomous guided vehicles 200 into the simultaneous entry no-entry area based on the simultaneous entry no-entry area and driving information of the multiple autonomous guided vehicles 200. As a specific example, the entry period calculation unit 130 calculates the scheduled entry time into intersection area A10, which is a simultaneous entry no-entry area, and the scheduled exit time from intersection area A10, for each of the multiple autonomous guided vehicles 200 traveling within the factory.

[0064] In step S140, the simultaneous entry determination unit 140 of the management control device 100 determines whether or not at least two of the multiple autonomous guided vehicles 200 are entering a simultaneous entry prohibited area at the same time, based on the entry period calculated in step S130. As a specific example, the simultaneous entry determination unit 140 determines whether or not the periods during which the autonomous guided vehicles 200A and 200B stay in the intersection area A10 overlap in the scene shown in FIG.

[0065] If the simultaneous entry determination unit 140 determines that the vehicles are entering at the same time (Yes in step S140), the process proceeds to steps S150 and S160, and arbitration is performed to determine which of the multiple autonomous guided vehicles 200 should be given priority for traveling.

[0066] On the other hand, if the simultaneous entry determination unit 140 determines that the vehicles are not entering simultaneously (No in step S140), the arbitration process is not executed and the autonomous guided vehicles 200 continue traveling as is.

[0067] In steps S150 and S160, the travel instruction unit 150 of the management control device 100 gives entry permission to the autonomous guided vehicle 200 that is the first to exit the simultaneous entry prohibited area among the at least two or more autonomous guided vehicles 200, and gives a stop instruction before the simultaneous entry prohibited area to the other autonomous guided vehicles 200. In the scene shown in Fig. 3, the travel instruction unit 150 gives entry permission to the autonomous guided vehicle 200A that is the first to exit the intersection area A10, and gives a stop instruction before the intersection area A10 to the autonomous guided vehicle 200B.

[0068] Thereafter, when autonomous guided vehicle 200A that has been granted entry permission exits intersection area A10, travel instruction unit 150 grants entry permission to autonomous guided vehicle 200B that has stopped just before intersection area A10.

[0069] As described above, according to the management control device 100 and the management control method M100 according to an embodiment of the present invention, when a plurality of autonomous guided vehicles 200 approach the intersection area A10, the autonomous guided vehicle 200 that can exit the intersection area A10 first is given permission to enter and is allowed to travel preferentially, while the other autonomous guided vehicles 200 are given a stop instruction and are stopped in front of the intersection area A10. Then, after the autonomous guided vehicle 200 that has been given permission to enter passes through the intersection area A10, the other autonomous guided vehicles 200 are allowed to travel. As a result, the autonomous guided vehicles 200 can avoid collisions at the intersection area A10, and the autonomous guided vehicle that can exit the intersection area A10 first is allowed to travel preferentially, thereby achieving efficient and appropriate operation.

[0070] In this embodiment, two autonomous guided vehicles 200A and 200B are described, but the number of autonomous guided vehicles 200 approaching the intersection area A10 is not limited to two, and may be three or more. Specifically, among the three autonomous guided vehicles 200, the autonomous guided vehicle 200 that leaves the intersection area A10 first is given entry permission, and the other two autonomous guided vehicles 200 are given a stop instruction. After that, when the first autonomous guided vehicle 200 leaves the intersection area A10, the autonomous guided vehicle 200 that leaves the intersection area A10 first is given entry permission. In this way, even in the case of three or more autonomous guided vehicles, by giving entry permission in order, collisions in the intersection area A10 can be avoided, and the autonomous guided vehicle 200 that leaves the intersection area A10 first is given priority, so that efficient and appropriate operation can be realized.

[0071] [If an abnormal condition occurs] Next, the operation of the management control system 10 when an abnormal state occurs will be described with a concrete example.

[0072] Fig. 5 is a diagram showing a state in which autonomous guided vehicle 200A is stopped in intersection area A10. As shown in Fig. 5, an abnormality has occurred in autonomous guided vehicle 200A, and autonomous guided vehicle 200A is stopped in intersection area A10, and autonomous guided vehicle 200B is stopped just before intersection area A10.

[0073] In this scene, arbitration processing is performed for autonomous guided vehicles 200A and 200B in intersection area A10, and autonomous guided vehicle 200A is given permission to enter, and autonomous guided vehicle 200B is given an instruction to stop. An abnormal state determination unit (not shown) in management control device 100 determines that autonomous guided vehicle 200A, which has been given permission to enter, is in an abnormal state when the autonomous guided vehicle 200A has been stopped continuously for a first predetermined time (for example, several tens of seconds to several minutes). Here, whether autonomous guided vehicle 200A has been stopped continuously for the first predetermined time may be determined based on travel information (synchronization data) including the position of autonomous guided vehicle 200A acquired by travel information acquisition unit 120 in management control device 100.

[0074] If the abnormal state determination unit determines that the autonomous guided vehicle 200A is in an abnormal state, for example, the management control device 100 may transmit a message to the tablet 300 indicating that the abnormal state exists, thereby notifying an operator. Note that as a means for notifying an operator, the autonomous guided vehicle 200A or the like may emit an alarm sound or turn on a patrol lamp or the like. In this way, by notifying the operator of the abnormal state, the operator is prompted to resolve the abnormal state.

[0075] Thereafter, when the abnormal condition is resolved, for example, the operator operates tablet 300 to indicate that the abnormal condition has been resolved. At that time, if autonomous guided vehicle 200A has exited intersection area A10, travel instruction unit 150 may give entry permission to autonomous guided vehicle 200B that is stopped just before intersection area A10.

[0076] It is also possible that autonomous guided vehicle 200A, which has been given permission to enter intersection area A10, stops before entering intersection area A10. In this case, autonomous guided vehicle 200A has been given permission to enter and autonomous guided vehicle 200B has been given an instruction to stop, so autonomous guided vehicle 200B is also unable to enter intersection area A10 even though autonomous guided vehicle 200A has not yet entered intersection area A10.

[0077] Similarly, in this case, if the abnormality determination unit determines that autonomous guided vehicle 200A is in an abnormal state, the operator is prompted to resolve the abnormality. After that, if the abnormality is resolved or if it is confirmed that autonomous guided vehicle 200A is not stopped in intersection area A10, travel instruction unit 150 may give entry permission to autonomous guided vehicle 200B that is stopped in front of intersection area A10.

[0078] Furthermore, in the case where a communication failure occurs between the management control device 100 and the autonomous guided vehicle 200, for example, if the travel information acquisition unit 120 cannot acquire the travel information (synchronization data) of the autonomous guided vehicle 200 for a second predetermined time (for example, several tens of seconds to several minutes), the abnormal state determination unit may determine that there is an abnormal state (communication failure). In this case as well, the operator is prompted to resolve the abnormal state. After that, if the abnormal state is resolved and it is confirmed that the autonomous guided vehicle 200A is not stopped in the intersection area A10, the travel instruction unit 150 may give entry permission to the autonomous guided vehicle 200B that is stopped in front of the intersection area A10.

[0079] In this way, when the abnormal condition determination unit determines that an abnormal condition has occurred, the abnormal condition is resolved, and it is confirmed that autonomous guided vehicle 200A is not stopped in intersection area A10, and then autonomous guided vehicle 200B, which is stopped just before intersection area A10, is given permission to enter. This makes it possible to avoid a collision in intersection area A10, while also preventing autonomous guided vehicle 200B, which was once instructed to stop, from remaining stopped just before intersection area A10, and as a result, efficient and appropriate operation can be achieved.

[0080] In the case of a communication failure, the autonomous guided vehicle 200A is not stopped due to an abnormality, so the autonomous guided vehicle 200A may have normally exited the intersection area A10. For example, even if the travel information acquisition unit 120 cannot acquire travel information (synchronization data) of the autonomous guided vehicle 200A and it cannot be determined whether the autonomous guided vehicle 200A has reliably exited the intersection area A10, it may be determined that the autonomous guided vehicle 200A has exited the intersection area A10 based on the planned exit time calculated by the entry period calculation unit 130. As a result, the travel instruction unit 150 can give entry permission to the autonomous guided vehicle 200B that is stopped in front of the intersection area A10, and more efficient and appropriate operation can be achieved.

[0081] <Other embodiments> In the embodiment of the present invention described above, the intersection area A10 has been used as an example of a no-simultaneous-entry area, but the no-simultaneous-entry area is not limited to this and may be, for example, a narrow road where there is a possibility of a head-on collision.

[0082] Fig. 6 is a diagram showing a state in which the vicinity of a narrow road where passing each other is difficult is set as a simultaneous entry prohibition area. As shown in Fig. 6, a narrow road area A20 is set as a simultaneous entry prohibition area, and arbitration processing is executed for three autonomous guided vehicles 200A, 200B, and 200C.

[0083] Specifically, the three autonomous guided vehicles 200A, 200B, and 200C have the earliest scheduled escape times from the narrow travel path area A20 in the order of autonomous guided vehicles 200A, 200B, and 200C. In this case, when the three autonomous guided vehicles 200A, 200B, and 200C approach the narrow travel path area A20, the autonomous guided vehicle 200A is given permission to enter and is allowed to travel preferentially, and the autonomous guided vehicles 200B and 200C are given a stop instruction to stop them before the narrow travel path area A20.

[0084] After autonomous guided vehicle 200A exits narrow travel path area A20, autonomous guided vehicle 200B is given permission to enter, and after autonomous guided vehicle 200B exits narrow travel path area A20, autonomous guided vehicle 200C is given permission to enter, and they are allowed to pass through narrow travel path area A20 in turn.

[0085] When the autonomous guided vehicle 200A leaves the narrow travel path area A20, the arbitration process may be executed again for the two autonomous guided vehicles 200B, 200C. While the autonomous guided vehicle 200A is traveling in the narrow travel path area A20, travel information including the positions, travel speeds, battery states, etc. of the two autonomous guided vehicles 200B, 200C may change. For this reason, the planned exit times for the autonomous guided vehicles 200B, 200C to leave the narrow travel path area A20 may be calculated based on the latest travel information (synchronization data), and entry permission may be given to the vehicle with the earlier planned exit time.

[0086] 7 is a diagram showing a state in which the vicinity of a cul-de-sac, which is a narrow road where passing each other is difficult, is set as a simultaneous entry prohibition area. As shown in Fig. 7, a cul-de-sac area A30 is set as a simultaneous entry prohibition area, and arbitration processing is executed for two autonomous guided vehicles 200A and 200B.

[0087] Specifically, of the two autonomous guided vehicles 200A, 200B, the autonomous guided vehicle 200A, which has the earliest planned time to exit the dead-end area A30, is given permission to enter and is allowed to travel preferentially, while the autonomous guided vehicle 200B is given a stop instruction to stop it just before the dead-end area A30.

[0088] After autonomous guided vehicle 200A exits from dead-end area A30, autonomous guided vehicle 200B is given permission to enter and is allowed to enter dead-end area A30 in turn.

[0089] 8 is a diagram showing a state in which the vicinity of a narrow road where passing each other is difficult is set as a simultaneous entry prohibition area, and a plurality of autonomous guided vehicles 200 travel in the same direction through the simultaneous entry prohibition area. As shown in FIG 8, a narrow road area A20 is set as the simultaneous entry prohibition area.

[0090] In this scene, as in Figure 6, arbitration processing is performed for the three autonomous guided vehicles 200A, 200B, and 200C, and if the three autonomous guided vehicles 200A, 200B, and 200C are on the same driving route (same direction of travel) in the narrow driving path area A20, multiple autonomous guided vehicles 200 may be given permission to enter.

[0091] The narrow travel path area A20 is a no-entry area for simultaneous entry, but if the autonomous guided vehicle 200 entering the narrow travel path area A20 is on the same travel route, it can travel behind the preceding autonomous guided vehicle 200 without colliding with it. For this reason, the following autonomous guided vehicle 200 is not instructed to stop just before the narrow travel path area A20, but is given permission to enter and allowed to continue traveling.

[0092] In addition, in a no-simultaneous-entry area, whether multiple autonomous guided vehicles 200 are on the same driving route may be determined, for example, based on the position and travel direction vector contained in the driving information (synchronization data) of each of the multiple autonomous guided vehicles 200 acquired by the driving information acquisition unit 120, or may be determined based on the driving route to the destination generated by the route information generation unit 220.

[0093] This is not limited to the case where a narrow travel road area A20 as shown in Fig. 8 is set as a simultaneous entry prohibited area, but may also be applied to a case where an intersection area A10 as shown in Fig. 3 is set as a simultaneous entry prohibited area, etc. In the case of the intersection area A10, it may be applied to a scene where the entrance and exit of the intersection area A10 are common, such as a scene where multiple autonomous guided vehicles 200 travel straight in the same direction, and a scene where multiple autonomous guided vehicles 200 turn right or left in the same direction.

[0094] On the other hand, in a dead-end area A30 as shown in FIG. 7, even if multiple autonomous guided vehicles 200 are traveling along the same route, this method is not applied if there is a possibility of a head-on collision.

[0095] In addition, in the case where multiple autonomous guided vehicles 200 are on the same driving route in a simultaneous entry no-entry area, the type of simultaneous entry no-entry area that allows the subsequent autonomous guided vehicle 200 to continue driving without being instructed to stop before the simultaneous entry no-entry area and to be given permission to enter the area can be determined by registering information regarding the type of simultaneous entry no-entry area, entrance and exit information, size such as the distance and width of the driving path, etc., when the simultaneous entry no-entry area is set by the simultaneous entry no-entry area setting unit 110, and further registering information regarding whether the subsequent autonomous guided vehicle 200 can enter.

[0096] <Other> In the above-described embodiment and other embodiments, in the arbitration process, entry permission is given to the autonomous guided vehicle 200 that is the first to exit the simultaneous entry-prohibited area. However, after entry permission is given and before the autonomous guided vehicle 200 enters the simultaneous entry-prohibited area, for example, deceleration of the autonomous guided vehicle 200, acceleration of another autonomous guided vehicle 200, or appearance of a new autonomous guided vehicle 200 may occur. In this case, if the autonomous guided vehicle 200 that is the first to exit the simultaneous entry-prohibited area changes in the arbitration process based on the latest synchronization data, the entry permission for the autonomous guided vehicle 200 that was previously given entry permission may be cancelled, and entry permission may be given to the other autonomous guided vehicle 200 or the new autonomous guided vehicle 200.

[0097] In the above-described one embodiment and other embodiments, in the arbitration process, permission to enter is given to the autonomous guided vehicle 200 that is able to exit the simultaneous entry no-entry area first. However, if there are multiple autonomous guided vehicles 200 that have the same planned exit time from the simultaneous entry no-entry area, permission to enter may be given to, for example, the autonomous guided vehicle 200 that has the earliest planned time to enter the simultaneous entry no-entry area.

[0098] The above-described embodiments are intended to facilitate understanding of the present invention, and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangements, materials, conditions, shapes, sizes, etc., are not limited to those shown as examples and can be changed as appropriate. In addition, configurations shown in different embodiments can be partially substituted or combined with each other. [Explanation of symbols]

[0099] 10... management control system, 100... management control device, 110... simultaneous entry prohibited area setting unit, 120... driving information acquisition unit, 130... entry period calculation unit, 140... simultaneous entry determination unit, 150... driving instruction unit, 160, 240... map data recording unit, 200, 200A to 200C... autonomous guided vehicles, 210... vehicle information acquisition unit, 220... route information generation unit, 230... driving control unit, A10 to A30... simultaneous entry prohibited area, M100... management control method, S110 to S160... each step of the management control method M100

Claims

1. A management control device for autonomous guided vehicles that controls a plurality of autonomous guided vehicles traveling in a predetermined area, a simultaneous entry prohibited area setting unit that sets a simultaneous entry prohibited area within the predetermined area; A travel information acquisition unit that acquires travel information of the plurality of autonomous guided vehicles; an entry period calculation unit that calculates an entry period of the plurality of autonomous guided vehicles into the simultaneous entry prohibited area based on the simultaneous entry prohibited area and traveling information of the plurality of autonomous guided vehicles; a simultaneous entry determination unit that determines whether or not at least two or more of the plurality of autonomous guided vehicles are entering the simultaneous entry prohibited area simultaneously based on the entry period; a travel instruction unit that, when it is determined that the autonomous guided vehicles are entering the simultaneous entry no-entry area, gives entry permission to an autonomous guided vehicle that is the earliest to exit the simultaneous entry no-entry area among the at least two or more autonomous guided vehicles, and gives an instruction to stop in front of the simultaneous entry no-entry area to autonomous guided vehicles other than the autonomous guided vehicle to which the entry permission is given, Management and control system for autonomous guided vehicles.

2. the entry period calculation unit calculates a scheduled time for the plurality of autonomous guided vehicles to enter the simultaneous entry no-entry area and a scheduled time for the plurality of autonomous guided vehicles to exit the simultaneous entry no-entry area based on the simultaneous entry no-entry area and traveling information of the plurality of autonomous guided vehicles; The management and control device for an autonomous guided vehicle according to claim 1 .

3. when the autonomous guided vehicle to which the entry permission has been given has left the simultaneous entry prohibited area, the travel instruction unit gives entry permission to the autonomous guided vehicle to which the stop instruction has been given. The management and control device for an autonomous guided vehicle according to claim 1 .

4. the travel instruction unit, when an autonomous guided vehicle other than the autonomous guided vehicle for which entry permission is given among the at least two or more autonomous guided vehicles is on the same travel route as the autonomous guided vehicle for which entry permission is given in the simultaneous entry no-entry area, gives entry permission to the autonomous guided vehicle other than the autonomous guided vehicle for which entry permission is given. The management and control device for an autonomous guided vehicle according to claim 1 or 2.

5. and an abnormality state determination unit that determines that an abnormality exists when the autonomous guided vehicle that has been granted entry permission is stopped for a first predetermined time period or when driving information of the autonomous guided vehicle that has been granted entry permission cannot be acquired for a second predetermined time period. The management and control device for an autonomous guided vehicle according to any one of claims 1 to 4.

6. the travel instruction unit, when the abnormal state is resolved and there is an autonomous guided vehicle to which a stop instruction has been given in front of the simultaneous entry prohibited area, gives entry permission to the autonomous guided vehicle. The management and control device for an autonomous guided vehicle according to claim 5.

7. A management and control system for autonomous guided vehicles having a plurality of autonomous guided vehicles traveling in a predetermined area and a management and control device that controls the plurality of autonomous guided vehicles, Each of the plurality of autonomous guided vehicles includes: A travel control unit that controls the travel of the autonomous guided vehicle; a vehicle information acquisition unit that acquires driving information of the autonomous guided vehicle; The management control device includes: a simultaneous entry prohibited area setting unit that sets a simultaneous entry prohibited area within the predetermined area; a travel information acquisition unit that acquires the travel information from the plurality of autonomous guided vehicles; an entry period calculation unit that calculates an entry period of the plurality of autonomous guided vehicles into the simultaneous entry prohibited area based on the simultaneous entry prohibited area and traveling information of the plurality of autonomous guided vehicles; a simultaneous entry determination unit that determines whether or not at least two or more of the plurality of autonomous guided vehicles are entering the simultaneous entry prohibited area simultaneously based on the entry period; a travel instruction unit that, when it is determined that the autonomous guided vehicles are entering the simultaneous entry state, gives entry permission to an autonomous guided vehicle that is the earliest to exit the simultaneous entry prohibited area among the at least two or more autonomous guided vehicles, and gives an instruction to stop in front of the simultaneous entry prohibited area to autonomous guided vehicles other than the autonomous guided vehicle to which the entry permission is given, The autonomous guided vehicle that has been given the entry permission is driven by a travel control unit of the autonomous guided vehicle to travel into the simultaneous entry prohibited area. Management control system for autonomous guided vehicles.

Images