Mobile control system and design support system

Abstract

To reduce the number of standby areas of a mobile body.SOLUTION: A mobile body control system includes: a control part, a node generation part, and a replacement node setting part. The control part controls a plurality of mobile bodies 2 which move in a predetermined area A0. The node generation part generates a plurality of nodes which can control the plurality of mobile bodies 2 at given position in a map corresponding to the predetermined area A0. The replacement setting part sets at least one of the plurality of nodes as a replacement node Nc. The control part moves, from an automatic charger 3 to the replacement node Nc, a first mobile body 2A which is included in the plurality of mobile bodies 2 and which has been completely charged by the automatic charger 3 and moves, from a standby area As to the automatic charger 3, a second mobile body 2B which is included in the plurality of mobile bodies 2 and which stands by at the standby area As.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a mobile object control system and a design support system, and more particularly to a mobile object control system and a design support system for controlling a mobile object moving within a predetermined area. [Background technology]

[0002] Patent Document 1 describes a mobile object control system including a control unit that controls a mobile object moving within a predetermined area, a node generation unit, and a path generation unit. The node generation unit generates a pair of designated nodes, each of which is a node capable of controlling a mobile object, at any position on a map corresponding to the predetermined area. The path generation unit generates a path between the pair of designated nodes. The control unit moves the mobile object along a movement route corresponding to the path within the predetermined area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-008962 Summary of the Invention [Problem to be solved by the invention]

[0004] In a mobile object control system such as that described in Patent Document 1, when the number of automatic charging devices for charging multiple mobile objects is smaller than the number of the multiple mobile objects, after a mobile object that has completed charging returns to a waiting area, the next mobile object to be charged, which was waiting in a separate waiting area, moves toward the automatic charging device. In other words, the conventional operation of a mobile object control system such as that described in Patent Document 1 required a waiting area where a mobile object currently being charged could wait after charging, and another waiting area where the next mobile object to be charged would wait. For this reason, there has been a demand for reducing the number of waiting areas for mobile objects.

[0005] The present disclosure has been made in view of the above-mentioned circumstances, and aims to provide a mobile object control system and a design support system that can reduce the number of waiting areas for mobile objects. [Means for solving the problem]

[0006] A mobile object control system according to one aspect of the present disclosure includes a control unit, a node generation unit, and a replacement node setting unit. The control unit controls multiple mobile objects moving within a predetermined area. The node generation unit generates multiple nodes capable of controlling the multiple mobile objects at any position on a map corresponding to the predetermined area. The replacement node setting unit sets at least one node of the multiple nodes as a replacement node. The control unit moves a first mobile object of the multiple mobile objects that has completed charging by an automatic charging device from the automatic charging device to the replacement node, and moves a second mobile object of the multiple mobile objects that is waiting in a standby area from the standby area to the automatic charging device.

[0007] A design support system according to one aspect of the present disclosure includes the mobile object control system and a route creation tool having a display unit and an operation unit. The mobile object control system further includes a display control unit that causes the map to be displayed on the display unit. The display control unit causes two or more candidate nodes that are candidates for the replacement node among the plurality of nodes to be displayed on the display unit. The replacement node setting unit sets a candidate node selected by a user through operation of the operation unit as the replacement node among the two or more candidate nodes. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to provide a mobile body control system and a design support system that can reduce the number of waiting areas for mobile bodies. [Brief explanation of the drawings]

[0009] [Figure 1]FIG. 1 is a schematic plan view of a first predetermined area in which moving objects to be controlled by a moving object control system according to this embodiment are located. [Figure 2] FIG. 2 is a block diagram showing a schematic configuration of the mobile object control system and the design support system according to this embodiment. [Figure 3] FIG. 3 is an explanatory diagram that schematically shows a map corresponding to a first predetermined area displayed on a display unit in the design support system. [Figure 4] FIG. 4 is a flowchart for explaining the operation of setting a replacement node in the design support system. [Figure 5] FIG. 5 is a schematic plan view of a first predetermined area in which moving objects to be controlled by the moving object control system are located. [Figure 6] FIG. 6 is a schematic plan view of a first predetermined area in which moving objects to be controlled by the moving object control system are located. [Figure 7] FIG. 7 is a schematic plan view of a first predetermined area in which moving objects to be controlled by the moving object control system are located. [Figure 8] FIG. 8 is a flowchart for explaining the charging operation of the mobile body in the first predetermined area in the design support system. [Figure 9] FIG. 9 is an explanatory diagram that schematically shows a map corresponding to the second predetermined area displayed on the display unit in the design support system. [Figure 10] FIG. 10 is a schematic plan view of a second predetermined area in which moving objects to be controlled by the moving object control system are located. [Figure 11] FIG. 11 is a schematic plan view of a second predetermined area in which moving objects to be controlled by the moving object control system are located. [Figure 12] FIG. 12 is a schematic plan view of a second predetermined area in which moving objects to be controlled by the moving object control system are located. [Figure 13]FIG. 13 is a schematic plan view of a second predetermined area in which moving objects to be controlled by the moving object control system are located. [Figure 14] FIG. 14 is a flowchart for explaining the charging operation of the mobile body in the second predetermined area in the design support system. [Figure 15] FIG. 15 is an explanatory diagram that schematically shows a map corresponding to the first predetermined area displayed on the display unit in the design support system of the first modified example. [Figure 16] FIG. 16 is a flowchart for explaining the operation of setting a new replacement node in the design support system. [Figure 17] FIG. 17 is an explanatory diagram that schematically shows a map corresponding to the third predetermined area displayed on the display unit in the design support system of the second modified example. [Figure 18] FIG. 18 is an explanatory diagram that schematically shows a map corresponding to the third predetermined area displayed on the display unit in the design support system. [Figure 19] FIG. 19 is a flowchart for explaining the operation of setting a replacement node by a user in the design support system. DETAILED DESCRIPTION OF THE INVENTION

[0010] A mobile object control system 1 according to an embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the embodiment and modified examples described below are merely examples of the present disclosure, and the present disclosure is not limited to the embodiment and modified examples. Various modifications other than the embodiment and modified examples are possible depending on the design, etc., as long as they do not deviate from the technical concept of the present disclosure.

[0011] (1) Overview As shown in FIGS. 1 and 10, a mobile object control system 1 according to this embodiment is a system for controlling charging operations of a plurality of mobile objects 2 by an automatic charging device 3 in a predetermined area A0.

[0012] The mobile object 2 is a robot for transporting items such as luggage within a predetermined area A0, and can transport the items automatically. Note that the mobile object 2 may not only move within the predetermined area A0, but also have the function of performing various tasks such as transporting, picking, welding, mounting, displaying, customer service, security, assembly, and inspection.

[0013] The moving body 2 is, for example, a wheeled robot. Note that the moving body 2 is not limited to a wheeled robot, and may be a crawler type, a legged type (including a walking type), a flying type (such as a drone), a ship type, or a submersible type.

[0014] The mobile object control system 1 controls the mobile object 2, for example, to move the mobile object 2 from a first point to a second point within a predetermined area A0. In this case, for example, a group control server 4 included in the mobile object control system 1 obtains information necessary for controlling the mobile object 2, such as a movement route from the first point to the second point, and issues a movement instruction to the mobile object 2, thereby causing the mobile object 2 to move from the first point to the second point. In this way, the mobile object 2 can move within the predetermined area A0 in accordance with the instructions from the group control server 4.

[0015] As shown in FIG. 2, the mobile object control system 1 includes a control unit 41, a node generation unit 42, and a replacement node setting unit 43.

[0016] The control unit 41 controls a plurality of moving objects 2 that move within a predetermined area A0.

[0017] The node generation unit 42 generates a plurality of nodes capable of controlling a plurality of moving objects 2 at any position on a map M0 (see FIGS. 3 and 9) corresponding to a predetermined area A0, for example.

[0018] The replacement node setting unit 43 sets at least one node out of the plurality of nodes as a replacement node Nc.

[0019] The control unit 41 moves a first moving body 2A, of the multiple moving bodies 2, that has completed charging by the automatic charging device 3, from the automatic charging device 3 to the swapping node Nc. In addition, the control unit 41 moves a second moving body 2B, of the multiple moving bodies 2, that is waiting in the waiting area As, from the waiting area As to the automatic charging device 3.

[0020] A "node" as used herein refers to a control point at which the mobile object control system 1 can control the movement of the mobile object 2. In other words, the mobile object control system 1 can control the movement of the mobile object 2 on a node-by-node basis. A node is a control point that can control at least one of the movement speed and direction of travel of the mobile object 2. Control of the "movement speed" as used herein includes "starting," which accelerates the mobile object 2 from a zero (0) movement speed, and "stopping," which decelerates the movement speed of the moving mobile object 2 to zero (0) while in motion. The mobile object control system 1 controls operations such as stopping or changing the direction of travel (including turning) for a mobile object 2 that is located at a position corresponding to a node in a predetermined area A0. Therefore, for example, the mobile object control system 1 cannot stop or change the direction of travel for a mobile object 2 that is moving between a pair of points (a first point and a second point) corresponding to a pair of nodes in the predetermined area A0 but is not located at a position corresponding to either node. In other words, in order for the mobile object control system 1 to control the mobile object 2 located at a certain point, such as stopping the mobile object 2 or changing the direction of travel, a node corresponding to this point must be set.

[0021] In this embodiment, each node is associated with a rectangular area of ​​a certain size in the predetermined area A0. That is, in the predetermined area A0, the point corresponding to each node is represented not as a "point" but as a "rectangular area" of a certain size. Therefore, when a part or center point of a moving object 2 is located within a rectangular area corresponding to a certain node in the predetermined area A0, the moving object control system 1 determines that the moving object 2 is present at a position corresponding to this node.

[0022] In this way, the mobile object control system 1 controls the mobile object 2 on a node-by-node basis, so that the mobile object 2 basically moves on a route set between a pair of nodes. For example, when moving the mobile object 2 from a first point to a second point, at least a first node is set at the first point and a second node is set at the second point, and the mobile object 2 moves from the first point to the second point along the route set between these first and second nodes.

[0023] As an example, assume that the mobile object control system 1 of this embodiment controls two mobile objects 2 (a first mobile object 2A and a second mobile object 2B). In this case, in the mobile object control system 1, when charging of the first mobile object 2A by the automatic charging device 3 is completed, the control unit 41 moves the first mobile object 2A from the automatic charging device 3 to the swapping node Nc. Thereafter, when a predetermined condition is satisfied, for example, the first mobile object 2A reaches the swapping node Nc, the control unit 41 moves the second mobile object 2B, which is waiting in the standby area As, from the standby area As to the automatic charging device 3. In other words, according to the mobile object control system 1 of this embodiment, after charging, the first mobile object 2A temporarily waits at the swapping node Nc, which is at least one node among the multiple nodes. Therefore, there is no need to provide a dedicated standby area for the first mobile object 2A to wait after charging, separate from the standby area (standby area As) where the second mobile object 2B waits before charging. Therefore, the number of waiting areas dedicated to waiting for the moving bodies 2 can be the number of moving bodies 2 minus the number of automatic charging devices 3, and there is no need to provide waiting areas for the number of moving bodies 2. Therefore, according to the moving body control system 1 of this embodiment, the number of waiting areas for the moving bodies 2 can be reduced.

[0024] (2) Details (2.1) Overall structure The configurations of the mobile object control system 1 and the design support system 10 according to this embodiment will be described in detail below with reference to Figures 1 to 3, 9, and 10. Note that the numerical values, shapes, positions of components, positional relationships and connection relationships between multiple components, etc. shown below are merely examples and are not intended to limit the present disclosure. Furthermore, all drawings referenced below are schematic diagrams, and the size and length of each component in the drawings do not necessarily reflect the actual dimensions.

[0025] In the following, an example will be described in which the moving body 2 is a wheeled automated guided vehicle (AGV). The moving body 2 moves within a predetermined area A0 and carries out the transport of the transported object. In this embodiment, the transported object is, for example, a pallet such as a roll box pallet on which a package is placed.

[0026] The predetermined area A0 is a space where multiple mobile objects 2 are deployed, and the mobile objects 2 move within the predetermined area A0 in response to instructions from the group control server 4. Examples of the predetermined area A0 include a warehouse, factory, construction site, store (including a shopping mall), logistics center, office, park, residence, school, hospital, station, airport, or parking lot. Furthermore, if the mobile objects 2 are deployed inside a vehicle, such as a ship, train, or airplane, the interior of the vehicle becomes the predetermined area A0. In this embodiment, the predetermined area A0 is a logistics warehouse. Below, the configurations of the mobile object control system 1 and the design support system 10 will be described using a first predetermined area A1 (see FIG. 1, etc.) and a second predetermined area A2 (see FIG. 10, etc.) as examples of the predetermined area A0. Note that the plan views of the first predetermined area A1 and the second predetermined area A2 show only a portion of each area.

[0027] 1, the design support system 10 includes a mobile object control system 1 and a route creation tool 5. The design support system 10 also includes an information terminal 6. It is not essential that the design support system 10 includes the information terminal 6, and the route creation tool 5 may have the functions of the information terminal 6.

[0028] As shown in FIG. 2, the mobile object control system 1 includes a group control server 4 and, for example, two mobile objects 2 (a first mobile object 2A and a second mobile object 2B).

[0029] The group control server 4 is installed, for example, outside the predetermined area A0, and is connected to be able to communicate with each of the route creation tool 5, the first moving body 2A, the second moving body 2B, and the information terminal 6. In this disclosure, "able to communicate" means being able to exchange information directly or indirectly via the network NT1 using an appropriate communication method such as wired communication or wireless communication. In other words, the group control server 4, the route creation tool 5, the first moving body 2A, the second moving body 2B, and the information terminal 6 can exchange information with each other.

[0030] In this embodiment, as an example, wireless communication via a network NT1 is used for communication between the group control server 4 and each of the route creation tool 5, the first mobile object 2A, the second mobile object 2B, and the information terminal 6. The wireless communication method used may be a communication method that complies with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio that does not require a license (specified low-power radio). Furthermore, the network NT1 is not limited to the Internet, and may be, for example, a local communication network within a predetermined area A0 or within an operating company of the predetermined area A0.

[0031] The group control server 4 includes a processing unit 40, a first storage unit 46, and a first communication unit 47.

[0032] The processing unit 40 is mainly composed of a computer system including, for example, a memory and a processor. That is, the functions of the processing unit 40 are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory, may be provided via a telecommunications line such as the Internet, or may be provided by being stored in a non-transitory storage medium such as a memory card.

[0033] The processing unit 40 includes functions such as a control unit 41, a node generation unit 42, a path generation unit 44, and an exchange node setting unit 43. The processing unit 40 also includes a display control unit 45 that displays the map M0 on the display unit. Note that these merely indicate the functions realized by the processing unit 40 and do not necessarily indicate a substantial configuration.

[0034] The control unit 41 controls the first moving body 2A and the second moving body 2B that move within the predetermined area A0. Specifically, the control unit 41 controls the transport operation of the first moving body 2A and the second moving body 2B to transport the object, and the charging operation of the first moving body 2A and the second moving body 2B. The charging operation of the first moving body 2A and the second moving body 2B will be described in detail in "(2.2) Operation."

[0035] The display control unit 45 displays a setting screen D1 (see FIG. 3) including a map M0 corresponding to the predetermined area A0. More specifically, the display control unit 45 transmits and receives information to and from the route creation tool 5 via the first communication unit 47, and displays the setting screen D1 on the first display unit 51 of the route creation tool 5, for example. The display control unit 45 also transmits and receives information to and from the information terminal 6 via the first communication unit 47, and displays the setting screen D1 on the second display unit 61 of the information terminal 6, for example.

[0036] As shown in FIG. 3 and other figures, the map M0 included in the setting screen D1 includes a first axis Ax and a second axis Ay that are orthogonal to each other. The map M0 includes a plan view of the predetermined area A0 and grid lines Gr1 that are displayed superimposed on the map data. The grid lines Gr1 are parallel to the first axis Ax and the second axis Ay and are arranged at approximately regular intervals. In other words, the map M0 is a grid map divided into a plurality of squares arranged in a grid pattern by the grid lines Gr1. The squares in the map M0 are preferably squares with dimensions corresponding to the width of the moving object 2 in the direction of travel of the moving object 2 in the predetermined area A0. For example, the squares are formed into squares with dimensions of 60 cm long and 60 cm wide, corresponding to the width of the moving object 2.

[0037] The node generation unit 42 generates a plurality of nodes capable of controlling a plurality of moving objects 2 at any position on the map M0 corresponding to the predetermined area A0. Note that "any position on the map M0" here refers to, for example, any square on the map M0. Note that in the following explanation, for the sake of simplicity, the square-shaped areas corresponding to each node in the predetermined area A0 may also be referred to as "nodes."

[0038] Specifically, the user operates, for example, the first operation unit 52 of the route creation tool 5 to specify a square on the map M0 on the setting screen D1 that the user wants to use as a node. At this time, the first operation unit 52 outputs an operation signal in response to the user's operation to specify the square. In accordance with this operation signal, the node generation unit 42 generates a node capable of controlling the moving object 2 in the specified square on the map M0.

[0039] For example, as shown in FIG. 3, the node generating unit 42 generates a plurality of nodes including nodes N1 to N6 in a map M1, which is a map M0 corresponding to the first predetermined area A1.

[0040] Furthermore, as shown in FIG. 9, the node generating unit 42 generates a plurality of nodes including nodes N7 to N12 in a map M2, which is the map M0 corresponding to the second predetermined area A2.

[0041] The path generation unit 44 generates a path between a pair of nodes from among the multiple nodes generated by the node generation unit 42. In the present disclosure, a "path" defines a travel route along which the mobile object 2 travels in the predetermined area A0. That is, the control unit 41 moves the mobile object 2 along a route corresponding to the path in the predetermined area A0. In other words, the path generation unit 44 generates a path between a pair of nodes that defines the travel route of the mobile object 2. Note that in this embodiment, it is assumed that the mobile object 2 is prohibited from passing each other on the route corresponding to the path. Note that in the following explanation, for simplicity, the route corresponding to the path in the predetermined area A0 may also be referred to as a "path."

[0042] Specifically, the user operates the first operation unit 52 of the route creation tool 5 to select any pair of nodes on the map M0 on the setting screen D1. At this time, the first operation unit 52 outputs an operation signal in response to the user's operation to select the pair of nodes. The path generation unit 44 generates a path between the selected pair of nodes in accordance with this operation signal.

[0043] For example, the path generating unit 44 generates a plurality of paths including paths P1 to P5 in a map M1 corresponding to a first predetermined area A1, as shown in Fig. 3. Path P1 is a path generated between node N1 and node N2, path P2 is a path generated between node N2 and node N3, path P3 is a path generated between node N3 and node N4, path P4 is a path generated between node N2 and node N5, and path P5 is a path generated between node N5 and node N6.

[0044] 9, the path generation unit 44 generates a plurality of paths including paths P6 to P11 in a map M2 corresponding to the second predetermined area A2. Path P6 is a path generated between node N7 and node N8, path P7 is a path generated between node N8 and node N9, path P8 is a path generated between node N9 and node N10, path P9 is a path generated between node N10 and node N11, path P10 is a path generated between node N10 and node N12, and path P11 is a path generated between node N12 and node N8.

[0045] Here, the user can select the attributes of the path to be set on the map M0. Path attributes include at least bidirectional and unidirectional (unidirectional). A bidirectional path allows the moving object 2 to move in both directions, that is, it is a path that allows the moving object 2 to move back and forth. A unidirectional path allows the moving object 2 to move only in one direction, that is, it is a path that prohibits the moving object 2 from moving back and forth. As an example, the user operates the first operation unit 52 of the route creation tool 5 to display a pull-down menu on the setting screen D1, and selects the path attribute on the pull-down menu. The path attribute is displayed by an "arrow" in the path on the setting screen D1. As an example, paths P1 to P5 on the map M1 are bidirectional paths.

[0046] The replacement node setting unit 43 sets at least one node among the plurality of nodes including the nodes N1 to N6 as the replacement node Nc. The replacement node is a node where the moving object 2 that has completed charging by the automatic charging device 3 waits.

[0047] The replacement node Nc and the setting operation of the replacement node Nc by the replacement node setting unit 43 will be described in detail in "(2.2) Operation".

[0048] The first storage unit 46 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory. The first storage unit 46 is not limited to being incorporated into the group control server 4, and may be present in a cloud (cloud computing) that the group control server 4 can access, for example.

[0049] The first storage unit 46 stores, for example, map information relating to a map M0 of the predetermined area A0, route information relating to the travel route of each moving object 2, moving object information relating to each moving object 2, and the like.

[0050] The first communication unit 47 communicates indirectly with the mobile object 2 via the network NT1 and the relay device 7. The relay device 7 is provided, for example, on the ceiling or the like within the predetermined area A0.

[0051] The first communication unit 47 communicates indirectly with the route creation tool 5 and the information terminal 6 via the network NT1.

[0052] The moving body 2 autonomously travels on a flat moving surface G1 formed of, for example, the floor surface of a predetermined area A0.

[0053] The moving object 2 includes a control unit 21, a second communication unit 22, a second storage unit 23, a traveling device 24, a charge / discharge circuit 25, a power storage unit 26, and a detection unit 27.

[0054] The second communication unit 22 communicates with the group control server 4 via the relay device 7 and the communication network NT1. Here, the second communication unit 22 communicates with the relay device 7 by, for example, wireless communication.

[0055] The traveling device 24 drives a plurality of wheels provided on the moving body 2 to cause the moving body 2 to travel. At least some of the plurality of wheels are drive wheels. The drive wheels are, for example, omni-directional wheels such as omni-wheels. Note that the drive wheels are not limited to omni-directional wheels, and may be unidirectional wheels. The traveling device 24 drives the drive wheels based on a control command input from the control unit 21 to cause the moving body 2 to travel.

[0056] The power storage unit 26 is a secondary battery such as a lithium ion battery, a nickel-metal hydride battery, or a lead storage battery.

[0057] The charge / discharge circuit 25 controls charging to and discharging from the power storage unit 26 .

[0058] When the mobile object 2 is connected to the automatic charging device 3, the charging / discharging circuit 25 stores the electric energy supplied from the automatic charging device 3 in the power storage unit 26. The power storage unit 26 is charged by connecting the charging / discharging circuit 25 to the automatic charging device 3 via, for example, a power receiving connection unit (not shown) that the mobile object 2 has. Note that the charging of the power storage unit 26 by the automatic charging device 3 may be performed by wireless charging.

[0059] Furthermore, the charge / discharge circuit 25 supplies power to the control unit 21, the second communication unit 22, and the traveling device 24 by discharging electrical energy from the power storage unit 26. That is, the moving object 2 travels and performs work using the electrical energy stored in the power storage unit 26.

[0060] As shown in FIG. 2, the detection unit 27 includes a detection sensor 272 and a position detection unit 271.

[0061] The detection sensor 272 detects the operating state of the moving object 2, the surrounding conditions of the moving object 2, and the like.

[0062] The operating state of the moving body 2 may include the remaining charge of the power storage unit 26 of the moving body 2, a state indicating whether the moving body 2 is moving or stopped, the speed (and speed change) of the moving body 2, the acceleration acting on the moving body 2, and the attitude of the moving body 2, etc.

[0063] The detection sensor 272 includes, for example, sensors such as a speed sensor (such as a rotary encoder), an acceleration sensor, and a gyro sensor, and uses these sensors to detect the operating state of the moving object 2. The detection sensor 272 also includes, for example, sensors such as an image sensor (camera), a sonar sensor, radar, and LiDAR (Light Detection and Ranging), and uses these sensors to detect the surrounding conditions of the moving object 2. The surrounding conditions of the moving object 2 include, for example, the presence or absence of an object (such as an obstacle) present ahead in the traveling direction of the moving object 2, and the position (distance and direction) of the object. Obstacles include other moving objects 2 and people.

[0064] The position detection unit 271 detects current position information and the like relating to the current position where the moving object 2 is located within the predetermined area A0.

[0065] The position detection unit 271 estimates the current position of the mobile object 2 based on the surrounding conditions of the mobile object 2 detected by the detection sensor 272 and map information on a map M0 of the predetermined area A0 stored in the first storage unit 46. The position detection unit 271 may include, for example, a receiver that receives beacon signals transmitted by radio waves from multiple transmitters. In this case, the multiple transmitters are placed, for example, at multiple locations within the predetermined area A0, and the position detection unit 271 measures the current position of the mobile object 2 based on the positions of the multiple transmitters and the received radio wave intensity of the beacon signals at the receiver. The position detection unit 271 may be implemented using a satellite positioning system such as a GPS (Global Positioning System).

[0066] The mobile object 2 periodically transmits information about the current location detected by the location detection unit 271 from the second communication unit 22 to the group control server 4 at predetermined transmission time intervals (for example, every 1 second).

[0067] The second storage unit 23 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory. The second storage unit 23 stores information such as work instruction information acquired from the group control server 4 and the detection results of the detection unit 27.

[0068] The control unit 21 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the control unit 21 are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory, may be provided via a telecommunications line such as the Internet, or may be provided by being stored in a non-transitory storage medium such as a memory card.

[0069] For example, when the control unit 21 receives a work instruction to instruct a work from the group control server 4, the control unit 21 controls the traveling device 24 to cause the mobile unit 2 to travel autonomously based on the current location information detected by the detection unit 27, the operating state of the surrounding mobile units 2, the surrounding conditions, and the like. The control unit 21 controls the traveling of the mobile unit 2 to cause the mobile unit 2 to perform the work instructed by the group control server 4.

[0070] The route creation tool 5 has a display unit (first display unit) 51 and an operation unit (first operation unit) 52. The route creation tool 5 also includes a third communication unit 53, a third storage unit 54, and a route creation unit 55. The route creation tool 5 is, for example, an information terminal such as a personal computer.

[0071] In the present embodiment, as an example, the first display unit 51 displays a screen for presenting information to the user, such as a setting screen D1. The term "screen" in the present disclosure refers to an image (picture, etc.) displayed on the first display unit 51. The first display unit 51 is realized by an image display device such as a liquid crystal display or an organic EL (Electro Luminescence) display.

[0072] The first operation unit 52 has a function of accepting operations by a person (user). In this embodiment, the first operation unit 52 is realized by, for example, a pointing device such as a mouse, a keyboard, a mechanical switch, or a combination of these.

[0073] The user can input information such as the origin and destination of an object to be transported by the moving body 2 by operating the first operation unit 52. Furthermore, the user can perform selection operations, change operations, etc. regarding nodes and paths on the setting screen D1 displayed on the first display unit 51 by operating the first operation unit 52. Note that the design support system 10 may be configured so that the user can perform selection operations, change operations, etc. regarding nodes and paths on the setting screen D1 displayed on the second display unit 61 of the information terminal 6 by operating the second operation unit 62 of the information terminal 6.

[0074] The third communication unit 53 communicates with the group control server 4 via the network NT1. Here, the route creation tool 5 is connected to the network NT1 via a router or the like, for example, by wireless communication using radio waves as the medium. Note that the communication method of the third communication unit 53 is not limited to wireless communication, and wired communication may also be used.

[0075] The third storage unit 54 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory, for example.

[0076] The route creation unit 55 creates a travel route for the mobile unit 2 based on map information for the predetermined area A0 stored in the third storage unit 54 and information such as the origin and destination of the item being transported by the mobile unit 2 input by the user via the first operation unit 52. The route creation unit 55 stores route information for the travel route in the third storage unit 54. The route creation unit 55 also communicates with the group control server 4 and stores information about the travel route (route information) in the first storage unit 46 of the group control server 4.

[0077] The route creation unit 55 outputs the created travel route to the first display unit 51. This allows the user to visually confirm the travel route of the moving object 2.

[0078] The information terminal 6 is a terminal having a function of accepting user operations and a function of presenting (displaying) information to the user.

[0079] The information terminal 6 mainly comprises a computer system including a memory and a processor. In this embodiment, as an example, the information terminal 6 is described as a terminal such as a personal computer, a smartphone, or a tablet terminal. The information terminal 6 realizes the functions described below by installing dedicated application software and activating this application software.

[0080] The information terminal 6 has a fourth communication unit 63 , a second display unit 61 , and a second operation unit 62 .

[0081] The fourth communication unit 63 communicates with the group control server 4 via the network NT1. Here, the information terminal 6 is connected to the network NT1 via a router or the like by wireless communication using radio waves as the medium, for example.

[0082] In the present embodiment, as an example, the second display unit 61 displays a screen for presenting information to the user, such as a setting screen D1. Note that the information presented to the user by the second display unit 61 may include, in addition to the setting screen D1, information on the running state of the moving object 2 and information on the transport task of the moving object 2, for example.

[0083] The second display unit 61 is realized by an image display device such as a liquid crystal display or an organic EL (Electro Luminescence) display.

[0084] The second operation unit 62 has a function of accepting operations by a person (user). In this embodiment, the second operation unit 62 is realized by, for example, a pointing device such as a mouse, a keyboard, a mechanical switch, or a combination of these. Furthermore, if the information terminal 6 is equipped with a touch panel display, the touch panel display may function as the second display unit 61 and the second operation unit 62. In this case, the information terminal 6 determines that an object such as a button has been operated when the second operation unit 62 detects an operation (tap, swipe, drag, etc.) of an object such as a button on each screen displayed on the second display unit 61.

[0085] (2.2) Operation Below, the setting operation of the replacement node Nc by the replacement node setting unit 43 in the mobile body control system 1 and design support system 10 of this embodiment, and the charging operation of the first mobile body 2A and the second mobile body 2B will be explained in detail with reference to Figures 1 to 14.

[0086] (2.2.1) Replacement node setting operation in the first predetermined area The operation of setting the replacement node Nc in the first predetermined area A1 will be described below with reference to FIG. 3 and the flowchart of FIG.

[0087] As shown in Fig. 1, an automatic charging device 3 is installed in the first predetermined area A1 to charge the power storage units 26 of the first moving body 2A and the second moving body 2B. A charging area Ac, where the moving body 2 to be charged stops, is provided on the moving surface G1 of the first predetermined area A1 in a range including the automatic charging device 3. A waiting area As, where the moving body 2 waits before being charged, is also provided on the moving surface G1 of the first predetermined area A1. The waiting area As is also an area where the moving body 2 that has completed charging waits until it receives a command for a transport operation.

[0088] As shown in FIG. 3, nodes N1 to N6 and paths P1 to P5 are generated on the map M1 corresponding to the first predetermined area A1. As described above, paths P1 to P5 are bidirectional paths. Here, node N1 is a node corresponding to the charging area Ac, and is a node where a mobile object 2 being charged is present. That is, when a part or a center point of the mobile object 2 is located within a rectangular area corresponding to node N1 in the first predetermined area A1, the mobile object control system 1 determines that the mobile object 2 is present in the charging area Ac. Furthermore, node N4 is a node corresponding to the waiting area As. That is, when a part or a center point of the mobile object 2 is located within a rectangular area corresponding to node N4 in the first predetermined area A1, the mobile object control system 1 determines that the mobile object 2 is present in the waiting area As. Furthermore, node N2 is a charging standby node NCw where the mobile object 2 waits for a predetermined time before charging, and therefore the charging standby node NCw is not set as a replacement node Nc.

[0089] The replacement node setting unit 43 checks the attributes set for each of paths P1 to P3 among node N1, path P1, node N2, path P2, node N3, path P3, and node N4, which correspond to the route (charging route) between the charging area Ac including the automatic charging device 3 and the waiting area As (step ST1).

[0090] The replacement node setting unit 43 checks whether or not the charging route includes only bidirectional paths based on the check result of the attributes of the paths P1 to P3 (step ST2).

[0091] In this embodiment, as described above, the attributes of the paths P1 to P3 are all bidirectional. That is, the charging route in the first predetermined area A1 includes only the first route that the moving object 2 can travel in both directions (step ST2: YES).

[0092] In this case, the replacement node setting unit 43 selects, from among the nodes N1 to N5, the nodes N5 and N6 that are not included in the charging path as candidates for the replacement node Nc (step ST3).

[0093] Next, the replacement node setting unit 43 sets the node N5, which is closest to the automatic charging equipment 3, that is, closest to the charging area Ac (node ​​N1), of the nodes N5 and N6 selected as candidates, as the replacement node Nc (step ST4).

[0094] Here, in the first predetermined area A1, the distance from node N5 to the automatic charging device 3 is shorter than the distance from node N5 to the waiting area As. In this case, if the average movement speed of the moving object 2 on each path is approximately equal, the time required for the moving object 2 to move from the automatic charging device 3 to the swapping node Nc (node ​​N5) is shorter than the time required for the moving object 2 to move from the swapping node Nc to the waiting area As.

[0095] 3, the node N5 set as the replacement node Nc is displayed in a manner different from the other nodes on the map M1 displayed on the first display unit 51. For example, the replacement node Nc may be displayed with a brightness, color, or shape different from the other nodes.

[0096] The replacement node setting unit 43 stores information about the set replacement node Nc in the first storage unit 46, for example.

[0097] (2.2.2) Charging operation in the first predetermined area Next, the charging operation of the first moving body 2A and the second moving body 2B in the first predetermined area A1 will be described with reference to FIGS. 1, 5 to 7 and the flowchart of FIG.

[0098] As an initial state of the first moving body 2A and the second moving body 2B, it is assumed that the first moving body 2A is being charged by an automatic charging device 3 in the charging area Ac, and the second moving body 2B is waiting in the waiting area As, as shown in Figure 1.

[0099] 5, when charging of the first moving object 2A by the automatic charging device 3 is completed (step ST11: YES), the control unit 41 of the group control server 4 moves the first moving object 2A from the charging area Ac (node ​​N1) to the replacement node Nc based on the information about the replacement node Nc stored in the first storage unit 46 (step ST12). In other words, when charging is completed, the first moving object 2A moves from node N1 to the replacement node Nc (node ​​N5) via path P1, node N2, and path P4 in this order.

[0100] When the control unit 41 determines, based on the information on the current location of the first moving object 2A, that the first moving object 2A has deviated from the charging path (step ST13: YES), it moves the second moving object 2B from the waiting area As (node ​​N4) to the charging area Ac (node ​​N1) as shown in FIG. 6 (step ST14). Specifically, when the first moving object 2A passes node N2 and starts moving on path P4, the control unit 41 determines that the first moving object 2A has deviated from the charging path. The second moving object 2B moves from node N4 to the charging area Ac (node ​​N1) via path P3, node N3, path P2, node N2, and path P1 in this order. When the second moving object 2B arrives at the charging area Ac, the automatic charging device 3 starts charging the second moving object 2B.

[0101] After the first moving object 2A arrives at the switching node Nc, the control unit 41 determines whether the waiting area As is vacant or not based on the information on the current position of the second moving object 2B (step ST15). That is, it determines whether the second moving object 2B is present in the waiting area As.

[0102] When the control unit 41 determines that the waiting area As is vacant, it moves the first moving object 2A from the swapping node Nc to the waiting area As (step ST16), as shown in Fig. 7. Specifically, the first moving object 2A moves from the swapping node Nc (node ​​N5) to the waiting area As (node ​​N4) via path P4, node N2, path P2, node N3, and path P3 in this order.

[0103] In addition to determining whether the waiting area As is vacant, the control unit 41 may also determine whether the second moving object 2B has deviated from the route (return route) from the switching node Nc to the waiting area As. In this case, the control unit 41 may move the first moving object 2A from the switching node Nc to the waiting area As when the waiting area As is vacant and the second moving object 2B has deviated from the return route. Here, in the first predetermined area A1, the return route is, for example, a route from node N5 to node N4 via path P4, node N2, path P2, node N3, and path P3 in this order.

[0104] In addition, the control unit 41 may change the destination of the first moving body 2A from the swap node Nc to the waiting area As if it determines that the waiting area As is empty, even if the first moving body 2A is on its way from the charging area Ac to the swap node Nc.

[0105] (2.2.3) Replacement node setting operation in the second predetermined area The following describes the operation of setting a replacement node Nc in the second predetermined area A2, in which nodes and paths different from those in the first predetermined area A1 are set, with reference to Fig. 9 and the flowchart of Fig. 4. Note that parts in the second predetermined area A2 that are common to the first predetermined area A1 are given the same reference numerals and descriptions thereof will be omitted where appropriate.

[0106] As shown in FIG. 9, nodes N7 to N12 and paths P6 to P11 are generated on the map M2 corresponding to the second predetermined area A2.

[0107] The node N7 corresponds to the charging area Ac, the node N11 corresponds to the waiting area As, and the node N8 is a charging waiting node NCw.

[0108] Paths P6 and P9 are paths that allow bidirectional movement.

[0109] Path P7 is a one-way path that only allows movement from node N8 toward node N9. Path P8 is a one-way path that only allows movement from node N9 toward node N10. In other words, paths P7 and P8 are paths that only allow movement from charging area Ac toward waiting area As.

[0110] Path P10 is a one-way path that only allows movement from node N10 toward node N12. Path P11 is a one-way path that only allows movement from node N12 toward node N8. In other words, paths P10 and P11 are one-way paths that only allow movement from waiting area As toward charging area Ac.

[0111] The switching node setting unit 43 checks the attributes set for each of the paths P6 to P9 in the first charging path including the node N7, path P6, node N8, path P7, node N9, path P8, node N10, path P9, and node N11 among the charging paths between the charging area Ac and the waiting area As (step ST1). Also, the switching node setting unit 43 checks the attributes set for each of the paths P9 to P11 and P6 in the second charging path including the node N11, path P9, node N10, path P10, node N12, path P11, node N8, path P6, and node N7 among the charging paths between the waiting area As and the charging area Ac (step ST1). Note that the first charging path and the second charging path commonly include the nodes N7 and N8 at both ends of the path P6, and the nodes N10 and N11 at both ends of the path P9 and path P9.

[0112] The switching node setting unit 43 checks whether or not only bidirectional paths are included in the first charging path and the second charging path based on the check result of the attributes of the paths P6 to P11 (step ST2).

[0113] In this embodiment, as described above, paths P6 and P9 are bidirectional paths, paths P7 and P8 are paths that only allow movement from the charging area Ac toward the waiting area As, and paths P10 and P11 are unidirectional paths that only allow movement from the waiting area As toward the charging area Ac.

[0114] In other words, the first and second charging paths in the second predetermined area A2 include paths other than the first path that the moving object 2 can travel in both directions (step ST2: NO). Specifically, the first charging path includes the first path and a second path (corresponding to node N8, path P7, node N9, path P8, and node N10) that can only be traveled in the direction from the charging area Ac to the waiting area As. The second charging path includes the first path and a third path (corresponding to node N10, path P10, node N12, path P11, and node N8) that can only be traveled in the direction from the waiting area As to the charging area Ac.

[0115] In this case, the replacement node setting unit 43 sets a node located on the second route among the plurality of nodes in the second predetermined area A2 as the replacement node Nc. The setting operation of the replacement node Nc in the second predetermined area A2 will be described in detail below.

[0116] The replacement node setting unit 43 sets the path closest to the standby area As, excluding the bidirectional path, as a candidate path (step ST5). In the second predetermined area A2, the candidate paths are, for example, path P8 and path P10.

[0117] Next, the switching node setting unit 43 sets, as a selected path, a path included in the first charging route from the charging area Ac to the waiting area As among the candidate paths (step ST6). In the second predetermined area A2, the selected path is, for example, path P8.

[0118] Next, the replacement node setting unit 43 sets the node (e.g., node N9) on the charging area Ac (automatic charging device 3) side of the pair of nodes (e.g., node N9 and node N10) at both ends of the selected path as the replacement node Nc (step ST7).

[0119] 9, in the second predetermined area A2, the distance from node N9 to the waiting area As is shorter than the distance from the automatic charging device 3 to node N9. In this case, if the average movement speed of the moving object 2 on each path is approximately equal, the time required for the moving object 2 to move from the swapping node Nc (node ​​N9) to the waiting area As is shorter than the time required for the moving object 2 to move from the automatic charging device 3 to the swapping node Nc.

[0120] (2.2.4) Charging operation in the second predetermined area The charging operation of the first moving body 2A and the second moving body 2B in the second predetermined area A2 will be described with reference to FIGS. 10 to 13 and the flowchart of FIG.

[0121] As an initial state of the first moving body 2A and the second moving body 2B, it is assumed that the first moving body 2A is being charged by an automatic charging device 3 in the charging area Ac, and the second moving body 2B is waiting in the waiting area As, as shown in Figure 10.

[0122] When charging of the first moving object 2A by the automatic charging device 3 is completed (step ST21: YES), the control unit 41 moves the first moving object 2A from the charging area Ac (node ​​N7) to the switching node Nc (node ​​N9) along the first charging path (step ST22), as shown in Fig. 11. That is, when charging is completed, the first moving object 2A moves from node N7 to the switching node Nc (node ​​N9) via path P6, node N8, and path P7 in this order.

[0123] When the control unit 41 determines, based on the information on the current location of the first moving object 2A, that the first moving object 2A has deviated from the second charging path (step ST23: YES), it moves the second moving object 2B from the waiting area As (node ​​N11) to the charging area Ac (node ​​N7) along the second charging path (step ST24), as shown in FIG. 12. Specifically, when the first moving object 2A passes node N8 and starts moving on path P7, the control unit 41 determines that the first moving object 2A has deviated from the second charging path. The second moving object 2B moves from node N11 to node N7 via path P9, node N10, path P10, node N12, path P11, node N8, and path P6 in this order. When the second moving object 2B arrives at node N7, the automatic charging device 3 starts charging the second moving object 2B.

[0124] After the first moving object 2A arrives at the switching node Nc, the control unit 41 determines whether the waiting area As is vacant or not based on the information on the current location of the second moving object 2B (step ST25). That is, it determines whether the second moving object 2B is present in the waiting area As.

[0125] When the control unit 41 determines that the waiting area As is vacant, it moves the first moving object 2A from the switching node Nc to the waiting area As along the first charging path (step ST26). Specifically, the first moving object 2A moves from the switching node Nc to the waiting area As (node ​​N11) via path P8, node N10, and path P9 in this order.

[0126] In addition, the control unit 41 may change the destination of the first moving body 2A from the swapping node Nc to the waiting area As if it determines that the waiting area As is empty, even if the first moving body 2A is on its way from the charging area Ac to the swapping node Nc along the first charging route.

[0127] (3) Advantages As described above, in a predetermined area A0 such as the first predetermined area A1 and the second predetermined area A2, by setting an interchange node Nc outside the charging route where the first mobile body 2A that has completed charging waits temporarily, the number of waiting areas As for the mobile bodies 2 to wait can be set to a number (one in this embodiment) that is less than the number of mobile bodies 2 (two in this embodiment) by the number of automatic charging devices 3. Here, if the number of multiple mobile bodies 2 provided in the mobile body control system 1 is three, for example, setting the number of waiting areas As to two makes it possible to perform the same operation as described above.

[0128] (4) Variations The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the mobile object control system 1 may be embodied in a mobile object control method, a computer program, a non-transitory recording medium on which a program is recorded, or the like.

[0129] The mobile object control method according to the embodiment includes a control step, a node generation step, and a replacement node setting step. In the control step, multiple mobile objects 2 moving within a predetermined area A0 are controlled. In the node generation step, multiple nodes capable of controlling the multiple mobile objects 2 are generated at any position on a map M0 corresponding to the predetermined area A0. In the replacement node setting step, at least one of the multiple nodes is set as a replacement node Nc. In the control step, a first mobile object 2A of the multiple mobile objects 2 that has completed charging by an automatic charging device 3 is moved from the automatic charging device 3 to the replacement node Nc, and a second mobile object 2B of the multiple mobile objects 2 that is waiting in a waiting area As is moved from the waiting area As to the automatic charging device 3. Furthermore, the (computer) program according to the embodiment is a program for causing a computer system to execute the above-described transportation control method.

[0130] Below, we will list modified examples of the above embodiment. The modified examples described below can be applied in appropriate combinations. However, components common to the mobile object control system 1 of the above embodiment are given the same reference numerals, and their description will be omitted as appropriate. Furthermore, each configuration of the modified examples described below can be applied in appropriate combination with each configuration described in the above embodiment.

[0131] (4.1) Variation 1 The replacement node setting unit 43 may generate a second node at a division point on the first return path and set the second node as the replacement node Nc if the distance of the path (first return path) corresponding to the path adjacent to the replacement node Nc among the return paths heading from the first node selected as the replacement node Nc to the waiting area As is longer than a predetermined value.

[0132] The resetting operation of the new replacement node Nc in the first predetermined area A1 will be described below with reference to FIG. 15 and the flowchart of FIG.

[0133] For example, in the first specified area A1, the first return path is a path corresponding to path P4 between the first node (node ​​N5) selected as the replacement node Nc and the node (node ​​N2) closest to the automatic charging device 3 among the multiple nodes within the first specified area A1.

[0134] After setting the replacement node Nc (node ​​N5), the replacement node setting unit 43 determines whether the distance of the path P4 corresponding to the first return route is longer than a predetermined value (step ST31). The distance of the path P4 and the predetermined value are recorded in, for example, the first storage unit 46 of the group control server 4.

[0135] If the distance of path P4 is longer than a predetermined value (step ST31: YES), the replacement node setting unit 43 creates a second node at a division point DP on path P4 that divides path P4 in two, for example, as shown in Fig. 15, and sets the second node as replacement node Nc1 (step ST32). Note that if the distance of path P4 is less than a predetermined value, the replacement node setting unit 43 leaves the first node (node ​​N5) as the replacement node Nc.

[0136] This allows the travel time of the moving object 2 on the first return path to be shortened.

[0137] (4.2) Variation 2 The design support system 10 may be configured to allow the user to select a replacement node Nc from multiple nodes within the predetermined area A0. A specific procedure for setting the replacement node Nc in this case will be described below with reference to Figures 17, 18, and the flowchart of Figure 19. In the following description, as an example, a case will be described in which the user selects a replacement node Nc on a map M3 corresponding to the third predetermined area.

[0138] The map M3 includes nodes N13 to N20 and paths P12 to P19.

[0139] First, the replacement node setting unit 43 selects, among the nodes N13 to N20, each of the nodes N17 to N20 other than the nodes N13 to N16 included in the charging path between, for example, the node N13 corresponding to the charging area Ac and the node N16 corresponding to the waiting area As, as a candidate node Np1 to Np4 (step ST41).

[0140] Next, as shown in FIG. 17, the display control unit 45 causes the first display unit 51 to display candidate nodes Np1 to Np4, which are candidates for the replacement node Nc among the nodes N13 to N20 (step ST42). Specifically, the display control unit 45 causes the first display unit 51 to display the candidate nodes Np1 to Np4 in a manner different from that of the nodes N13 to N16. For example, the candidate nodes Np1 to Np4 are displayed brighter than the nodes N13 to N16. Furthermore, the candidate nodes Np1 to Np4 are displayed brighter than the squares other than the nodes and paths on the map M3. In other words, the candidate nodes Np1 to Np4 are displayed brighter than the parts of the map M3 other than the candidate nodes Np1 to Np4. The candidate nodes Np1 to Np4 may be displayed in a color, shape, or the like different from that of the nodes N13 to N16. This allows the user to easily visually distinguish between the candidate nodes Np1 to Np4 and the nodes N13 to N16.

[0141] The user selects a candidate node (for example, candidate node Np4) to be set as the replacement node Nc from among the candidate nodes Np1 to Np4 displayed on the first display unit 51 by operating the first operation unit 52 such as a mouse (step ST43). The user selects candidate node Np4 for reasons such as the candidate nodes Np1 and Np2 being located on paths that workers walk and therefore raising concerns about contact with workers, and candidate node Np3 being the furthest from the automatic charging device 3 and therefore requiring a long travel time from the automatic charging device 3.

[0142] When the candidate node Np4 is selected, the display control unit 45 displays the candidate node Np4 brighter than the rest of the map M3, as shown in FIG.

[0143] When the candidate node Np4 is selected by the user, the replacement node setting unit 43 sets the candidate node Np4 as the replacement node Nc from among the candidate nodes Np1 to Np4 (ST44).

[0144] This allows the user to select the most suitable replacement node Nc depending on the situation in the predetermined area A0.

[0145] (4.3) Other Modifications At least part of the functions of the route creation tool 5 may be realized by the processing unit 40 of the group control server 4.

[0146] At least part of the functions of the group control server 4 may be realized by the route creation tool 5. For example, the route creation unit 55 may perform the operation of setting the replacement node Nc described in "(2.2) Operation".

[0147] The mobile object control system 1 and the design support system 10 in the present disclosure include a computer system. The computer system is primarily composed of a processor and memory as hardware. The functions of the mobile object control system 1 and the design support system 10 in the present disclosure are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, an optical disk, or a hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), and ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices that allow the reconfiguration of internal connections or internal circuit partitions of the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0148] At least some of the functions of the mobile object control system 1 and the design support system 10, for example, the functions of the group control server 4, may be realized by cloud (cloud computing) or the like.

[0149] (5) Summary As described above, the mobile object control system (1) of the first aspect includes a control unit (41), a node generation unit (42), and a replacement node setting unit (43). The control unit (41) controls multiple mobile objects (2) moving within a predetermined area (A0). The node generation unit (42) generates multiple nodes capable of controlling the multiple mobile objects (2) at any position on a map (M0) corresponding to the predetermined area (A0). The replacement node setting unit (43) sets at least one node of the multiple nodes as a replacement node (Nc). The control unit (41) moves a first mobile object (2A) of the multiple mobile objects (2) that has completed charging by an automatic charging device (3) from the automatic charging device (3) to the replacement node (Nc), and moves a second mobile object (2B) of the multiple mobile objects (2) waiting in a waiting area (As) from the waiting area (As) to the automatic charging device (3).

[0150] According to this aspect, since the first moving body (2A) temporarily waits at the switching node (Nc), which is at least one node among the plurality of nodes, after charging, there is no need to provide a dedicated waiting area for the first moving body (2A) to wait after charging, separate from the waiting area (As) where the second moving body (2B) waits before charging. Therefore, according to this aspect, the number of waiting areas for the moving body (2) can be reduced.

[0151] In the mobile object control system (1) of the second embodiment, in the first embodiment, the control unit (41) moves the first mobile object (2A) from the switching node (Nc) to the waiting area (As).

[0152] According to this embodiment, after the first moving body (2A) moves from the replacement node (Nc) to the waiting area (As), another moving body (2) can move on the replacement node (Nc).

[0153] In the mobile object control system (1) of the third aspect, in the first or second aspect, the number of waiting areas (As) is less than the number of the mobile objects (2) by the number of automatic charging devices (3).

[0154] According to this embodiment, the number of waiting areas (As) for the moving body (2) can be reduced.

[0155] In a fourth aspect of the mobile object control system (1), in any one of the first to third aspects, the route between the waiting area (As) and the automatic charging device (3) includes at least a first route and a second route. The first route is a route that the mobile object (2) can travel in both directions. The second route is a route that the mobile object (2) can travel only in the direction from the automatic charging device (3) to the waiting area (As). The replacement node setting unit (43) sets a node located on the second route among the multiple nodes as a replacement node (Nc).

[0156] According to this embodiment, a moving body (2) moving from the automatic charging device (3) to the switching node (Nc) along the second route can be prevented from opposing another moving body (2) moving from the waiting area (As) toward the automatic charging device (3) on the same route.

[0157] In the fifth aspect of the mobile object control system (1), in any one of the first to fourth aspects, the time required for the mobile object (2) to move from the automatic charging device (3) to the swapping node (Nc) is shorter than the time required for the mobile object (2) to move from the swapping node (Nc) to the waiting area (As).

[0158] According to this embodiment, the travel time of the moving object (2) from the automatic charging device (3) to the switching node (Nc) can be shortened.

[0159] In the sixth aspect of the mobile object control system (1), in any one of the first to fourth aspects, the time required for the mobile object (2) to move from the interchange node (Nc) to the waiting area (As) is shorter than the time required for the mobile object (2) to move from the automatic charging device (3) to the interchange node (Nc).

[0160] According to this embodiment, the travel time of the moving object (2) from the replacement node (Nc) to the waiting area (As) can be shortened.

[0161] In the mobile control system (1) of the seventh aspect, in any one of the first to sixth aspects, the replacement node setting unit (43) sets the division point (DP) between the first node selected as the replacement node (Nc) and the node among the multiple nodes that is closest to the automatic charging device (3) as the replacement node (Nc1) when the path distance between the first node selected as the replacement node (Nc) and the node among the multiple nodes that is closest to the automatic charging device (3) is longer than a predetermined value.

[0162] According to this embodiment, the travel time of the mobile object (2) to the nearest node of the automatic charging device (3) can be shortened.

[0163] A design support system (10) of an eighth aspect includes a mobile object control system (1) of any one of the first to seventh aspects, and a route creation tool (5) having a display unit (51) and an operation unit (52). The mobile object control system (1) further includes a display control unit (45) that causes the display unit (51) to display a map (MO). The display control unit (45) causes the display unit (51) to display two or more candidate nodes that are candidates for a replacement node (Nc) among the multiple nodes. A replacement node setting unit (43) sets a candidate node selected by a user through operation of the operation unit (52) among the two or more candidate nodes as the replacement node (Nc).

[0164] According to this aspect, the user can select the optimum replacement node (Nc) depending on the situation in the predetermined area (A0).

[0165] In the design support system (10) of the ninth aspect, in the eighth aspect, the display control unit (45) causes the display unit (51) to display two or more candidate nodes in a manner different from that of nodes other than the two or more candidate nodes among the plurality of nodes.

[0166] According to this aspect, the user can easily visually distinguish between two or more candidate nodes and nodes other than the two or more candidate nodes among the plurality of nodes.

[0167] The second to seventh aspects are not essential components of the mobile object control system 1 and can be omitted as appropriate. The ninth aspect is not essential components of the design support system 10 and can be omitted as appropriate. [Explanation of symbols]

[0168] 1. Mobile control system 2. Mobile 3 Automatic charging device 5. Route Creation Tools 10 Design Support System 41 Control Unit 42 Node Generation Unit 43 Replacement node setting section 45 Display control unit 51 1st display section 52 1st operation section 2A 1st mobile object 2B 2nd mobile object A0 designated area As waiting area DP division point M0 Map Nc Replacement node Nc1 replacement node

Claims

1. a control unit that controls a plurality of moving objects that move within a predetermined area; a node generation unit that generates a plurality of nodes that can control the plurality of moving objects at arbitrary positions on a map corresponding to the predetermined area; a replacement node setting unit that sets at least one node among the plurality of nodes as a replacement node, The control unit moves a first mobile object among the plurality of mobile objects that has completed charging by the automatic charging device from the automatic charging device to the swapping node, and moves a second mobile object among the plurality of mobile objects that is waiting in a waiting area from the waiting area to the automatic charging device. Mobile control system.

2. The control unit moves the first moving object from the replacement node to the waiting area. The mobile object control system according to claim 1 .

3. The number of the waiting areas is less than the number of the plurality of moving objects by the number of the automatic charging devices.

3. A mobile object control system according to claim 1 or 2.

4. a route between the waiting area and the automatic charging device including at least a first route through which the moving object can travel in both directions and a second route through which the moving object can travel only in a direction from the automatic charging device to the waiting area; The replacement node setting unit sets a node located on the second route among the plurality of nodes as the replacement node.

3. A mobile object control system according to claim 1 or 2.

5. The time required for the moving object to move from the swap node to the automatic charging device is shorter than the time required for the moving object to move from the swap node to the waiting area.

3. A mobile object control system according to claim 1 or 2.

6. The time required for the moving object to move from the swap node to the waiting area is shorter than the time required for the moving object to move from the swap node to the automatic charging device.

3. A mobile object control system according to claim 1 or 2.

7. When a path distance between a first node selected as the replacement node and a node of the plurality of nodes that is closest to the automatic charging device is longer than a predetermined value, the replacement node setting unit creates a second node at a division point between the first node and the closest node, and sets the second node as the replacement node.

3. A mobile object control system according to claim 1 or 2.

8. The mobile object control system according to claim 1 or 2; a route creation tool having a display unit and an operation unit; the mobile object control system further includes a display control unit that causes the map to be displayed on the display unit; the display control unit causes the display unit to display two or more candidate nodes that are candidates for the replacement node among the plurality of nodes; The replacement node setting unit sets a candidate node selected by a user through operation of the operation unit from among the two or more candidate nodes as the replacement node. Design support system.

9. The display control unit causes the two or more candidate nodes to be displayed on the display unit in a manner different from that of nodes other than the two or more candidate nodes among the plurality of nodes. The design support system according to claim 8.

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