Human-machine cooperative control system and human-machine cooperative control method

Abstract

To provide a human-and-machine cooperative control system that makes it easy for a person to take an optimum action, with a state of a surrounding autonomous machine taken into consideration, by exclusively managing each of movable areas so that the person and an autonomously movable unmanned machine do not collide with each other in a common area and by presenting information to the person when the person and the autonomously movable unmanned machine perform work in the same space.SOLUTION: A human-and-machine cooperative control system includes: a moving-body position measuring unit 301 composed of one or more sensors that measure respective positions of moving bodies including a human and an unmanned machine; a moving-body motion predicting unit 501 that predicts a future motion of a target moving body from a moving body position measured by the moving-body position measuring part 301; an exclusive management unit 502 that plans respective movable areas for the moving bodies, based on a planned route of the unmanned machine and a moving-body predicted motion obtained from the moving-body motion predicting unit 501; and an information presenting unit 401 by which information about a movable area relative to a human among the respective movable areas for the moving bodies planned by the exclusive management unit 502 is presented to a target human.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a human-machine cooperative control system and a human-machine cooperative control method that support human actions to prevent a decrease in work efficiency without compromising safety when a human and an autonomous machine work in the same space. [Background technology]

[0002] In recent years, there has been active development of automation systems that automate human tasks, reduce manpower, and increase efficiency, and many automation systems are expected to be implemented in society in the future. Among these, industrial vehicles and construction machinery in particular often have people (workers) working around them, but when these machines become automated and operate autonomously, measures are generally taken to isolate the machine from surrounding workers from a safety standpoint while it is operating autonomously (for example, autonomous driving, etc.).

[0003] As a conventional technique for such an automation system, for example, Patent Document 1 is a system and method for avoiding collisions between moving bodies such as objects and people in a factory, etc., which observes the positions of the moving bodies with multiple sensors, identifies the moving direction of each moving body based on the positions of the moving bodies over time, identifies an intersection area of ​​the moving directions of at least two moving bodies, and presents an alert in the intersection area when at least one moving body is present within a predetermined proximity range of the intersection area of ​​at least two moving bodies. This conventional technique is a system for collision avoidance and contributes to maintaining a safe state, but since information is presented to a person only when a risk of collision is predicted, there is a possibility that work efficiency will decrease if a person takes action to avoid the collision. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-228284 A DISCLOSURE OF THEINVENTION [Problem to be solved by the invention]

[0005] the above did When building an automated system, it is often difficult for an autonomous machine to perform all the tasks required at a given location autonomously without human intervention, and there are many cases where workers are still required to work. For example, if a forklift is used as an industrial vehicle, it may be able to move cargo to another location autonomously, but tasks such as checking the condition of the cargo and inspecting it may be done manually. Also, if a hydraulic excavator is used as a construction machine, there are many detailed tasks that are difficult for a hydraulic excavator to perform, and these are done manually. Thus, even as industrial vehicles and construction machines become more automated in the future, it is thought that it will take a long time before human work is completely eliminated.

[0006] From a safety perspective, isolating autonomous machines from humans will reduce the risk of accidents. For example, when autonomous machines and humans are working in the same space, the working hours in each space will be separated so that both do not work in the same space at the same time.

[0007] On the other hand, in this case, the necessary tasks cannot be performed simultaneously, which leads to a problem of reduced work efficiency. Even if simultaneous work in the same space is possible, the autonomous machine will slow down or stop for safety whenever it gets close to a person, which will also reduce work efficiency. For this reason, when a person and an autonomous machine work simultaneously in the same space, it is important to create a state in which safety is ensured while preventing a decrease in work efficiency as much as possible.

[0008] In order to achieve both safety and work efficiency, it is necessary to optimize not only the behavior of the autonomous machine, but also the behavior of the worker working in the same space. In other words, in addition to accomplishing the intended task, the autonomous machine is required to predict the behavior of surrounding workers and avoid collisions, and it is also desirable for the worker to understand the behavior of the autonomous machine and select his / her own behavior so as not to interfere with it as much as possible. Therefore, if the necessary information can be presented to the worker and the selection of behavior can be supported, it will be possible for the autonomous machine and the worker to work in the same space while preventing a decrease in work efficiency in a safe state.

[0009] In view of the above, the problem that the present invention aims to solve is to provide a human-machine cooperative control system and a human-machine cooperative control method that, when a human and an autonomous machine work in the same space, makes it easier for the human to take optimal action while taking into account the state of surrounding autonomous machines by presenting information to the human and the autonomous machine so that their movements and work are not hindered as much as possible and risks such as collisions can be avoided, in order to prevent a decrease in work efficiency without compromising safety. [Means for solving the problem]

[0010] From the above, the present invention Human-machine collaborative control system teeth ,people a mobile object position measuring unit consisting of one or more sensors that measure the positions of mobile objects including humans and unmanned machines; a mobile object motion predicting unit that predicts future motion of a target mobile object from the mobile object position measured by the mobile object position measuring unit; an exclusive management unit that plans the mobile object position of each mobile object based on a planned route of the unmanned machine and the predicted motion of the mobile object obtained from the mobile object motion predicting unit; and an information presentation unit that presents information on the mobile object position for a person from among the mobile object positions of each mobile object planned by the exclusive management unit to the target person. 、 Equipped with The exclusive management unit divides the exclusive management area into a grid of a predetermined size, and determines the movement area of ​​each moving object for each of the smallest divided areas (divided areas) so that the movement areas of the moving objects do not overlap with each other. It is characterized by do.

[0011] In addition, the present invention Related human-machine cooperative control method teeth ,people The method is a human-machine cooperative control method for exclusively managing the movement areas of a human and an autonomously movable unmanned machine so that they do not collide with each other within a shared area, and includes measuring the positions of moving objects including humans and unmanned machines, predicting future movements of the target moving objects from the positions of the moving objects, planning the movement areas of each moving object based on the planned route of the unmanned machine and the predicted movement of the moving objects, and presenting information on the movement area of ​​each moving object with respect to the human to the target person. The movable area is composed of an occupied area set along the path of each moving body and a priority area set around the occupied area, and when the movable areas of multiple moving bodies do not overlap, the multiple moving bodies are allowed to move without restriction within the shared area. It is characterized by do. Effect of the Invention

[0012] The present invention makes it easier for people to take actions that do not compromise safety and prevent a decline in work efficiency when people and autonomous machines work in the same space, optimizing the balance between safety and work efficiency of the entire work site, including the autonomous machine. [Brief description of the drawings]

[0013] [Figure 1] 1 is a diagram showing an example of the overall configuration of a human-machine cooperative control system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing the processing functions of the human-machine collaborative control system according to the embodiment of the present invention. [Diagram 3] FIG. 11 is a diagram showing an example of information presented to a person by an information presenting unit. [Figure 4] FIG. 1 is a diagram showing a flow of a series of processes in a human-machine collaborative control system configured using a computer. [Diagram 5] FIG. 13 is a diagram showing an example of information presentation in a case where the occupied areas and priority areas of multiple moving bodies do not interfere with each other. [Figure 6] FIG. 13 is a diagram showing an example of information presentation when priority areas of moving bodies overlap and interfere with each other. [Figure 7] 13 is a diagram showing an example of information presentation when the occupied areas of moving bodies overlap and interfere with each other. [Figure 8] A diagram showing the concept of monitoring the mutual movements of multiple moving objects in a shared area and performing control protection. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Note that the following description shows a specific example of the contents of the present invention, and the present invention is not limited to these descriptions. Various changes and modifications are possible by those skilled in the art within the scope of the technical ideas disclosed in this specification. In addition, in all the drawings for explaining the present invention, parts having the same functions are given the same reference numerals, and repeated explanations thereof may be omitted. EXAMPLES

[0015] A man-machine cooperative control system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 8. FIG.

[0016] 1 is an overall diagram showing an example of the configuration of a human-machine collaborative control system according to an embodiment of the present invention. The human-machine collaborative control system is mainly composed of one or more sensor units 3, an information presentation device 4, and one or more computers 5, and the sensor units 3 and the computers 5 are connected to each other via a network so as to be able to communicate with each other.

[0017] Furthermore, there are multiple moving objects 1 as control targets of the human-machine cooperative control system, and a shared area 2 as a control target area. The moving objects 1 can be subdivided into, for example, unmanned machines 1a that have an autonomous movement function and move without a human, manned machines 1b that move and are operated by humans, and workers 1c. The shared area 2 is an area where the unmanned machines 1a, the manned machines 1b, and / or the workers 1c work simultaneously.

[0018] Among these, the unmanned machine 1a is assigned a target task by a control function (not shown), and plans and acts on its own in accordance with the task. In this embodiment, a site is assumed in which a manned machine 1b, typified by a forklift, and a worker work in the same area, and the task of the unmanned machine 1a is assigned by the control function in units such as carrying a load placed at one point to another point. The unmanned machine 1a plans a movement route from its current position to a point specified in the task command using a route planning unit 101 (shown in FIG. 2) possessed by the unmanned machine 1a, and travels autonomously along the planned route.

[0019] Fig. 2 is a block diagram showing the processing functions of a human-machine collaborative control system according to an embodiment of the present invention. The human-machine collaborative control system in Fig. 2 is broadly composed of four processing functions, which are the processing functions of a mobile object position measurement unit 301 in the sensor unit 3, the processing functions of a mobile object operation prediction unit 501 and an exclusive management unit 502 in the computer 5, and the processing function of an information presentation unit 401 in the information presentation device 4.

[0020] Among these, the mobile object position measuring unit 301 has a function of detecting the mobile object 1 and measuring its position. The sensor unit 3 may be any sensor that can measure the position of the mobile object 1. For example, it may be a GPS or beacon attached to the mobile object 1, a camera or LiDAR sensor for estimating the position by matching with map information, or a camera or LiDAR sensor fixedly disposed in the environment to directly measure the mobile object 1. Furthermore, it is of course possible to use a combination of a plurality of these sensors.

[0021] Also, the specific processing contents of the mobile object position measuring unit 301 may vary depending on the sensor configuration of the sensor unit 3, but broadly speaking, there are those that are installed on the mobile object 1 itself and measure its own position, and those that are installed on the mobile object 1 or the environment side and detect the mobile object 1 moving within the measurement range and measure its position. Note that the mobile object position measuring unit 301 is not limited to a specific measurement means, and any method may be used as long as it can acquire and transmit the position of the mobile object 1.

[0022] The mobile object operation prediction unit 501 receives the position of the mobile object 1 measured by one or more mobile object position measurement units 301, and when it receives the positions of multiple mobile objects 1 from multiple mobile object position measurement units 301, it performs integration processing such as matching the same moving objects, and has the function of predicting the operation of each moving object 1 up to a certain time into the future based on the position information of each moving object 1 up to that point in time.

[0023] Specifically, there is a method for predicting the predicted operation as a probability density distribution that represents the probability of the moving object 1 existing a certain time ahead. For example, the probability density distribution of the moving object 1 at three future points in time, 1 second, 2.5 seconds, and 5 seconds, is calculated, and the average and standard deviation of the probability density distribution at each point in time are used as the predicted operation.

[0024] The exclusive management unit 502 receives the predicted motion of one or more moving bodies 1 predicted by the moving body motion prediction unit 501 and the planned route planned by the route planning unit 101 of the unmanned machine 1a, and has the function of exclusively setting areas in the shared region 2 so that the routes of the moving bodies 1 do not overlap, and determining the occupied region of each moving body 1. Details of this function will be described later.

[0025] The information presentation unit 401 has a function of notifying the operator of the manned machine 1b and / or the worker 1c of the occupation area of ​​each moving object 1 determined by the exclusive management unit 502. The details of this function will be described later.

[0026] 3 is an example of information presented by the information presentation unit 401 to the operator of the manned machine 1b and / or the worker 1c. The occupation area 601 of each moving body 1 determined by the exclusive management unit 502 is projected on the ground by the information presentation device 4 configured by a projector, and each moving body 1 moves so as not to go outside the occupation area 601 displayed on the ground, thereby excluding the area so that the moving bodies 1 do not get too close to each other. This reduces the risk of collision even if a person and an autonomously operating machine work in the same area.

[0027] In this embodiment, a projector is assumed as the information presentation device 4, but the information presentation device 4 is not limited to a projector. The occupied area 601 may be displayed using a light-emitting body such as a display or light embedded in the ground beforehand, or a person may hold or wear a display device and display the occupied area 601 on the display device. In particular, if a glasses-type device having an augmented reality function that superimposes the occupied area 601 on the surrounding environment is used, it becomes possible to obtain information equivalent to that displayed on the ground in a similar manner without displaying anything on the ground, and it becomes possible to prevent a decrease in work efficiency compared to simply displaying it on a display device held by a person. In short, any means may be used that allows workers to recognize the occupied area set on the ground of the shared area or the priority area described later.

[0028] FIG. 3 shows an example in which a priority area 602 is displayed in addition to an occupied area 601. The priority area 602 is determined by the exclusive management unit 502 in the same way as the occupied area 601, and is configured to surround the outside of the occupied area 601. The priority area 602 is in a state in which a priority right to occupy that area has been obtained next, and while the priority area 602 is obtained, others cannot occupy or obtain that area with priority. This priority area 602 also serves to provide a buffer so that the occupied areas of different moving bodies 1 do not become adjacent to each other. This reduces the risk of invading another person's occupied area 601 the moment one deviates from one's own occupied area 601. occupied area The area 601 and the priority area 602 are displayed in different colors and patterns so that the three types of machines, the unmanned machine 1a, the manned machine 1b, and the worker 1c, can be distinguished from each other.

[0029] 4 is a diagram showing a flow of a series of processes in a human-machine cooperative control system configured using a computer. In this diagram, in the first process step S100, position information of the moving object 1 measured by the sensor unit 3 is obtained.

[0030] Next, in processing step S101, the moving body operation prediction unit 501 predicts the behavior of the manned and unmanned moving bodies 1. In the case of the manned moving bodies 1b and 1c, the position at a future time point (for example, one second later) is estimated from the past position at a past time point, for example, one or two seconds ago, and the current position at the present time. In the case of the unmanned moving body 1a, the behavior prediction is performed for the current and future positions on the route planned by the route planning unit 101.

[0031] In processing step S102, the exclusive management unit 502 uses the planned routes and / or predicted operations of all the moving bodies 1 existing in the shared area 2 to determine the occupied area and the priority area of ​​each moving body 1.

[0032] In processing step S103, the information presenting unit 401 presents information on the occupied area and the priority area in the shared area 2 using a method that can be recognized by humans.

[0033] Thus, in the shared area 2, area displays such as those shown in Fig. 5 to Fig. 7 are performed. Fig. 5 shows an example of information presentation when the occupied areas and priority areas of multiple moving bodies do not interfere with each other, Fig. 6 shows an example of information presentation when the priority areas of moving bodies overlap and interfere with each other, and Fig. 7 shows an example of information presentation when the occupied areas of moving bodies overlap and interfere with each other.

[0034] To enable the display of this information presentation example, the exclusive management unit 502 functions in more detail as follows. First, the exclusive management unit 502 receives predicted actions 702 for manned moving bodies 1b and 1c from the moving body action prediction unit 501. In the display example of Fig. 5, the predicted actions 702 are at the positions shown for each moving body 1, and consist of the average value and standard deviation of the distribution obtained from the probability density distribution showing the predicted positions 0 seconds, 1.5 seconds, and 3 seconds later, and Figs. 5 to 7 show the predicted actions 702 as a circle with the average value as the center and the standard deviation as the radius. Note that 0 seconds later is the estimated position at that time.

[0035] Furthermore, the exclusive management unit 502 receives a planned route 701 from the route planning unit 101 of the unmanned machine 1a. In the display example of Fig. 5, the planned route 701 is located at the illustrated position and is represented by position information arranged in chronological order from the current position, or a collection of straight lines and curves, and indicates the course that the unmanned machine 1a will follow from now on. Note that the exclusive management unit 502 can also use the size information of the unmanned machine 1a, such as its own length and width, as a reference for determining the size of the occupied area 601, by receiving the planned route 701 for the unmanned machine 1a.

[0036] Furthermore, the exclusive management unit 502 may change the size of the occupation area 601 for each moving object based on preset attribute information of each moving object, the operation history of each moving object, etc. For example, the occupation area 601 may be set relatively small for a worker with sufficient experience to improve work efficiency, and the occupation area 601 may be set relatively large for a worker with insufficient experience to further reduce the risk of accidents. In addition, for a worker who tends to behave in an unpredictable manner, that is, a worker whose predicted behavior and actual behavior have a low degree of agreement, the occupation area 601 may be set relatively large depending on the degree of agreement, thereby further reducing the risk of accidents.

[0037] The exclusive management unit 502 determines the occupied area 601 and the priority area 602 of each moving object 1 as illustrated in FIG. 5, using the planned route 701 and / or the predicted operation 702 for all moving objects 1 present in the shared area 2. These areas are preferably determined in units of divided areas obtained by dividing the shared area 2 into a grid. This is to reduce the computational load of the exclusive management unit 502. If the size of the divided area is large, the computational load is reduced and the distance between the moving objects 1 is increased, which leads to a lower risk of accidents such as collisions, but the number of moving objects 1 that can exist (work) simultaneously in the shared area 2 is reduced, which may reduce the work efficiency. If the size of the divided area is small, the computational load increases and the distance between the moving objects 1 is decreased, which may increase the risk of accidents such as collisions, but the number of moving objects 1 that can exist (work) simultaneously in the shared area 2 is increased, which increases the work efficiency. For this reason, the size of the divided area is determined based on the computational performance of the computer 5 and the balance between safety and work efficiency.

[0038] In addition, the exclusive management unit 502 is preferably provided with the following functions and characteristics. For example, it is preferable that the exclusive management unit 502 transmits information on the movable area for the unmanned machine 1a among the movable areas (occupied area and priority area) of each moving body 1 planned by the exclusive management unit 502 to the target unmanned machine 1a, and that the unmanned machine has a region deviation prevention function that restricts the traveling so as not to enter areas other than the occupied area. In addition, it is preferable to plan the movable area of ​​each moving body based on the planned route and / or the moving body predicted operation for a predetermined time length for the planned route of the unmanned machine 1a and the moving body predicted operation obtained from the moving body operation prediction unit 501. In addition, when the planned route and / or the moving body predicted operation overlap with the same divided area, the exclusive management unit 502 is preferably configured to determine the divided area as the movable area for one unmanned machine or moving body based on a predetermined priority order. Also, Figure 5 5 to 7 show examples of an occupied area 601 and a priority area 602 determined by the exclusive management unit 502 in a state where one unmanned machine 1a, one manned machine 1b, and one worker 1c are present in the shared area 2. As the process progresses from FIG. 5 to FIG. 7, the following states are shown as time passes in the same situation.

[0039] Using these diagrams of a series of events, the idea of ​​monitoring the mutual movements of multiple moving bodies 1 in a shared area 2 and performing control protection will now be described with reference to Fig. 8. In the flow of Fig. 8, processing step S200 is processing in the state of Fig. 5 (no mutual area overlap), and first in processing step S200, the presence or absence of area overlap is confirmed, and if there is no area overlap, the process returns to processing step S200 again and continues to execute this process. Note that the process of checking the presence or absence of area overlap should preferably be executed not only at the present time, but also for future times to the extent possible.

[0040] According to this correspondence, at the time of Fig. 5, the moving bodies 1 are far enough apart from each other that the occupied area 601 and the priority area 602 of each moving body 1 do not overlap with the occupied area 601 and the priority area 602 of the others. In such a situation, the exclusive management unit 502 sets the divided area that overlaps with the predicted position from the current time to the future indicated by the planned route 701 or predicted operation 702 of each moving body 1 and its range (size of the body or standard deviation) as the occupied area 601 of each moving body 1, and sets the divided area adjacent to it as the priority area 602. In this way, each moving body 1 avoids mutual area overlap while performing its own action.

[0041] Next, when it is determined in step S200 of the flow of Fig. 8 that there is an area overlap, the process proceeds to step S201, where it is determined whether the overlap is in the priority area or in the occupied area. If it is in the priority area, the process proceeds to step S202, and if it is in the occupied area, the process proceeds to step S203.

[0042] If the overlap is in the priority area, the process is performed in step S202 as follows. manned machineThe figure shows that the unmanned machine 1a has only planned a route and has not yet departed. The unmanned machine 1a is stopped, so the worker 1c tries to pass in front of it, but the unmanned machine 1a has already acquired the occupied area 601 and the priority area 602 in the direction of the worker 1c's movement, so the worker 1c cannot acquire the occupied area 601 in that range.

[0043] In this way, the exclusive management unit 502 allows the previously acquired moving body 1 to hold the occupied area 601 and the priority area 602 of that divided area. Furthermore, if multiple moving bodies 1 attempt to enter a new divided area at the same time, the moving body 1 with the highest priority can acquire the occupied area 601 and the associated priority area 602 based on a pre-determined priority order. For example, the priority order may be basically the worker 1c, the manned machine 1b, and the unmanned machine 1a, and each of these may be further individually assigned, but this is not limiting.

[0044] If there is an overlap in the occupied area, the process is performed in the processing step S203 as follows. As an example of this, for example, Fig. 7 shows a state further in time than Fig. 6, in which the unmanned machine 1a is still stopped, and the manned machine 1b and the worker 1c have moved further in the direction of travel. The worker 1c has proceeded toward the occupied area 601 of another person and the priority area 602, and therefore is unable to obtain his own occupied area 601, and as a result has deviated from his own occupied area 601.

[0045] In this case, the rule of not going outside the occupied area has been violated, and the exclusive management unit 502 detects this and sends rule violation information to the information presentation unit 401, as well as sending a stop command to the unmanned machine 1a in the shared area 2. The information presentation unit 401 then displays the rule violation state 703, and the unmanned machine 1a, which has received the stop command, stops its autonomous driving.

[0046] In this way, when approaching in the direction of travel of another moving body 1, the occupied area 601 is not acquired, and by waiting for the other moving body 1 to pass within the occupied area 601 or by selecting a different route, the unmanned machine 1a can continue working without stopping. Even if the unmanned machine 1a goes outside the occupied area 601, a rule deviation state 703 is displayed to notify the unmanned machine 1a before it enters the occupied area 601 of the other moving body 1, and the autonomous travel of the unmanned machine 1a is stopped, thereby reducing the risk of an accident.

[0047] In addition, as in the case of the manned machine 1b shown in Figures 5 to 7, if the route does not approach other moving bodies 1, the occupied area 601 is automatically updated according to the movement of the manned machine, allowing free movement and not hindering work. Such a man-machine cooperative control system can prevent a decrease in work efficiency while reducing the risk of accidents. [Explanation of symbols]

[0048] 1: Moving object 1a: Unmanned machine 1b: Manned machine 1c: worker 2:Shared area 3: Sensor unit 4: Information presentation device 5: Computer 101: Route planning section 301: Mobile position Measurement section 401: Information presentation department 501: Mobile object motion prediction unit 502: Exclusive management department 601:Occupied area 602: Priority area

Claims

1. A human-machine cooperative control system that exclusively manages the movable areas of a human and an autonomously mobile unmanned machine so that they do not collide with each other within a shared area, The human-machine collaborative control system includes: A moving object position measurement unit including one or more sensors for measuring the positions of moving objects including the person and the unmanned machine; a moving object motion prediction unit that predicts a future motion of a target moving object based on the moving object position measured by the moving object position measurement unit; an exclusive management unit that plans a movable area of ​​each moving object based on a planned route of the unmanned machine and a moving object predicted motion obtained from the moving object motion prediction unit; an information presenting unit that presents information on a movable area for a person, among the movable areas of each moving object planned by the exclusive management unit, to a target person; The human-machine collaborative control system is characterized in that the exclusive management unit divides the exclusive management area into a grid of a predetermined size, and for each of the smallest divided areas (divided areas), determines the movable area of ​​each moving body so that the movable areas of the moving bodies do not overlap.

2. The human-machine collaborative control system according to claim 1, The human-machine collaborative control system is characterized in that, when the planned route and / or the predicted moving body operation overlap in the same divided area, the exclusive management unit determines that divided area as a movable area for one unmanned machine or moving body based on a predetermined priority order.

3. The human-machine collaborative control system according to claim 1, The human-machine collaborative control system is characterized in that, when the planned route and / or the predicted moving body operation overlap with the same divided area, and when that divided area has already been assigned as the moving area of ​​an unmanned machine or moving body, the exclusive management unit determines that divided area to continue as the moving area for that unmanned machine or moving body.

4. The human-machine collaborative control system according to claim 1, A human-machine collaborative control system characterized in that it has a range deviation prevention function that transmits movable area information for an unmanned machine, among the movable areas of each moving body planned by the exclusive management unit, to a target unmanned machine, and limits the unmanned machine's travel so that it does not enter areas other than the movable area.

5. The human-machine collaborative control system according to claim 1, A human-machine collaborative control system characterized in that the exclusive management unit plans the movable area of ​​each moving object based on the planned route of the unmanned machine and the moving object predicted operation obtained from the moving object operation prediction unit for a predetermined length of time.

6. The human-machine collaborative control system according to claim 1, The exclusive management unit changes the size of the divided area assigned as the movable region for each moving body based on attributes and behavior history information of the moving body.

7. A human-machine cooperative control system that exclusively manages the movable areas of a human and an autonomously mobile unmanned machine so that they do not collide with each other within a shared area, The human-machine collaborative control system includes: A moving object position measurement unit including one or more sensors for measuring the positions of moving objects including the person and the unmanned machine; a moving object motion prediction unit that predicts a future motion of a target moving object based on the moving object position measured by the moving object position measurement unit; an exclusive management unit that plans a movable area of ​​each moving object based on a planned route of the unmanned machine and a moving object predicted motion obtained from the moving object motion prediction unit; an information presenting unit that presents information on a movable area for a person, among the movable areas of each moving object planned by the exclusive management unit, to a target person; The human-machine cooperative control system according to the present invention, wherein the exclusive management unit allocates, in addition to the movable area, a priority movable area around the movable area for preferentially allocating a movable area to the moving body.

8. The human-machine collaborative control system according to claim 1 or 7, A human-machine collaborative control system, characterized in that the information presentation unit displays information by projecting an image or video onto a ground surface using a projector.

9. The human-machine collaborative control system according to claim 1 or 7, A human-machine collaborative control system, characterized in that the information presentation unit displays information by switching the light emitted by a light-emitting element embedded in the ground.

10. The human-machine collaborative control system according to claim 1 or 7, A human-machine collaborative control system, characterized in that the information presentation unit displays information by drawing an image or video on a display device held by the person.

11. A method for controlling human-machine cooperation in which a human and an autonomously mobile unmanned machine exclusively manage their respective movable areas so that they do not collide with each other within a shared area, comprising: A method for human-machine cooperative control comprising the steps of: measuring the positions of moving bodies including the person and the unmanned machine; predicting the future movement of the target moving body from the moving body positions; planning the movable area of ​​each moving body based on the planned route of the unmanned machine and the predicted movement of the moving body; and presenting to the target person information about the movable area of ​​each moving body for the person, the movable area being composed of an occupied area set along the route of each moving body and a priority area set around the occupied area; and when the movable areas of multiple moving bodies do not overlap, the multiple moving bodies are allowed to move without restriction within the shared area.

12. A method for human-machine cooperative control according to claim 11, comprising: A method for controlling human-machine cooperation, characterized in that, when priority areas of a plurality of the moving bodies overlap, the plurality of moving bodies are allowed to move within the shared area in accordance with a preset priority order.

13. The man-machine cooperative control method according to claim 11, A method for man-machine cooperative control, characterized in that the unmanned machine is stopped when the occupied areas of multiple moving bodies overlap.

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