Operating system

Abstract

To prevent, when multiple moving objects execute multiple works, respectively, while moving in accordance with respective individual work plans within a region, the multiple moving objects from having a difficulty to move.SOLUTION: In this work system, multiple moving objects execute multiple works, respectively, while moving in accordance with respective individual work plans defined respectively. Based on a route until reaching the next work position decided on the basis of each individual work plan of each of greater than or equal to two moving objects among the multiple moving objects, when the respective routes of the two moving objects among greater than or equal to two moving objects are obtained as respective routes where the two moving objects have a difficulty to move, the individual work plan of at least one of the two moving objects is changed. Consequently, when each of the multiple moving objects executes each of the multiple works while moving in a region, a difficulty to move is suppressed.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a work system in which a moving body moves within a predetermined area to perform work.

Background Art

[0002] Patent Document 1 describes a work system including a plurality of moving bodies (for example, a refueling vehicle, a belt roller, a towing tractor, a power supply vehicle, etc.) that perform work on an aircraft that has arrived at an airport, and a management device that manages these plurality of moving bodies. The plurality of moving bodies move from a standby position to a work position within a work area determined by the aircraft, and the routes within the work area are set so as not to interfere with each other

[0033] .

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to make it difficult for a plurality of moving bodies to have difficulty in moving when performing a plurality of operations while moving according to individual work plans within an area.

Means for Solving the Problems

[0005] In the work system according to the present invention, each of the plurality of mobile bodies moves within a region while performing a plurality of operations in accordance with an individual work plan defined for each. Further, based on the paths of two or more of the plurality of mobile bodies until they reach the next work positions determined based on their respective individual work plans, it is acquired whether the paths of two of the two or more mobile bodies are paths where the two mobile bodies are predicted to have difficulty moving. When it is acquired that the paths of the two mobile bodies are paths where the two mobile bodies are predicted to have difficulty moving, at least the individual work plan defined for one of the two mobile bodies is changed. As a result, in the region, when each of the plurality of mobile bodies moves while performing a plurality of operations in accordance with the individual work plan, it is possible to make it difficult to have difficulty moving.

Brief Description of the Drawings

[0006]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0007] Hereinafter, a work system according to an embodiment of the present invention will be described in detail based on the drawings.

Examples

[0008] As shown in FIG. 1, the area α is, for example, a work area where a plurality of moving bodies MA, MB, ··· perform work while moving (for example, transporting objects between shelves within the area, transporting objects inside and outside the area, etc.). The plurality of moving bodies MA, MB, ··· within the area are managed by the management device C.

[0009] In the area α, for example, a plurality of shelves TA, TB, ··· are provided in a plurality of rows arranged in one direction. Also, between the shelves TA, TB that are adjacent to each other facing each other among the plurality of rows of shelves TA, TB, ···, between the shelves TC, TD, between the shelves TE, TF, ···, passages B1, B2, ··· are provided respectively. In this embodiment, within the area, the direction in which the shelves TA, TB, ··· extend is defined as the x - direction, and the direction in which the shelves TA, TB, ··· are arranged is defined as the y - direction. In this embodiment, the plurality of passages B1, B2, ··· extend in the x - direction parallel to each other, and each is a passage having two lanes, i.e., a first lane R1 and a second lane R2, with one lane in one direction.

[0010] Hereinafter, when there is no need to distinguish between the shelves TA, TB, ···, the passages B1, B2, ···, the moving bodies MA, MB, ···, the markers Q1, Q2, ··· described later, etc., or when they are to be collectively referred to, the subscripts 1, 2, ···, A, B, ···, etc. will be omitted in the description.

[0011] Along the passages B1, B2, ···, a plurality of markers (points) Q1, Q2, ···, Q21, Q22, ···, Q41, Q42, ··· are provided at intervals respectively. Each of these multiple markers Q1, Q2, ···, Q21, Q22, ···, Q41, Q42, ··· can be made capable of reading information regarding the position of each marker Q. For example, the marker Q can represent the position of each marker Q on the x - and y - coordinates, or can represent a number (1, 2, ···, 21, 22, ···, etc.) representing the position of that marker Q.

[0012] In this embodiment, each marker Q represents a number indicating the position of the marker Q, and each of the markers Q is referred to as a node. Also, a link connecting adjacent nodes is referred to as an edge. For example, marker Q8 can be referred to as node 8, and the link connecting nodes 7 and 8 can be referred to as edge (7,8). The path of each of the plurality of moving bodies M can be represented by at least one of a node and an edge.

[0013] As shown in FIG. 3, each of the plurality of moving bodies M can be, for example, an automatic guided vehicle (AGV) that can travel unmanned. The moving body M that is an automatic guided vehicle includes a work robot 10, a luggage storage unit 12, a traveling device 14, a moving body ECU 18 mainly composed of a computer, and the like.

[0014] The luggage storage unit 12 is provided at the rear part of the moving body M and stores luggage which is an object. The work robot 10 includes one or more arms (not shown). By driving the arms and the like, the work robot 10 takes out luggage from the shelf T and stores it in the luggage storage unit 12, or places the luggage in the luggage storage unit 12 on the shelf T. The work robot 10 is controlled by the moving body ECU 18 based on a predetermined work plan.

[0015] The traveling device 14 includes a driving / braking device, a steering device, etc., and makes the moving body M travel. The driving / braking device and the steering device each include an electric motor. By controlling each electric motor, a driving force, a braking force is generated, or turning is performed. The traveling device 14 is controlled by the moving body ECU 18 so that the moving body M travels along a predetermined path.

[0016] The moving body M further includes a camera 20 as an imaging device, a GPS (Global Positioning System) receiver 22 as a GNSS (Global Navigation Satellite System) receiver, an inertial measurement device 26, a moving body communication device 24, and the like. The camera 20 images the surroundings of the moving body M, and based on the captured image by the camera 20, the situation of the surroundings of the moving body M is acquired. Also, based on the marker Q imaged by the camera 20, the current position (the node or edge where the moving body M is located) of the moving body M can be acquired.

[0017] The inertial measurement unit 26 detects the acceleration as the inertial force acting in each of the longitudinal direction, lateral direction, and vertical direction of the moving body, and the rotational angular velocity around the axis extending in each of the longitudinal direction, width direction, and vertical direction. Based on the detection values by these inertial measurement units 26, it is possible to acquire the traveling speed in the longitudinal direction of the moving body M or the like, or acquire the yaw angle or the like.

[0018] The GPS receiver 22 receives and processes GPS signals. In the present embodiment, based on the GPS signals received by the GPS receiver 22, the current absolute position of the moving body M on the earth is acquired. Note that the absolute position on the earth, the position on the x and y coordinates within the area, and the nodes are associated with each other in advance. Therefore, if any one of the positions is acquired, the current position of the moving body M can be known.

[0019] The mobile communication device 24 can transmit and receive wireless information. The mobile communication device 24 transmits mobile body information or receives management information transmitted from the management device C.

[0020] The mobile body ECU 18 includes an execution unit, a storage unit, an input / output unit, etc. The camera 20, the GPS receiver 22, the mobile communication device 24, the working robot 10, the traveling device 14, etc. are connected to the input / output unit of the mobile body ECU 18. The mobile body ECU 18 includes a mobile body information creation unit 30, a traveling state control unit 32, a working robot control unit 34, an individual work plan storage unit 36, etc.

[0021] The individual work plan storage unit 36 stores the individual work plan which is the work plan determined for each of the plurality of moving bodies M. The individual work plan may be changed. The individual work plan will be described later.

[0022] The mobile body information creation unit 30 creates mobile body information transmitted by the mobile body communication device 24. The mobile body information creation unit 30 creates mobile body information including position information representing the current position of the mobile body M, work information representing the progress status of the work of the mobile body M (work start, work end, before work, during work), identification information ID representing itself, etc. The position information is acquired based on the captured image by the camera 20 or based on the GPS signal received by the GPS receiver 22. The mobile body information created by the mobile body information creation unit 30 is output to the mobile body communication device 24 and transmitted by the mobile body communication device 24.

[0023] The traveling state control unit 32 controls the traveling device 14. The traveling state control unit 32 acquires the work position of the next work candidate based on the individual work plan stored in the individual work plan storage unit 36 and creates a route. Then, the traveling device 14 is controlled so that the mobile body M moves along the route. The work robot control unit 34 controls the work robot 10 according to the work content included in the individual work plan.

[0024] As described above, since the plurality of mobile bodies M all include the work robot 10, the luggage storage unit 12, etc., the work assigned to one mobile body M can be performed by other mobile bodies M.

[0025] The management device C includes a management ECU 50 and a management communication device 52. The management communication device 52 is capable of communicating with each of the plurality of mobile body communication devices 24. The management communication device 52 transmits the management information created by the management ECU 50 or receives the mobile body information transmitted from each of the mobile bodies M. The management ECU 50 is mainly a computer and includes an input / output unit, a storage unit, an execution unit, etc. The management communication device 52 is connected to the input / output unit of the management ECU 50. Further, the management ECU 50 includes a work plan creation / storage unit 60, a map information storage unit 62, a movement difficulty prediction route acquisition unit 64, a work plan change unit 66, a management information creation unit 68, etc.

[0026] The operation plan creation and storage unit 60 creates and stores an individual operation plan for each of the plurality of mobile bodies M. In this embodiment, in area α, missions to be performed by the plurality of mobile bodies M are defined. Then, a large number of operations to be executed to complete the mission are acquired, and these large number of operations are individually allocated (assigned) to each of the plurality of mobile bodies M. Thereby, an individual operation plan for each of the plurality of mobile bodies M is created, and the created individual operation plan for each of the plurality of mobile bodies M is stored. Note that a part of the individual operation plan may be changed, and when it is changed, the individual operation plan stored in the operation plan creation and storage unit 60 is also changed.

[0027] The individual operation plan includes a plurality of work positions (shelves where work is performed, parts of those shelves) that are the positions for performing each of the plurality of operations assigned to each mobile body M, and the content of each work, etc. For example, as shown in FIG. 2, the individual operation plan for the mobile body MA includes work positions such as B6, E53, E41, H61, H71, ···. These work positions are arranged in the order of work. Also, the individual operation plan for the mobile body MB includes work positions such as B12, E48, H65, H74, ···. The above-mentioned work position B6 represents the part corresponding to node 6 of shelf TB. The mobile body MA moves to the work position B6 and performs an operation (for example, an operation of placing the luggage stored in the luggage storage unit 12 or taking out the luggage existing in the part corresponding to node 6 of shelf TB and storing it in the luggage storage unit 12) determined by the work content at the part corresponding to node 6 of shelf TB.

[0028] The map information storage unit 62 stores information regarding the positions of passages B, shelves T, markers Q (nodes), etc. in the area. Based on the position information regarding the position of the mobile body M included in the mobile body information and the map information stored in the map information storage unit 72, the position of the current mobile body M on the map can be known.

[0029] The movement difficulty prediction route acquisition unit 64 acquires, based on the routes to the next working positions of each of two or more of the plurality of moving bodies M, whether the routes to the next working positions of the two moving bodies M are routes where the two moving bodies M are predicted to have difficulty moving. For example, when there is a possibility that the two moving bodies M may have difficulty moving before reaching the next working positions, and it is impossible to avoid having difficulty moving, the routes to the next working positions of the two moving bodies M are acquired as routes where the two moving bodies M are predicted to have difficulty moving.

[0030] Movement difficulty means, for example, that two moving bodies M face each other and are in a deadlock situation or the like. The case where there is movement difficulty may be referred to as a deadlock state. Also, the route to the next working position of each moving body M is estimated based on the current position of the moving body M, the next working position determined based on the individual work plan, and the like.

[0031] Also, in this embodiment, when one of the plurality of moving bodies M finishes one operation, it is acquired whether the routes to the next working positions of the two moving bodies M are routes where the two moving bodies M are predicted to have difficulty moving. The moving body M that has finished that operation is set as the self-moving body M as the target moving body M, and one or more moving bodies M that move in the lane on the opposite side of the lane in which the self-moving body M moves, in the same passage B as the passage B in which the self-moving body M moves, are set as other moving bodies M. Then, the self-moving body M and the one or more other moving bodies M are combined to form two or more moving bodies M.

[0032] For example, the case shown in FIG. 4 will be described. Assume that, among a plurality of moving bodies M, the work at the work position E53 in the moving body MA moving in its own lane R1 of the passage B3 has been completed. The moving body MA is regarded as the self-moving body M as the target moving body M. Also, the moving bodies MC and MD are moving in the second lane R2, which is the other lane on the opposite side of the own lane of the passage B3. Therefore, the moving bodies MC and MD are regarded as other moving bodies M. The two or more moving bodies M include the self-moving body MA and the other moving bodies MC and MD. Note that there is a moving body MB in the passage B3, but since the moving body MB is moving in the same lane (the first lane R1) as the own lane of the self-moving body MA, it does not affect the moving body MA. Therefore, the moving body MB is not included in the two or more moving bodies M.

[0033] The work is performed in a posture in which the luggage storage unit 12 located at the rear of the moving body M faces the shelf T. Therefore, after the work at the work position E53 is completed, the self-moving body MA moves from the first lane R1 to the second lane R2 along the route LA1 in the passage B3 and then returns from the second lane R2 to the first lane R1. Thereby, the direction of the self-moving body MA is changed. Next, it moves along the route LA2 in the first lane R1. When it reaches the direction switching position (node 44) in front of (on the departure position side) the next work position A1, it moves from the first lane R1 to the second lane R2 along the route LA3, changes its direction and moves backward, and then returns from the second lane R2 to the first lane R1. Thereby, the self-moving body MA stops at the next work position E41 in a posture in which the luggage storage unit 12 of the self-moving body MA faces the shelf TE.

[0034] In this way, the self-moving body MA moves along the routes LA1, LA2, and LA3 from the position E53 where the work is completed to the next work position E41. Here, the route LA2 is called the traveling route, and the routes LA1 and LA3 are called the work routes. In some cases, the route LA1 is called the departure-side work route, and the route LA3 is called the arrival-side work route. Furthermore, the traveling route LA2, the work routes LA1 and LA3, etc. are collectively called the route or the movement route. Or, each of the traveling route and the work route may simply be called the route without distinction. Also, the end point of the traveling route LA2 (which is also the start point of the work route LA3) is called the direction switching position.

[0035] In the path of the self-mobile body MA from the work end position E53 to the next work position E41, edges (53,52), (52,51), (51,50), (50,49), (49,48), (48,47), (47,46), (46,45), (45,44), (44,43), (43,42), (42,41) are included. Among these, it is considered that the self-mobile body MA may have difficulty moving (a deadlock occurs) when it protrudes into the second lane R2. Therefore, the edges where a deadlock may occur are the edges (53,52), (52,51), (51,50) included in the work path LA1 and the edges (44,43), (43,42), (42,41) included in the work path LA3. The former may be referred to as the departure-side deadlock target edge, and the latter may be referred to as the arrival-side deadlock target edge. Also, the number of nodes included in the work path LA1 is 4 nodes of nodes 53,52,51,50, and the number of nodes included in the work path LA3 is 4 nodes of nodes 44,43,42,41. The former may be referred to as the departure-side deadlock target node number, and the latter may be referred to as the arrival-side deadlock target node number.

[0036] When the work in the mobile body MA is completed, the mobile body MC is moving near node 42 in the second lane R2 of the passage B3 and moves along the paths LC2 and LC3 to the next work position B46. The mobile body MC moves along the second lane R2 along the path LC2, and when it reaches the direction switching position (node 43), it moves from the second lane R2 to the first lane R1 along the path LC3, and then returns from the first lane R1 to the second lane R2. The mobile body MC stops at the work position F46 with the luggage storage unit 12 facing the shelf TF.

[0037] The path until the mobile body MC reaches the next working position includes the edges (42,43), (43,44), (44,45), (45,46). Among them, the arrival-side deadlock target edges are (43,44), (44,45), (45,46), but the order of the nodes is reversed at each of these edges to (44,43), (45,44), (46,45). This is because the moving directions of the mobile body MC and the mobile body MA are opposite. The number of arrival-side deadlock target nodes is 4, namely 43, 44, 45, and 46.

[0038] The mobile body MD is moving near node 47 in the second lane R2 and moves to the next working position (node 52). The mobile body MD moves along the path LD2 in the second lane R2 to the direction-changing position (node 49). When it reaches the direction-changing position, it moves from the second lane R2 to the first lane R1 along the path LD3, returns from the first lane R1 to the second lane R2, and stops at the next working position B12.

[0039] The path until the mobile body MD reaches the next working position includes the edges (47,48), (48,49), (49,50), (50,51), (51,52). For the mobile body MD, the arrival-side deadlock target edges are (49,50), (50,51), (51,52), but the order of the nodes at each of these edges is reversed to (50,49), (51,50), (52,51). The number of arrival-side deadlock target nodes is 4, namely 49, 50, 51, and 52.

[0040] Thus, as the relative positional relationship between two of the two or more moving bodies MA, MC, and MD, the following cases can be considered: (a) when each of the two moving bodies M moves in its own lane; (b) when one moves in its own lane and the other protrudes into another lane; and (c) when each of the two moving bodies M protrudes into another lane. Among these cases (a)-(c), the case where the two moving bodies M are likely to face each other and cause a deadlock is case (c). In case (b), although there is a possibility that the two moving bodies M interfere with each other, it is considered that the two moving bodies M do not face each other. In case (b), it is considered that interference can be avoided by controlling the running state of the moving body M moving in its own lane.

[0041] In this embodiment, whether the path to the next working position of each of the two moving bodies M among the two or more moving bodies M is a path predicted to make it difficult for the two moving bodies M to move is obtained based on whether Conditions 1, 2, and 3 are satisfied based on the path to the next working position of each of the two or more moving bodies M.

[0042] Condition 1 Condition 1 is a condition that holds when there is a possibility that the two moving bodies M face each other, in other words, when there is a possibility of a deadlock occurring. Specifically, in the above case (c), it holds when the first edges {starting edges (starting points)} of the deadlock target edges of each of the two moving bodies M coincide (when a part of the deadlock target edges overlaps).

[0043] As shown in FIG. 4, when the starting edges of the deadlock target edges coincide, a part of the paths of the two moving bodies M overlaps (a part coincides or is close to each other), and the two moving bodies M move in opposite directions. Therefore, it is obtained that the two moving bodies M face each other and may become difficult to move.

[0044] The arrival-side deadlock target edges of the self-mobile body MA are (44, 43), (43, 42), (42, 41), and those obtained by reversing the order of the arrival-side deadlock target edges of the other mobile body MC are (44, 43), (45, 44), (46, 45). When comparing these, the edge (44, 43) matches, and moreover, the matching edge (44, 43) is the starting edge of the arrival-side deadlock target edges of the self-mobile body MA and the other mobile body MC. Therefore, it is obtained that the path between the self-mobile body MA and the other mobile body MC up to the next working position is a path where a deadlock may occur. In other words, it is obtained that a deadlock may occur while the self-mobile body MA and the other mobile body MC move to their respective next working positions.

[0045] Regarding the departure-side deadlock target edge of the self-mobile body MA and the arrival-side deadlock target edge of the other mobile body MD, the edges (52, 51), (51, 50) match, but the matching edge is not the starting edge of the arrival-side deadlock target edges of the self-mobile body MA and the other mobile body MD. Therefore, it is obtained that the path between the self-mobile body MA and the other mobile body MC up to the next working position is a path where a deadlock cannot occur. In other words, it is obtained that there is no possibility of a deadlock occurring while the self-mobile body MA and the other mobile body MD move to the next working position.

[0046] It is obtained whether Conditions 2 and 3 are satisfied when Condition 1 is satisfied. Condition 2 This is a condition that holds when "the length along passage B of the path up to the direction switching position before the part where Condition 1 holds in the path of the self-mobile body M up to the next working position" is longer than "the length obtained by subtracting the length along passage B of the part where Condition 1 holds from the total length along passage B of the working path of the other mobile body M". In other words, by stopping the self-mobile body before reaching a part where a deadlock may occur, it is possible to avoid the situation where the self-mobile body M and other mobile bodies M become difficult to move. That is, before reaching a part where condition 1 of the path to the next working position of the self-mobile body M is satisfied, if there is a part (with a margin) where it can stop without interfering with other mobile bodies M, this condition holds. When condition 2 is satisfied, it can be seen that the self-mobile body M can avoid deadlocks by stopping in advance (in the part where condition 1 is satisfied). Also, condition 2 is a condition based on the premise that other mobile bodies M have priority over the self-mobile body M.

[0047] Condition 2 can be expressed by the following formula. (The number of nodes or edges included in the path from the self-mobile body M to its next working position) > (The number of nodes or edges of the deadlock avoidance nodes on the arrival side of the self-mobile body M) + (The total number of nodes or edges of the deadlock avoidance nodes on the arrival side or departure side of other mobile bodies M) - (The number of nodes or edges of the part where condition 1 is satisfied) ··· (2)

[0048] The number obtained by subtracting the number of nodes or edges of the deadlock avoidance nodes on the arrival side of the self-mobile body M from (the number of nodes or edges included in the path from the self-mobile body M to its next working position) is the number of nodes or edges included in the part from the self-mobile body M to the direction switching position before reaching a point where the path to the next working position may become difficult to move. Also, the number obtained by subtracting the number of nodes or edges where condition 1 is satisfied from (the total number of nodes or edges of the deadlock avoidance nodes on the arrival side of other mobile bodies M) is mainly the number of nodes or edges of the part where there may be interference between the self-mobile body M and other mobile bodies M due to other mobile bodies M protruding from the lane. In this case, although there is no possibility of a deadlock occurring, it is considered undesirable for the self-mobile body M to stop safely. Therefore, if the number obtained by subtracting (the number of arrival-side deadlock avoidance nodes or edges of the mobile body M) from (the number of edges of the path to the next working position of the mobile body M) is greater than the number obtained by subtracting (the number of nodes or edges where Condition 1 is satisfied) from (the total number of arrival-side deadlock avoidance nodes or edges of other mobile bodies M), it can be understood that there is a portion on the path of the mobile body M that can safely stop without interfering with other mobile bodies M until it reaches a point where it may enter a deadlock state.

[0049] Note that in Equation (2), the number of departure-side deadlock target edges or nodes of the mobile body can also be added to the right side.

[0050] As shown in FIG. 4, the number of edges of the path from the work end position E53 to the next work position E1 of the mobile body MA is 12, the number of arrival-side deadlock target nodes of the mobile body MA is 4, and the number of arrival-side deadlock target nodes of each of the other mobile bodies MC and MD is 4. And the number of edges where Condition 1 is satisfied is 1.

[0051] Therefore, the number on the left side of Equation (2) is 12, and the number on the right side is 11. Therefore, Equation (2) holds, and it is obtained that the mobile body MA can avoid deadlock by stopping in advance.

[0052] Condition 3 This is a condition that holds when the length along passage B of the path up to the direction switching position before reaching the portion where Condition 1 is satisfied in the path of the other mobile body M to its next working position is longer than the length along passage B obtained by subtracting the portion where Condition 1 is satisfied from the total length of the working path of the mobile body M. When Condition 3 holds, it is obtained that the other mobile body M can avoid deadlock by stopping in advance. Condition 3 is a condition premised on giving priority to the mobile body M over the other mobile body M.

[0053] Condition 3 can be expressed by the following equation. (The number of edges or nodes included in the path to the next working position of the other moving body M) > (The number of arrival-side deadlock avoidance nodes or edges of the other moving body M) + (The number of arrival-side and departure-side deadlock avoidance nodes or edges of the self-moving body M) - (The number of edges or nodes where Condition 1 is satisfied) ··· (3)

[0054] As shown in FIG. 4, the number of edges included in the path to the next working node B6 of the other moving body MC is 4, and the number of arrival-side deadlock target nodes of the other moving body MC, the number of departure-side deadlock target nodes of the self-moving body MA, and the number of arrival-side deadlock target nodes are all 4, and the number of edges when Condition 1 is satisfied is 1. And the number on the left side of Equation (3) is 4, the number on the right side is 11, and the number on the left side is less than the number on the right side. Therefore, Equation (3) does not hold. It is obtained that it is difficult to avoid a deadlock with the self-moving body MA by the other moving body MC stopping in advance.

[0055] Since there is no possibility of a deadlock occurring between the self-moving body MA and the other moving body MD, it is considered that there is no need to consider Condition 3 for the other moving body MD.

[0056] Thus, when Condition 1 is not satisfied, or when Condition 1 is satisfied and at least one of Conditions 2 and 3 is satisfied, it is obtained that the paths of the two moving bodies M to their next working positions are not paths where a deadlock is predicted to occur. On the other hand, when Condition 1 is satisfied and Conditions 2 and 3 are not satisfied, it is obtained that the paths of the two moving bodies M to their next working positions are paths where the two moving bodies M are predicted to have difficulty moving.

[0057] When it is obtained that "the paths of the two moving bodies M to their next working positions are paths where the two moving bodies M are predicted to have difficulty moving", the work plan change unit 66 changes a part of the individual work plans for the plurality of moving bodies M. If it is determined that the mobile bodies MA and MC may become immobile and cannot be avoided while the mobile body MA moves to the next working position E41 and the mobile body MC moves to the next working position F46, the operation at the next working position E41 can be deleted from the individual work plan of the mobile body MA, and changes can be made to add it to the individual work plans of one or more other mobile bodies M excluding the mobile bodies MA and MC from the plurality of mobile bodies M. For example, as shown in FIG. 2B, the operation at the working position E41 can be added to the individual work plan of the mobile body MD.

[0058] If it is possible to suppress a decrease in work efficiency, as shown in FIG. 2C, the order of the operation at the next working position E41 can be changed in the individual work plan of the mobile body MA. For example, the operation at the working position E41 can be changed to be after the operation at the working position J93. Also, instead of the mobile body MA, the operation at the working position F46 can be deleted from the individual work plan of the other mobile body MC and added to the individual work plans of the other mobile bodies M, or the order of the operation at the working position F46 can be changed in the individual work plan of the other mobile body MC, etc.

[0059] The management information creation unit 68 creates management information to be transmitted by the management communication device 52. The management information can include, for example, the changed individual work plan, the ID of the mobile body M, etc. when the individual work plan is changed. Also, the management information can include a stop instruction, a start instruction, etc. The management information created by the management information creation unit 68 is output to the management communication device 52, and the management communication device 52 transmits it wirelessly. The management information can be created and transmitted each time the operation at one working position is completed for each of the plurality of mobile bodies M, or when the individual work plan is changed.

[0060] In the management system configured as described above, in the management device C, a work plan change program represented by the flowchart of FIG. 5 is executed for each cycle time. This work plan change program is executed for each of the plurality of moving bodies M. In this embodiment, the case where this work plan change program is executed for the moving body MA will be described. In step 1 (hereinafter simply abbreviated as S1; the same applies to other steps), based on the moving body information, it is determined whether the work in the moving body MA has been completed. If the determination is YES, then in S2, based on the individual work plan for the moving body MA, it is determined whether there is a next work candidate. If the determination is NO, this program ends.

[0061] If the determination in S2 is YES, then in S3, based on the individual work plan for the moving body MA, the work position of the next work candidate is acquired. In S4, the path (travel path, work path) to the next work position of the moving body MA is estimated. Next, in S5, other moving bodies M (for example, moving bodies MC, MD) that are moving bodies M on the opposite lane (R2) of the same passage B as the moving body MA are identified, and the next work position is acquired based on the individual work plan of each of the other moving bodies MC, MD. Based on this next work position and the current positions of the other moving bodies MC, MD acquired based on the moving body information, the travel path and work path are estimated. Then, in S6, it is determined whether two of the paths of the moving bodies MA, MC, MD are paths that are predicted to cause a deadlock state. If the determination in S6 is YES, then in S7, the work at the next work position is deleted from the individual work plan of the moving body MA which is the self-moving body M, and in S8, the work deleted in S7 is added to the individual work plans of one or more moving bodies M excluding the two moving bodies MA, MC among the plurality of moving bodies M. The changed individual work plan is stored in the work plan creation and storage unit 60.

[0062] S6 is executed according to the flowchart of FIG. 6. In S21, it is determined whether Condition 1 is satisfied based on the paths from the current positions of each of the self-mobile body MA and the other mobile bodies MC and MD to their next working positions. If the determination is NO, then in S22, it is obtained that neither the path from the self-mobile body MA to the next working position of the other mobile body MC nor the path from the self-mobile body MA to the next working position of the other mobile body MD is a path where a deadlock is predicted to occur.

[0063] If the determination in S21 is YES, then in S23 and 24, it is determined whether Condition 2 is satisfied and whether Condition 3 is satisfied. If the determination in either one of S23 and 24 is YES, then in S22, it is obtained that neither the path from the self-mobile body MA to the next working position of the other mobile body MC nor the path from the self-mobile body MA to the next working position of the other mobile body MD is a path where a deadlock is predicted to occur. On the other hand, if the determinations in both S23 and 24 are NO, then in S25, it is obtained that at least one of the path from the self-mobile body MA to the next working position of the other mobile body MC and the path from the self-mobile body MA to the next working position of the other mobile body MD is a path where a deadlock is predicted to occur. In this case, the determination in S6 becomes YES, and as described above, in S7 and 8, a part of the individual work plan is changed.

[0064] In this way, in the present embodiment, based on the paths from the current positions of two or more of the plurality of mobile bodies M to their next working positions, when it is obtained that the paths from two of the two or more mobile bodies M to their next working positions are paths where movement becomes difficult to predict, the individual work plan is changed. As a result, each of the plurality of mobile bodies M can be less likely to enter a deadlock state, and the work efficiency can be improved.

[0065] In the work system described in Patent Document 1, each of a plurality of mobile bodies is moved from a standby position to a work position within a work area determined by an aircraft that has landed at an airport, and at that work position, a unique work determined by each of the plurality of mobile bodies is performed. Then, a path is set so that the paths from the standby positions of each of the plurality of mobile bodies to the work positions within the work area do not interfere with each other. Further, Patent Document 1 sets a reservation area in the path of each mobile body within the work area for the path to which the mobile body will travel next, and transmits information regarding the reservation area to all mobile bodies. And it is also described that each mobile body stops and waits until the overlap of the reservation areas is resolved.

[0066] On the other hand, in the work system according to the present embodiment, each of a plurality of mobile bodies M performs a plurality of operations while moving within a work area according to its respective individual work plan. And within the area (work area), when it is acquired that the paths for each of two mobile bodies M to move to their next work positions are paths that are predicted to cause the two mobile bodies M to be in a deadlock state, an individual work plan including the individual work plan of one of the two mobile bodies M is changed.

[0067] As described above, Patent Document 1 does not describe that each of a plurality of mobile bodies performs a plurality of operations while changing its work position and moving within the work area. On the other hand, when each of a plurality of mobile bodies M performs a plurality of operations while moving within the work area, the paths of each of the plurality of mobile bodies M may be close to or overlap each other, and it is easy for two mobile bodies M to have difficulty moving. In the work system according to the present embodiment, in such a case, when it is acquired that the paths of two mobile bodies M are paths that are predicted to cause a deadlock state, an individual work plan including the individual work plan of one of the two mobile bodies M is changed. As a result, it becomes possible to make it difficult for a deadlock to occur in a plurality of mobile bodies M that perform a plurality of operations while moving within the work area, and it is possible to suppress a decrease in work efficiency.

[0068] Also, in the work system described in Patent Document 1, when a path interferes, the path is changed. In contrast, in the work system according to this embodiment, when the path to the next work position of each of the two mobile bodies M is predicted to be a path where a deadlock occurs, the individual work plan is changed. In the work system according to this embodiment, the plurality of mobile bodies M have substantially the same function, and the work assigned to one mobile body M can also be executed by another mobile body M. Therefore, for example, the work at the next work position can be deleted from the individual work plan of one mobile body M and added to the individual work plan of another mobile body M. Patent Document 1 does not describe making the work of one mobile body M be performed by another mobile body M when the paths interfere.

[0069] In this embodiment, the movement difficulty prediction path acquisition unit is configured by a part of the management ECU 50 that stores and executes S6 of the flowchart in FIG. 5.

[0070] Note that it is not always necessary to consider Conditions 2 and 3, and the individual work plan can also be changed when Condition 1 is satisfied.

[0071] Also, in each of the expressions (2) and (3) of Conditions 2 and 3, when representing the length along the path of the path, it may be unified to either the number of nodes or the number of edges. Furthermore, whether the routes of each of the two mobile bodies M to their next working positions are predicted to be difficult to move along can be obtained using artificial intelligence. For example, data representing the routes of each of the two mobile bodies M to their next working positions when the two mobile bodies M are predicted to have difficulty moving (deadlock prediction data), and data representing the routes of each of the two mobile bodies M to their next working positions when the two mobile bodies M are not predicted to have difficulty moving (non-deadlock prediction data) are used as teacher data, and machine learning using a neural network or the like is performed to create a model. And the management device C can be provided with the model. By inputting data representing the routes of each of the two mobile bodies M to their next working positions into the model, it is obtained whether those routes are predicted to be difficult to move along.

[0072] In addition, the present invention can be implemented in various forms with various changes and improvements based on the knowledge of those skilled in the art.

Explanation of Reference Numerals

[0073] 18: Mobile body ECU 20: Camera 22: GPS receiver 24: Mobile body communication device 50: Management ECU 52: Management communication device 64: Difficulty-of-movement prediction route acquisition unit 66: Work plan change unit 68: Management information creation unit Patentable invention

[0074] (1) A work system in which each of a plurality of mobile bodies moves and works in a predetermined area according to an individual work plan including work positions of each of a plurality of works assigned to each of them, a difficulty-of-movement prediction route acquisition unit that obtains whether the routes of each of two of the two or more mobile bodies to their next working positions, based on the routes of each of the two or more mobile bodies to their next working positions determined based on their respective individual work plans, are predicted to be such that the two mobile bodies will have difficulty moving; When the path to the next working position of each of the two mobile bodies is obtained by the movement difficulty prediction path acquisition unit as a path predicted to become difficult to move, at least a work plan change unit that changes the individual work plan for at least one of the two mobile bodies A work system including

[0075] When "the path of each of the two mobile bodies is a path predicted to become difficult to move for the two mobile bodies", for example, when "each of the paths to the next working position of the two mobile bodies includes a portion that overlaps with each other (refers to a matching portion or a proximate portion)", or when "each of the paths to the next working position of the two mobile bodies includes a portion that overlaps with each other and does not include a portion that can be stopped in advance (before reaching the overlapping portion) in order to avoid the two mobile bodies from becoming difficult to move", etc. are applicable.

[0076] (2) The work system according to item (1), wherein the work plan change unit deletes the work at the next working position from the individual work plan for the one of the two mobile bodies and adds it to the individual work plan for each of the one or more other mobile bodies excluding the two mobile bodies among the plurality of mobile bodies.

[0077] (3) The work system according to item (1) or (2), wherein the work plan change unit changes the order of the work at the next working position in the individual work plan for the one of the two mobile bodies.

[0078] (4) A passage having two lanes with one lane in one direction is provided in the area, Each of the plurality of mobile bodies moves along a path including a traveling path that moves along one of the two lanes to a direction switching position before the next working position, and a working path that moves from the one lane to the other of the two lanes and returns from the other lane to the one lane from the direction switching position to the next working position. The above two or more moving bodies include a target moving body that is one of the plurality of moving bodies, and one or more other moving bodies that move on the same passage as the target moving body and move on a lane opposite to the lane on which the target moving body moves in the travel route. The two moving bodies include the target moving body and one of the one or more other moving bodies. When a part of each of the work routes of the two moving bodies overlaps, the movement difficulty prediction route acquisition unit acquires that the routes of the two moving bodies to their respective next work positions are routes in which the two moving bodies are predicted to have difficulty moving. The work system according to any one of (1) to (3).

[0079] For example, when the target moving body moves from one lane to the other lane and the other moving body moves from the other lane to the one lane, if a part of the work routes of the two moving bodies overlaps, the two moving bodies may face each other. In this case, it is acquired that the two moving bodies may have difficulty moving. "The parts of the routes overlap" includes cases where the parts of the routes coincide with each other, cases where the parts of the routes are close to each other, etc. Also, "the two moving bodies having difficulty moving" can be expressed as the two moving bodies being deadlocked, or each of the moving bodies being deadlocked, etc.

[0080] (5) When the start parts of the work routes of the two moving bodies overlap, the movement difficulty prediction route acquisition unit acquires that the routes of the two moving bodies to their respective next work positions are routes in which the two moving bodies are predicted to have difficulty moving. The work system according to (4).

[0081] (6) The work system according to item (4) or (5) of the present invention, wherein the movement difficulty prediction route acquisition unit includes a portion where each of the work routes of the two moving bodies overlaps with each other, and the length along the passage until the target moving body reaches the direction switching position before the overlapping portion of the work routes among the routes until the target moving body reaches the next work position is shorter than the length obtained by subtracting the length along the passage of the overlapping portion from the sum of the lengths along the passage of the work routes of each of the one or more other moving bodies, and acquires that the routes of the two moving bodies until the next work position of each of them are predicted to be routes where movement becomes difficult.

[0082] (7) A plurality of nodes are set at predetermined setting intervals along the passage in the passage. The route includes at least one of the nodes and an edge connecting two adjacent nodes among the nodes. The work system according to any one of items (4) to (6) of the present invention, wherein the movement difficulty prediction route acquisition unit includes a portion where each of the work routes of the two moving bodies overlaps with each other, and the number of nodes or edges included in the portion until the target moving body reaches the direction switching position before the overlapping portion of the work routes among the routes until the target moving body reaches the next work position is smaller than the number obtained by subtracting the number of nodes or edges included in the overlapping portion from the sum of the number of nodes or edges included in the work routes of each of the one or more other moving bodies, and acquires that the routes of the two moving bodies until the next work position of each of them are predicted to be routes where movement becomes difficult.

[0083] (8) When the path acquisition unit for predicting difficult movement includes a portion where each of the work paths of the two moving bodies overlaps with each other, and among the paths to the next work position of one of the one or more other moving bodies, the length along the passage up to the direction switching position in front of the overlapping portion is shorter than the total length along the passage of the work path of the target moving body, it is acquired that the paths of each of the two moving bodies to the next work position are paths predicted to become difficult to move, according to any one of items (4) to (7) of the work system described above.

[0084] (9) A plurality of nodes are set at predetermined set intervals along the passage. The path includes at least one of the nodes and an edge connecting two adjacent nodes among the nodes. When the path acquisition unit for predicting difficult movement includes a portion where each of the work paths of the two moving bodies overlaps with each other, and among the paths to the next work position of one of the one or more other moving bodies, the number of nodes or edges included in the portion up to the direction switching position in front of the overlapping portion is smaller than the number obtained by subtracting the number of nodes or edges included in the overlapping portion from the total number of nodes or edges included in the work path of the target moving body, it is acquired that the paths of each of the two moving bodies to the next work position are paths predicted to become difficult to move, according to the work system described in item (8) above.

[0085] (10) When the work of a target moving body, which is one of the plurality of moving bodies, is completed, it is acquired whether the paths of each of the two moving bodies to the next work position are predicted to become difficult to move, according to any one of items (1) to (9) of the work system described above.

[0086] At the timing when the work of the target moving body is completed, it is acquired whether the paths of the two moving bodies including the target moving body are predicted to become difficult to move.

[0087] (11) The area includes a plurality of passages extending parallel to each other, each of the plurality of passages being a passage having two lanes for one-way one-lane traffic, the difficult movement prediction route acquisition unit being based on the routes of the two or more moving bodies including the target moving body and one or more moving bodies moving in the lane opposite to the lane in which the target moving body moves among the two lanes of the same passage as the passage in which the target moving body moves among the plurality of passages, to obtain whether the routes of the target moving body and each of the two or more moving bodies to their next working positions are predicted to be routes that will become difficult to move, in the working system according to item (10).

[0088] (12) When it is acquired that there is a possibility of becoming difficult to move during the period until the two moving bodies reach their next working positions, and at least one of the two moving bodies stops before reaching the portion where it is acquired that there is a possibility of becoming difficult to move, making it difficult to avoid the two moving bodies becoming difficult to move, the difficult movement prediction route acquisition unit acquires that the routes of each of the two moving bodies to their next working positions are predicted to be routes that will become difficult to move, in the working system according to any one of items (1) to (11).

[0089] (13) The working system includes a management device that manages the work of the plurality of moving bodies, the management device including a work plan creation / storage unit that assigns a large number of works planned to be performed by the plurality of moving bodies to the plurality of moving bodies, creates and stores individual work plans for each, the work plan change unit being provided in the management device and changing the individual work plans stored by the work plan creation / storage unit when it is acquired by the difficult movement prediction route acquisition unit that the two moving bodies are predicted to be routes that will become difficult to move, in the working system according to any one of items (1) to (12).

[0090] (14) A work system in which each of a plurality of mobile bodies moves within a predetermined area and performs work at a work position that is a position where each of a plurality of assigned tasks is to be performed, in accordance with an individual work plan including the work position, A work system including a work plan change unit that changes at least the individual work plan of one of the two mobile bodies when at least a part of the routes by which two or more of the plurality of mobile bodies move to the next work position according to their respective individual work plans overlaps.

[0091] The work system described in this item can adopt the technical features described in any one of items (1) to (13).

[0092] (15) A work system including each of a plurality of mobile bodies that move within a predetermined area and a management device that manages the plurality of mobile bodies, and each of the plurality of mobile bodies moves within the area and performs the work according to an individual work plan including a work position that is a position where each of a plurality of assigned tasks is to be performed, A work system in which the management device creates the individual work plan for each of the plurality of mobile bodies so that it is difficult for each of the plurality of mobile bodies to become difficult to move.

[0093] The work system described in this item can adopt the technical features described in any one of items (1) to (14).

Claims

1. A work system in which each of a plurality of moving bodies moves and performs work within a predetermined area according to an individual work plan including work positions for each of a plurality of works assigned to each of them, Based on the routes by which each of the two or more of the plurality of moving bodies moves to the next work position determined based on their respective individual work plans, a moving difficulty prediction route acquisition unit that acquires whether or not the routes of each of the two moving bodies among the two or more moving bodies to the next work position are predicted to be routes where the two moving bodies will have difficulty moving; When the moving difficulty prediction route acquisition unit acquires that the routes of each of the two moving bodies to the next work position are routes predicted to be difficult to move, including at least a work plan change unit that changes the individual work plan for at least one of the two moving bodies, The work system in which the work plan change unit deletes the work at the next work position from the individual work plan for the one of the two moving bodies and makes a change to add it to the individual work plan for each of the one or more other moving bodies excluding the two moving bodies among the plurality of moving bodies.

2. A work system in which each of a plurality of moving bodies moves and performs work within a predetermined area according to an individual work plan including work positions for each of a plurality of works assigned to each of them, Based on the routes by which each of the two or more of the plurality of moving bodies moves to the next work position determined based on their respective individual work plans, a moving difficulty prediction route acquisition unit that acquires whether or not the routes of each of the two moving bodies among the two or more moving bodies to the next work position are predicted to be routes where the two moving bodies will have difficulty moving; When the moving difficulty prediction route acquisition unit acquires that the routes of each of the two moving bodies to the next work position are routes predicted to be difficult to move, including at least a work plan change unit that changes the individual work plan for at least one of the two moving bodies, A passage having two lanes with one lane in one direction is provided within the area, Each of the plurality of moving bodies has a traveling route having a path for moving to a direction switching position in front of the next working position in one of the two lanes, and a working route having a path for moving from the one lane to the other of the two lanes and returning from the other lane to the one lane from the direction switching position to the next working position. The two or more moving bodies include a target moving body that is one of the plurality of moving bodies, and one or more other moving bodies that move on the same passage as the target moving body and move on the lane opposite to the lane on which the target moving body moves in the traveling route. The two moving bodies include the target moving body and one of the one or more other moving bodies. The work system in which the movement difficulty prediction route acquisition unit acquires that when a part of the work routes of each of the two moving bodies overlaps, the route to the next working position of each of the two moving bodies is a route predicted to become difficult to move.

3. A plurality of nodes are set at predetermined set intervals along the passage in the passage. The route includes at least one of the nodes and an edge connecting two adjacent nodes. The movement difficulty prediction route acquisition unit includes a portion where each of the work routes of the two moving bodies overlaps with each other, and the number of nodes or edges included in a portion up to the direction switching position in front of the overlapping portion of the work route among the routes until the target moving body reaches the next working position is less than the number obtained by subtracting the number of nodes or edges included in the overlapping portion from the total number of nodes or edges included in the work route of each of the one or more other moving bodies. The work system according to claim 1 or 2, wherein the route to the next working position of each of the two moving bodies is acquired as a route predicted to become difficult to move.

4. A plurality of nodes are set in the passage at predetermined setting intervals along the passage. The route includes at least one of the node and an edge connecting two adjacent nodes among the nodes. The difficult movement prediction route acquisition unit includes a portion where each of the work routes of the two moving bodies overlaps with each other, and among the routes to the next work position of one of the one or more other moving bodies, the number of nodes or edges included in the portion up to the direction switching position before the overlapping portion is less than the number obtained by subtracting the number of nodes or edges included in the overlapping portion from the total number of nodes or edges included in the work route of the target moving body. When this is the case, the work system according to claim 1 or 2, wherein the routes of the two moving bodies to their respective next work positions are acquired as routes predicted to become difficult to move.

5. The difficult movement prediction route acquisition unit acquires whether or not the routes of the two moving bodies to their respective next work positions are predicted to become difficult to move when the work in the target moving body, which is one of the plurality of moving bodies, is completed. The work system according to claim 1 or 2.

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