Management device, program, and method for searching for a moving path considering parallel and opposing movements of mobile robots

Abstract

To provide a management device for searching for a movement path of a movable robot, about a path formed of a plurality of path sections where multiple movable robots can simultaneously travel in a parallel state and / or facing state.SOLUTION: A management device comprises: passage capacity storage means for storing a passage capacity which indicates the number of movable robots which can simultaneously travel in a parallel state and / or facing state, for each path section; and path searching means for setting a link cost for each path section, searching for the movement path so that the total amount of link costs of one or more path sections is minimum, then, searching again for the movement path so that the number of the movable robots which travel simultaneously in each path section is equal to or less than the passage capacity. The path searching means sets the passage capacity which is consumed according to a vehicle width of the movable robot, for each movable robot, and searches again for the movable path so that the number of the movable robots which travel simultaneously in each path section is equal to or less than the passage capacity.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a technique for searching a moving path for a moving object, and in particular to a self-propelled mobile robot as the moving object. [Background technology]

[0002] Conventionally, there is a technique for avoiding collisions between robots without affecting the movement of the robots under normal circumstances (for example, see Patent Document 1). According to this technique, map data, the current position of the robot, and subgoal data related to a finite number of subgoals set on the movement path are acquired, and it is determined whether or not there is a possibility of collision between two robots. Of the two robots that may collide, the movement path of one robot is changed so as to avoid collision with the other robot.

[0003] There is also a technology for a robot control device that reliably moves a robot without interfering with other robots (see, for example, Patent Document 2). According to this technology, a robot transmits a request for generating movement path data to a robot control device and receives the movement path data from the robot control device. The robot control device receives generation requests from multiple robots, generates movement path data in response to each of the generation requests so that the multiple robots do not collide with each other, and transmits a certain period of the generated movement path data to the requesting robot.

[0004] Furthermore, there is a technology for a robot control device that avoids deadlocks that occur between mobile robots and reduces the amount of calculation involved (see, for example, Patent Document 3). According to this technology, the robot control device generates route information to the robot's destination using map information having links containing attribute information of passages and nodes connecting adjacent links. Then, from the route information of all the robots, it extracts non-conflicting sections that do not conflict with the routes of other robots. If the robot cannot move to the destination using only the non-conflicting sections, it updates the control information according to the travel information of the other robots. The robot control device then transmits the control information to the robot and receives a notification from the robot of the end of movement in the non-conflicting sections. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2006-133863 A [Patent Document 2] JP 2010-231698 A [Patent Document 3] WO-A1-2022 / 180783 Summary of the Invention [Problem to be solved by the invention]

[0006] The above-mentioned Patent Documents 1 to 3 all assume a situation where multiple mobile robots collide with each other at a relatively close distance so that they can detect each other. That is, they aim to prevent one mobile robot from colliding with another mobile robot facing it in a narrow passage.

[0007] In response to this, the inventors of the present application wondered whether it would be possible to set a moving route that would avoid collisions at the point where multiple robots are searching for a path. If a moving route that avoids collisions could be set, the mobile robots would not need to wait, and time loss could be avoided. The inventors of the present application also considered that, in addition to collisions, there is a limit to the number of mobile robots that can run parallel or facing each other at the same time in a relatively narrow route section. In other words, depending on the width of the route section, there may be route sections where multiple mobile robots can run at the same time, and route sections where only one mobile robot can run.

[0008] Therefore, the present invention aims to provide a management device, program, and method that can search for a movement path for a mobile robot on a route consisting of multiple route sections on which multiple mobile robots can travel simultaneously in parallel and / or facing each other. [Means for solving the problem]

[0009] According to the present invention, there is provided a management device for searching for a moving path of a mobile robot, the moving path being composed of a plurality of route sections on which a plurality of mobile robots can travel simultaneously in parallel and / or in opposition to each other, comprising: a path capacity storage means for storing a path capacity indicating the number of mobile robots that can travel in parallel and / or opposite directions at the same time for each route section; a route search means for setting a link cost for each route section, searching for a route that minimizes the total link cost of one or more route sections, and then re-searching for a route such that the number of mobile robots traveling simultaneously on each route section is equal to or less than the passage capacity; The present invention is characterized by having the following.

[0010] According to another embodiment of the management device of the present invention, It is also preferable that the passage capacity storage means determines, for each mobile robot, the passage capacity consumed according to the vehicle width of the mobile robot.

[0011] According to another embodiment of the management device of the present invention, Further comprising a population density estimation means for estimating a population density for each route section, The passage capacity storage means resets the passage capacity for each route section according to the population density. It is also preferable.

[0012] According to another embodiment of the management device of the present invention, It is also preferable that the route searching means sets a predicted travel time for each route section as a link cost for each mobile robot.

[0013] According to another embodiment of the management device of the present invention, It is also preferable to set a passage capacity, which indicates the number of mobile robots that can wait, at a node connecting multiple route sections.

[0014] According to another embodiment of the management device of the present invention, The route search means is Compiling map data with passage capacity set for all route sections, It is also preferable to reset the link cost in the map data for each mobile robot according to the model of the mobile robot.

[0015] According to another embodiment of the management device of the present invention, The route search means determines, from the positions of the mobile robots predicted according to the progress of future time, which route section has a shortage of passage capacity. Or It is also preferable to determine and reset the link cost of the route section where a shortage is predicted by increasing the link cost.

[0016] According to another embodiment of the management device of the present invention, It is also preferable that the passage capacity storage means decrements and resets the passage capacity in a route section where the number of stops is equal to or greater than a predetermined number, using travel state information that records past travels or stops of the mobile robot.

[0017] According to another embodiment of the management device of the present invention, It is also preferable that the route search means compares, for a route section where a shortage of passage capacity is predicted, the cost of a mobile robot that is about to enter the route section waiting at a node with the cost of entering the route section and then retreating to the node by backtracking, and adds the smaller cost to the link cost of the route section.

[0018] According to another embodiment of the management device of the present invention, The mobile robot further comprises a designated standby speed determination means for causing the mobile robot to wait at a designated location for a designated time and / or for specifying a moving speed at which the mobile robot moves at the designated location, It is also preferable that the route search means resets the link cost of each route section depending on the waiting and / or moving speed of the mobile robot.

[0019] According to the present invention, there is provided a program for causing a computer to function to search for a movement path for a mobile robot, the movement path being composed of a plurality of route sections on which a plurality of mobile robots can travel simultaneously in parallel and / or in opposition to each other, the program comprising: a path capacity storage means for storing a path capacity indicating the number of mobile robots that can travel in parallel and / or opposite directions at the same time for each route section; a route search means for setting a link cost for each route section, searching for a route that minimizes the total link cost of one or more route sections, and then re-searching for a route such that the number of mobile robots traveling simultaneously on each route section is equal to or less than the passage capacity; The present invention is characterized in that it causes a computer to function.

[0020] According to the present invention, there is provided a method for searching a path for a mobile robot, the method comprising: The device is a passage capacity storage unit that stores a passage capacity representing the number of mobile robots that can travel in parallel and / or opposite directions at the same time for each route section; A first step of setting a link cost for each route section and searching for a travel route that minimizes the total link cost of one or more route sections; a second step of re-searching the movement route so that the number of mobile robots traveling simultaneously on each route section is equal to or less than the passage capacity; The present invention is characterized by carrying out the following steps. Effect of the Invention

[0021] According to the management device, program, and method of the present invention, it is possible to search for a movement path for a mobile robot, the movement path being made up of a plurality of route sections along which a plurality of mobile robots can travel simultaneously in parallel and / or facing each other. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a system configuration diagram according to the present invention. [Diagram 2] FIG. 2 is a functional configuration diagram of a mobile robot according to the present invention. [Diagram 3] FIG. 2 is a functional configuration diagram of a management device according to the present invention. [Figure 4] FIG. 2 is an explanatory diagram showing the passage capacity of a route section in the present invention. [Diagram 5] This is a first example in which link costs are assigned to map data including passage capacity. [Figure 6] This is a first example of a route search performed by two mobile robots for the movement route in Figure 5. [Figure 7] FIG. 6 is a first example showing a moving route of the moving robot #1. [Figure 8] FIG. 7 is a first example showing a moving route of the moving robot #2. [Figure 9] 13 is a second example of map data in which waiting areas are provided at nodes connecting route sections. [Figure 10] FIG. 9 is a second example showing the movement route of the mobile robot #1. [Figure 11] FIG. 9 is a second example showing the movement route of the mobile robot #2. [Figure 12] This is a third example in which a link cost corresponding to mobile robot #4 is assigned to map data including passage capacity. [Figure 13] This is a fourth example in which a link cost corresponding to mobile robot #5 is assigned to map data including passage capacity. [Figure 14] This is a fifth example in which a link cost corresponding to mobile robot #6 is assigned to map data including passage capacity. [Figure 15]11 is an explanatory diagram showing the calculation of the assumed positions and passage volumes of each mobile robot at a future time. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0024] FIG. 1 is a diagram showing a system configuration according to the present invention.

[0025] The present invention assumes that a plurality of autonomously movable mobile robots travel along outdoor general roads or indoor passageways to a destination designated by a user. According to the system of FIG. 1, a user terminal 1, a mobile robot 2, a mobile terminal 3, and a management device 4 communicate with each other via a network.

[0026] <User terminal 1> The user terminal 1 is a terminal operated by a user of the mobile robot 2. For example, it may be a smartphone or a tablet terminal. The user terminal 1 communicates with the management device 4 via a network. According to FIG. 1, the user terminal 1 includes a product ordering unit 101 and a destination information input unit .

[0027] [Product Ordering Department 101] The product ordering unit 101 allows the user to select and place an order for a product or service in the delivery service. The product ordering unit 101 may also manage the remaining amount of an item owned by the user in real time, and automatically order a replenishment product when the remaining amount falls below a predetermined threshold.

[0028] [Destination information input section 102] The destination information input unit 102 allows the user to input the destination of the ordered product or service. For example, the user may input information such as his / her own address. Of course, previously input destination information may be reused to eliminate the need to input the information each time. The destination information input unit 102 may use a positioning function of a Global Positioning System (GPS) installed in a user terminal (e.g., a smartphone) to set the current location as the destination. The destination information input unit 102 may use surrounding scenery information captured by a camera as reference information for the destination.

[0029] <Mobile Robot 2> The mobile robot 2 is a mobile body capable of autonomous travel (smart mobility). The mobile robot 2 is capable of self-traveling along a travel route instructed by the management device 4. In the case of a delivery service, the mobile robot 2 travels to provide a product or service to a user. The route assumed in the present invention may be a road on which general vehicles run or an indoor passage. The mobile robot 2 may travel and park on the route where an unspecified number of third parties come and go.

[0030] <Mobile device 3> The mobile terminals 3 are held by an unspecified number of third parties located around the route. For example, they may be smartphones that people carry when they go out, and may not be related to the services of the mobile robot 2. It is preferable that the mobile terminals 3 are intended for all subscribers who have a contract with a specific communication carrier and have agreed to obtain location information.

[0031] <Management device 4> The management device 4 searches for a movement route for the mobile robot 2, the route being made up of a plurality of route sections along which a plurality of mobile robots 2 can simultaneously travel in parallel and / or facing each other. The management device 4 can instruct the mobile robot 2 on a route via the network, and can also collect the number of mobile terminals 3 staying in each section of the route.

[0032] FIG. 2 is a functional configuration diagram of the mobile robot according to the present invention.

[0033] 2, the mobile robot 2 has a wireless communication unit 201, a current position acquisition unit 202, a status acquisition unit 203, an imaging unit 204, a route information storage unit 205, an operation determination unit 206, an operation control unit 207, and a designated standby speed receiving unit 208. These functional components are realized by executing a program that causes a computer mounted on the mobile robot to function. The process flow of these functional components can also be understood as a method for controlling the mobile robot.

[0034] [Wireless Communication Unit 201] The wireless communication unit 201 is a wireless communication module for wirelessly communicating with base stations and access points, and communicates with the management device 4 via a Radio Access Network (RAN) or the Internet. Specifically, the wireless communication unit 201 wirelessly communicates with a base station compatible with a wireless communication method such as 4G (fourth generation mobile communication system) or 5G (fifth generation mobile communication system) that is currently in practical use, or 6G (sixth generation mobile communication system) that is expected to be in practical use in the future. Of course, the wireless communication unit 201 may wirelessly communicate with an access point compatible with an unlicensed wireless communication method such as WiFi (registered trademark).

[0035] [Current position acquisition unit 202] If the current position acquisition unit 202 is outdoors, it measures the position using, for example, a Global Positioning System (GPS), and if indoors, it may measure the absolute position using, for example, an Indoor Messaging System (IMES).

[0036] [Status Acquisition Unit 203] The status acquisition unit 203 acquires status data, such as remaining battery power, temperature, moving speed, and acceleration, from various sensors mounted on the mobile robot 2 .

[0037] [Imaging unit 204] The imaging unit 204 is a camera that captures images of the surroundings of the mobile robot 2. For example, the imaging unit 204 may capture images of the area ahead in the moving direction of the mobile robot 2. The image capturing unit 204 may also include a movement mechanism for moving the camera. By controlling the movement mechanism, images can be captured not only in the forward direction in the traveling direction, but also to the left and right, and above and below.

[0038] [Route information storage unit 205] The route information storage unit 205 stores the “travel route” received from the management device 4 .

[0039] [Operation judgment unit 206] The movement determining unit 206 moves along the movement route while adapting to the surrounding environment using the following information. The current location acquired by the current location acquisition unit 202 Status data acquired by the status acquisition unit 203 Image captured by the imaging unit 204 For example, when an obstacle is detected ahead from a captured image, the movement determining unit 206 determines that the movement speed should be controlled to move in a manner to avoid the obstacle.

[0040] [Operation control unit 207] The motion control unit 207 executes the motion determined by the motion determination unit 206. Specifically, it controls the mobile robot 2 to move forward, backward, turn right or left, and stop. The operation control unit 207 can also change the orientation of the camera by controlling a movement mechanism that moves the camera.

[0041] [Specified standby speed receiver 208] The designated standby speed receiving unit 208 receives operation control information from the management device 4. The operation control information is output to the operation control unit 207, which causes the mobile robot 2 to wait at a designated location for a designated time, or changes the moving speed when moving through the designated location to a designated speed.

[0042] FIG. 3 is a functional configuration diagram of the management device in the present invention.

[0043] The management device 4 is a server that searches for movement routes of multiple mobile robots 2, and may exist on a cloud, for example. The management device 4 monitors the operation of the mobile robots 2 using various information and controls their movement (navigation). Of course, the management device 4 may be configured as a single general-purpose computer device, as a dedicated hardware device, as a distributed computer, or as a website.

[0044] 3, the management device 4 includes an operation monitoring unit 401, an order information management unit 402, a destination acquisition unit 403, a location status information storage unit 404, a map information storage unit 405, a robot information storage unit 406, a robot allocation unit 407, a terminal location information storage unit 408, a population density estimation unit 409, a passage capacity storage unit 410, a route search unit 411, a route distribution unit 412, and a designated waiting speed determination unit 413. These functional components are realized by executing a program that causes a computer installed in the management device to function. The process flow of these functional components can also be understood as a method for searching a moving route for a mobile robot.

[0045] [Operation Monitoring Department 401] The operation monitoring unit 401 monitors the operation of multiple mobile robots 2. The operation monitoring unit 401 manages position information, status information, and images (including video) received in real time from the mobile robots 2, linking them to the ID (identifier) ​​of each mobile robot 2. This information may be received and updated at intervals of, for example, one second. The operation monitoring unit 401 analyzes, in particular, the position information, status information, and images, and issues an alarm to a system supervisor when it detects the occurrence of a fault in a mobile robot 2.

[0046] [Order Information Management Department 402] The order information management unit 402 receives order information for ordering products from the user terminal 1 and stores the order information. The order information management unit 402 executes purchasing processing in cooperation with any purchasing system and formulates a delivery plan. The order information management unit 402 stores planned movement information such as the departure point, destination, and time period in which the mobile robot 2 should move according to the formulated delivery plan.

[0047] [Destination acquisition unit 403] The destination acquisition unit 403 acquires destination information from the order information or planned travel information stored in the order information management unit 402 .

[0048] [Location status information storage unit 404] The position and state information storage unit 404 stores position information and state information of each mobile robot 2. Here, the position information may be, for example, GPS coordinates. Indoors where GPS cannot be obtained, absolute position information obtained by an indoor positioning technology such as IMES (Indoor MEssaging System) may be used. The state information is state data such as moving speed and acceleration that can be obtained from various sensors mounted on the mobile robot 2.

[0049] [Map information storage unit 405] The map information storage unit 405 stores road map data of outdoor general roads and pedestrian roads along which the mobile robot travels, as well as indoor passage data. The road map data divides the route on the map into "route sections", with intersections and the like as nodes. The route sections connect the nodes and include the following information: · Unique link identifier (Link ID) ·“Aisle capacity” ·Road width Road type Section length ·Start and end point (node) positions (longitude, latitude) Angle (direction) A "passage capacity" that indicates the number of mobile robots 2 that can travel in parallel and / or opposite directions at the same time is defined for each route section. The number of mobile robots that can travel simultaneously on the route section is equal to or less than the passage capacity.

[0050] [Robot information storage unit 406] The robot information storage unit 406 stores performance information for each mobile robot 2. Examples of the performance information include the following: Overall length, overall width, overall height, weight, wheel size, maximum speed, driving time, luggage capacity, etc.

[0051] [Robot Allocation Department 407] The robot allocation unit 407 selects an appropriate mobile robot 2 based on the delivery plan formulated by the order information management unit 402 and allocates it to the delivery. For example, when a small or small quantity of product is to be delivered, the robot allocation unit 407 allocates a small robot with good battery efficiency to the delivery.

[0052] [Terminal location information storage unit 408] The terminal location information storage unit 408 stores the history of location information of each mobile terminal 3. For example, the GPS location information of each smartphone is stored in association with time. For example, it may be a statistical value of an unspecified number of mobile terminals 3 that can be collected by a communication carrier.

[0053] [Population Density Estimation Division 409] The population density estimation unit 409 estimates the population density for each route section. The population density estimation unit 409 estimates the population density around each route section from the location information of the multiple mobile terminals 3 stored in the terminal location information storage unit 408. It is also preferable to estimate the population density around the route section for each time period from the history of the location information of the mobile terminals 3.

[0054] The population density estimation unit 409 performs map matching by comparing the position information of many mobile terminals 3 with the map information stored in the map information storage unit 405. This makes it possible to estimate the population density for each route section from the number of mobile terminals 3 located in the vicinity. Map matching is also used in car navigation systems, and is a process of correcting the position information and map information to, for example, be on a route section. It is also preferable that the population density estimation unit 409 estimates the population density separately for each month, day of the week, time period, etc. This is because the population density varies greatly depending on the time period, etc., even in the same area. Furthermore, the population density estimation unit 409 may estimate the population density by an embodiment other than the portable terminal 2. For example, the population density may be estimated by recognizing images of people from images captured by the mobile robot 2.

[0055] The population density estimation unit 409 may determine that the user is indoors when there is almost no change in the location information, and outdoors when there is some change. It may also determine whether the user is walking or using a vehicle based on the moving speed of the mobile terminal 3.

[0056] [Aisle capacity storage section 410] The passage capacity storage unit 410 stores, for each route section, a "passage capacity" that indicates the number of mobile robots that can travel in parallel and / or opposite directions at the same time.

[0057] FIG. 4 is an explanatory diagram showing the passage capacity of a route section in the present invention.

[0058] According to FIG. 4(a), the "passage capacity" is set as follows: Route section: Passage capacity ab: 2 ac: 3 bc: 1 Here, the path search means determines the "passage capacity to be consumed" for each mobile robot 2 according to the vehicle width of the mobile robot 2 as follows. Mobile robot: aisle volume consumption #1 : 1 #twenty one #3 : 1

[0059] According to FIG. 4(a), in a route section ab with a passage capacity of 2, mobile robots 2 travel in "parallel" fashion as follows. Mobile robot #1 travels from node a to node b, consuming passage capacity 1. Mobile robot #2 travels from node a to node b, consuming passage capacity 1. In this case, the passage capacity of the route section ab is 0 (=2-1-1), and no other mobile robots can travel there. Also, according to FIG. 4(a), in a route section ac with a passage capacity of 3, the mobile robot 2 travels as follows. Mobile robot #3 travels from node a to node c, consuming passage capacity 1. In this case, the passage capacity of the route section ac is 2 (=3-1), and other mobile robots can also travel there.

[0060] According to FIG. 4(b), unlike FIG. 4(a), in the route section ab with a passage capacity of 2, the mobile robots run in "opposite directions" as follows. Mobile robot #1 travels from node a to node b, consuming passage capacity 1. Mobile robot #2 travels from node b to node a, consuming passage capacity 1. In this case, the passage capacity of the route section ab is 0 (=2-1-1), and no other mobile robots can travel there.

[0061] According to FIG. 4(c), the "passage capacity consumed" is set according to the vehicle width of the mobile robot 2 as follows: Mobile robot: aisle volume consumption #1(Large): 2 #2(Standard): 1 #3(Small): 0.5

[0062] According to FIG. 4(c), in the route section ab with a passage capacity of 2, the mobile robot travels as follows. Mobile robot #1 travels from node a to node b, consuming passage capacity 2. At this time, the passage capacity of the route section ab is 0 (=2-2), and no other mobile robots can travel there. In this case, the movement route of the mobile robot #2 is reset to the movement route b -> c -> a. Then, in the route section bc with the passage capacity of 1, the mobile robot #2 travels from node b -> c, consuming the passage capacity of 1.

[0063] In addition, in route section ac with passage capacity 3, the mobile robot travels as follows. Mobile robot #3 travels from node a to node c, consuming 0.5 of the passage capacity. In this case, the passage capacity of the route section ac is 2.5 (=3-1), and other mobile robots can also travel there.

[0064] In this way, the "passage capacity to be consumed" can be determined according to the vehicle width of the mobile robot 2, and the number of mobile robots that can move parallel and / or facing each other at the same time can be determined. This allows multiple mobile robots 2 to search for a movement route without losing time.

[0065] As another embodiment, it is also preferable that the passage capacity storage unit 410 resets the passage capacity for each route section according to the population density in the population density storage unit 409. That is, in the case of a route section where the population density is equal to or higher than a predetermined threshold (where there is a lot of foot traffic), even if the passage capacity is normally 1, it may be reset to 0.5.

[0066] In another embodiment, it is also preferable that the passage capacity storage unit 410 decrements and resets the passage capacity in a route section where the number of stops is equal to or greater than a predetermined number, using traveling state information that records past traveling or stopping of the mobile robot 2. The traveling state information is collected from the mobile robot 2 traveling for each movement section.

[0067] Furthermore, as another embodiment, the passage capacity storage unit 410 may vary the passage capacity for each route section depending on the obstacles. For example, for a moving section where trucks are frequently stopped based on past history, it is preferable to reduce the passage capacity depending on the vehicle width of the trucks (for example, the width occupied by a truck with a total length of 4,700 mm, which is a total width of 1,700 mm plus a margin width for safety). Images captured by the imaging unit 204 of another mobile robot 2 can be used as the past history of stopped vehicles. This information can also be managed in terms of statistical trends, for example, by day of the week and time period. In this way, the passage capacity of the route section is reset according to the situation when searching for a travel route.

[0068] [Route Search Unit 411] <s1>The route search unit 411 first sets a link cost for each route section, and searches for a travel route that minimizes the total link cost of one or more route sections.

[0069] The route search unit 411 sets the predicted travel time of each route section as the link cost for each mobile robot. The predicted travel time is preferably calculated from the distance of the route section and the moving speed of the mobile robot 2 (as well as other parameters that depend on the ease of travel on the passage such as the road surface condition). The link cost 1 may be determined to be, for example, 1 minute.

[0070] The route search unit 411 may search for a travel route from a departure point to a destination using, for example, the Dijkstra algorithm. Of course, it may also search for a travel route using other algorithms such as the A* algorithm. Specifically, the route search unit 411 sequentially connects one or more travel sections from the departure point to the destination and accumulates the link costs. It searches for a travel route that minimizes the total link cost to the destination. In other words, the smaller the link cost, the more likely the travel section is to be selected.

[0071] FIG. 5 is a first example in which link costs are assigned to map data including passage capacity. According to FIG. 5, the route search unit 411 configures map data including passage capacities in all route sections by assigning, for example, the following link costs: Route section: Passage capacity: Link cost ab: 2 : 5 bc: 1 : 7 cf: 3 : 6 fe: 7 : 7 ea: 2 : 3 .... The map data consisting of a combination of route sections and passage capacities can be commonly used by all mobile robots 2. The link cost for each route section in the map data varies depending on the model of the mobile robot. According to Fig. 5, the link cost will be explained as being the same for all mobile robots.

[0072] Moreover, the route search unit 411 sets the starting point and destination of each mobile robot 2 and the passage capacity to be consumed as follows. Departure point Destination Consumed aisle capacity Mobile robot #1: a -> c 1 Mobile robot #2: c -> a 1 The "passage volume consumed" refers to the passage volume occupied by the mobile robot when it travels. This volume differs for each mobile robot 2 depending on its vehicle width and is determined according to its model.

[0073] FIG. 6 shows a first example of a route search performed by two mobile robots along the movement route shown in FIG. 6, suppose that moving robot #1 and moving robot #2 start moving at approximately the same time. First, for each of moving robots #1 and #2, a route that minimizes the total link cost is selected. Movement route Total link cost Mobile robot #1: a->b->c 5+7=12 Mobile robot #2: c->b->a 7+5=12 At this time, the two mobile robots #1 and #2 face each other (pass each other) in the route section bc, and are unable to pass each other due to their confrontation, resulting in a loss of time.

[0074] <s2>The route search unit 41 then searches again for a moving route so that the number of moving robots traveling simultaneously (in parallel and / or facing each other) on each route section is equal to or less than the passage capacity.

[0075] FIG. 7 is a first example showing a moving route of the mobile robot #1 in FIG. 7, it is assumed that mobile robot #1 starts moving first, and then mobile robot #2 starts moving. First, for mobile robot #1, a route that minimizes the total link cost is selected. Movement route Total link cost Mobile robot #1: a->b->c 5+7=12 As a result, the route search unit 411 resets the passage capacity of the map data as follows. Route section: aisle capacity -> reconfigured aisle capacity ab: 2 : 1 (the passage capacity consumed by mobile robot #1 is reduced by 1) bc: 1 : 0 (the passage capacity consumed by mobile robot #1 is reduced by 1) cf: 3 : 6 fe: 7 : 7 ea: 2 : 3 ....

[0076] FIG. 8 is a first example showing a moving route of the moving robot #2 in FIG.

[0077] For a route section where a shortage of passage capacity is predicted, the route search unit 411 compares the cost of a mobile robot that is to enter the route section waiting at a node with the cost of the mobile robot retreating to the node by backtracking after entering the route section, and adds the smaller cost to the link cost of the route section.

[0078] 8, the route section bc on the movement route of the moving robot #2 has a passage capacity of 0. This is less than the passage capacity of 1 consumed by the moving robot #2. At this time, the link cost of the route section bc is reset. For example, it is executed as follows. (s81) For both mobile robots #1 and #2, the movement route a->b->c is first searched for, and the total link cost is 12 (=7+5). (s82) If an oncoming vehicle occurs in the movement section bc, and an avoidance operation such as backtracking is performed, the avoidance cost is assumed to be, for example, 13. (s82) In this case, the link cost 12 and the avoidance cost 13 are compared, and the smaller cost 12 is added to the link cost 7 of the route section bc and reset as the link cost 19. (s84) Once again, mobile robot #2 selects the route that minimizes the total link cost. Movement route Total link cost Mobile robot #2: c->b->a 7+19=26 Mobile robot #2: ★c->f->e->a 6+7+3=16 (s85) As a result, the movement route c->f->e->a is reset for the mobile robot #2.

[0079] FIG. 9 is a second example of map data in which waiting areas are provided at nodes connecting route sections. 9, it is assumed that there is a waiting place for one mobile robot at node b, which connects multiple route sections ab and bc. This waiting place is set to route section bb, for example, with a link cost of 2 (waiting time) and a passage capacity of 1, which represents the number of mobile robots that can wait.

[0080] FIG. 10 is a second example showing the movement path of the mobile robot #1 in FIG. 10, the mobile robot #1 can wait at node b for a time period corresponding to a link cost of 2. This makes it possible to avoid a confrontation with the mobile robot #2 in the route section bc. Movement route Total link cost Mobile robot #1: a->b->wait->c 5+2+7=14

[0081] FIG. 11 is a second example showing the movement path of the mobile robot #2 in FIG. According to FIG. 11, since mobile robot #1 waits at node b, mobile robot #2 will not encounter any opposition even on the movement route c->b->a. Movement route Total link cost Mobile robot #2: c->b->a 7+5=12

[0082] FIG. 12 shows a third example in which a link cost corresponding to the mobile robot #4 is added to map data including passage capacity. 13 is a fourth example in which a link cost corresponding to mobile robot #5 is assigned to map data including passage capacity. If mobile robot #5 has lower step climbing performance than other mobile robots, for example, and has difficulty passing through route section ef, the link cost is set to ∞ (infinity). 14 is a fifth example in which link costs corresponding to mobile robot #6 are assigned to map data including passage capacity. Mobile robot #6 can move faster than other mobile robots, and the link costs (travel time) of each route section are low.

[0083] FIG. 15 is an explanatory diagram showing the estimated positions of each mobile robot at a future time and the passage capacity calculated. According to Fig. 15, different link costs are considered for each model of mobile robot. For example, a link cost of 1 is assumed to be 1 minute. Also, each mobile robot is assumed to move along the shortest route as follows. Mobile robot #4: Moves from node a to node b in 5 minutes. Mobile robot #5: Travels from node c to node b in 7 minutes. Mobile robot #6: After 1 minute, it will move from node a to node b, taking 3 minutes. In this case, the passage capacities of the route sections ab and bc are used 1 to 4 minutes later. Furthermore, the passage capacity of route section bc will be insufficient 5 minutes later.

[0084] In this way, the route search unit 411 determines which route section has a shortage of passage capacity from the positions of the mobile robots predicted according to the progress of future time. Or Then, the link cost (travel time) of the route section where a shortage is predicted is increased and reset.

[0085] [Route Distribution Unit 412] The route distribution unit 412 transmits the travel route searched by the route search unit 411 to the mobile robot 2.

[0086] [Specified standby speed determination unit 413] The designated standby speed determination unit 413 causes the mobile robot to wait at a designated location for a designated time and / or designates the moving speed at which the mobile robot moves in the designated location. The designated waiting speed determination unit 413 can make the mobile robot 2 wait at any designated location for a designated time, or change the moving speed of a specific mobile robot 2 when moving through a designated location to a designated speed. This makes it possible to avoid congestion on a route section that is relatively short distance away. The route search unit 411 may reset the link cost of each route section depending on the waiting and / or moving speed of the mobile robot.

[0087] As described in detail above, the management device, program, and method of the present invention make it possible to search for a movement path for a mobile robot that is composed of multiple route sections along which multiple mobile robots can travel simultaneously in parallel and / or facing each other.

[0088] Furthermore, this will enable, for example, mobile robots to move more efficiently, which will contribute to Goal 9 of the United Nations Sustainable Development Goals (SDGs) which is to "build resilient infrastructure, promote sustainable industrialization and foster innovation."

[0089] Regarding the various embodiments of the present invention described above, various changes, modifications, and omissions within the scope of the technical idea and perspective of the present invention can be easily made by those skilled in the art. The above description is merely an example and is not intended to be restrictive in any way. The present invention is limited only by the scope of the claims and their equivalents. [Explanation of symbols]

[0090] 1. User terminal 101 Product Ordering Department 102 Destination information input section 2. Mobile robot 201 Wireless Communication Department 202 Current position acquisition unit 203 Status Acquisition Unit 204 Imaging unit 205 Route information storage unit 206 Operation judgment unit 207 Motion control section 208 Designated standby speed receiver 3. Mobile devices 4 Management device 401 Operation Monitoring Department 402 Order Information Management Department 403 Destination Acquisition Department 404 Location status information storage unit 405 Map information storage unit 406 Robot Information Storage Unit 407 Robot Allocation Department 408 Terminal location information storage unit 409 Population Density Estimation Division 410 Passage capacity storage section 411 Route Search Unit 412 Route Distribution Department 413 Specified standby speed determination section

Claims

1. A management device that searches for a movement path of a mobile robot, the movement path being composed of a plurality of route sections on which a plurality of mobile robots can travel simultaneously in parallel and / or in opposition to each other, comprising: a path capacity storage means for storing a path capacity indicating the number of mobile robots that can travel in parallel and / or opposite directions at the same time for each route section; a route search means for setting a link cost for each route section, searching for a route that minimizes the total link cost of one or more route sections, and then re-searching for a route such that the number of mobile robots traveling simultaneously on each route section is equal to or less than the passage capacity; A management device comprising:

2. The passage capacity storage means determines the passage capacity consumed by each mobile robot according to the vehicle width of the mobile robot.

2. The management device according to claim 1.

3. Further comprising a population density estimation means for estimating a population density for each route section, The passage capacity storage means resets the passage capacity for each route section according to the population density.

3. The management device according to claim 1 or 2.

4. The route search means sets a predicted travel time for each route section as a link cost for each mobile robot.

2. The management device according to claim 1.

5. At nodes connecting multiple route sections, a passage capacity is set, which indicates the number of mobile robots that can wait.

2. The management device according to claim 1.

6. The route search means is Create map data with passage capacity set for all route sections, For each mobile robot, a link cost is reset in the map data according to the model of the mobile robot.

2. The management device according to claim 1.

7. The route search means determines which route section will have insufficient passage capacity from the positions of each mobile robot predicted according to the progress of future time, and increments and resets the link cost of the route section predicted to have an insufficient passage capacity.

2. The management device according to claim 1.

8. The passage capacity storage means decrements and resets the passage capacity in a route section where the number of stops is equal to or greater than a predetermined number, using travel state information that records past travels or stops of the mobile robot.

2. The management device according to claim 1.

9. The route search means compares, for a route section where a shortage of passage capacity is predicted, the cost of a mobile robot that is to enter the route section waiting at a node with the cost of retreating to the node by backtracking after entering the route section, and adds the smaller cost to the link cost of the route section.

2. The management device according to claim 1.

10. The mobile robot further comprises a designated standby speed determination means for causing the mobile robot to wait for a designated time at a designated location and / or for specifying a moving speed at which the mobile robot moves in the designated location, The route search means resets the link cost of each route section depending on the waiting and / or moving speed of the mobile robot.

2. The management device according to claim 1.

11. A program for causing a computer to function to search for a moving path for a mobile robot, the moving path being composed of a plurality of route sections on which a plurality of mobile robots can travel simultaneously in parallel and / or in opposition to each other, comprising: a path capacity storage means for storing a path capacity indicating the number of mobile robots that can travel in parallel and / or opposite directions at the same time for each route section; a route search means for setting a link cost for each route section, searching for a route that minimizes the total link cost of one or more route sections, and then re-searching for a route such that the number of mobile robots traveling simultaneously on each route section is equal to or less than the passage capacity; A program for causing a computer to function.

12. A method for searching a path for a mobile robot, the method comprising: The device is a passage capacity storage unit that stores a passage capacity representing the number of mobile robots that can travel in parallel and / or opposite directions at the same time for each route section; A first step of setting a link cost for each route section and searching for a travel route that minimizes the total link cost of one or more route sections; a second step of re-searching for a moving route so that the number of mobile robots traveling simultaneously on each route section is equal to or less than the passage capacity; A method for searching for a movement path of an apparatus, comprising:

Images