Control system, control device, control program, and mobile body

Abstract

To improve a technique for moving a moving object.SOLUTION: A control system 1 comprises: a plurality of moving objects 20; and a map server 50 that manages movement of the plurality of moving objects 20. The map server 50 comprises: a planned route acquisition unit that acquires planned routes from the plurality of moving objects 20; a map generating unit that generates information representing future positions of the plurality of moving objects 20 from planned routes of the plurality of moving objects 20; and a map transmission unit that transmits the generated information to the plurality of moving objects 20. Each of the plurality of moving objects 20 comprises: a map acquisition unit that acquires information from the map server 50; a planned route generation unit that generates a planned route based on a current position of the own moving object and future positions of other moving objects; and a movement control unit that moves the own moving object according to at least a part of the generated planned route.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This disclosure relates to a control technology for a moving body.

Background Art

[0002] In order to transport goods in factories, warehouses, etc., moving bodies such as robots that can move autonomously and automated guided vehicles are used (see, for example, Patent Document 1). When moving a plurality of moving bodies, the movement of each moving body is controlled by a centralized control method that centrally controls the movement of all moving bodies or a decentralized control method in which each moving body dispersedly controls its movement.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the case of the centralized control method, the computing devices and storage devices required for the number of moving bodies increase exponentially. Further, when the number of moving bodies to be centrally controlled increases or decreases or malfunctions, an operation for registering the increase or decrease of the moving bodies is required.

[0005] In the case of the decentralized control method, since each moving body independently selects a movement route, it is difficult to optimize the overall movement.

[0006] An object of this disclosure is to improve the technology for moving a moving body.

Means for Solving the Problems

[0007] To solve the above problems, a control system in one embodiment of the present disclosure comprises a plurality of moving bodies and a management device for managing the movement of the plurality of moving bodies. The management device comprises a planned path acquisition unit that acquires planned paths from each of the plurality of moving bodies, a map generation unit that generates information representing the future position of the plurality of moving bodies from the planned paths of the plurality of moving bodies acquired by the planned path acquisition unit, and a map transmission unit that transmits the information generated by the map generation unit to the plurality of moving bodies. Here, "future" means, for example, a predetermined time (timing) after the present (e.g., several hours, several minutes, several seconds, etc.). It may also be the timing after a predetermined distance has been traveled. The predetermined time and distance may be set in advance, or the control system may set it automatically. Each of the plurality of moving bodies comprises a map acquisition unit that acquires information from the management device, a planned path generation unit that generates a planned path based on its own current position and the future position of the other moving bodies, a planned path transmission unit that transmits the planned path generated by the planned path generation unit to the management device, and a movement control unit that moves itself according to at least a part of the planned path generated by the planned path generation unit.

[0008] Another aspect of the present disclosure is a control device. This device includes a map acquisition unit that acquires information representing the future positions of a plurality of moving objects, generated from the respective planned paths of the plurality of moving objects; a planned path generation unit that generates planned paths based on its own current position and the future positions of the other moving objects; and a movement control unit that moves itself according to at least a portion of the planned paths generated by the planned path generation unit.

[0009] Another aspect of the present disclosure is a control program. This program causes a computer to function as: a map acquisition unit that acquires information representing the future positions of a plurality of moving objects, generated from the respective planned paths of the plurality of moving objects; a planned path generation unit that generates planned paths based on its own current position and the future positions of the other moving objects; and a movement control unit that moves itself according to at least a portion of the planned paths generated by the planned path generation unit.

[0010] A further aspect of the present disclosure is a mobile body. The mobile body comprises a moving unit for moving and a control device for controlling the moving unit. The control device comprises a map acquisition unit that acquires information representing the future positions of a plurality of mobile bodies, generated from the planned paths of each of the plurality of mobile bodies; a planned path generation unit that generates planned paths based on its own current position and the future positions of the other mobile bodies; and a moving control unit that moves itself according to at least a portion of the planned paths generated by the planned path generation unit.

[0011] Furthermore, any combination of the above components, or any substitution of the components or expressions of this disclosure between methods, apparatus, programs, temporary or non-temporary storage media or systems on which programs are recorded, are also valid forms of this disclosure. [Effects of the Invention]

[0012] According to this disclosure, it is possible to improve the technology for moving a mobile object. [Brief explanation of the drawing]

[0013] [Figure 1] This is a diagram showing the configuration of the control system according to the embodiment. [Figure 2] This is a sequence diagram showing the procedure of the control method according to the embodiment. [Figure 3] This figure shows an example of a map generated by a map server. [Figure 4] This diagram shows the configuration of the mobile body according to the embodiment. [Figure 5] This diagram shows the configuration of the map server according to the embodiment. [Modes for carrying out the invention]

[0014] In the control system according to the embodiment of this disclosure, a map server acquires the planned paths of multiple autonomously moving objects, generates a map representing the future positions of all objects, and transmits it to all objects. Each object references its current position and the future positions of other objects to generate its own optimized planned path according to predetermined conditions, registers the generated planned path with the map server, and actually moves along the first unit period of the planned path. Once the movement for the unit period is complete, each object acquires the latest map from the map server, updates its planned path based on its current position and the latest map, registers the updated planned path with the map server, and actually moves along the first unit period of the planned path. In this way, multiple objects move little by little along their respective optimal paths by repeating the sharing of planned paths, updating planned paths, and movement in unit periods. As a result, each object can select the optimal movement path according to the situation while considering the planned paths of other objects, thereby achieving near-optimal movement performance overall while suppressing the processing load.

[0015] Figure 1 shows the configuration of a control system according to an embodiment. The control system 1 comprises a plurality of mobile bodies 20a, 20b, and 20c (collectively referred to as "mobile bodies 20") that move within a movement range 10, a map server 50 that functions as a management device for managing the movement of the plurality of mobile bodies 20, and a communication network 12.

[0016] A plurality of moving bodies 20 move autonomously according to predetermined conditions related to movement. The conditions may be, for example, conditions such as minimizing the moving distance to the destination, the moving time, or the energy required for movement. Each moving body 20 solves the optimal path problem from the current position to the destination based on an evaluation function representing the conditions related to movement, determines a movement mode including the moving direction and the moving speed, and moves according to the determined movement mode. The moving body 20 may be, for example, a robot, an automated guided vehicle, or the like. The plurality of moving bodies 20 may all be of the same type, or may include different types. The performances such as the moving speed, the maximum speed, the moving method, and the moving error of the plurality of moving bodies 20 may be the same or different.

[0017] The map server 50 acquires the respective planned paths from the plurality of moving bodies 20, and generates a map representing the existence areas of all the moving bodies 20 at a future time point by referring to the acquired planned paths. The map server 50 transmits the generated map to all the moving bodies 20.

[0018] FIG. 2 is a sequence diagram showing the procedure of the control method according to the embodiment. The plurality of moving bodies 20 generate a planned path based on the current position, the destination, and the evaluation function (S10). The moving body 20 generates a planned path by solving the optimal path problem from the current position to the destination using the evaluation function. Each moving body 20 transmits the generated planned path to the map server 50 (S12).

[0019] The map server 50 generates a map representing the existence areas of all the moving bodies 20 at a future time point by referring to the movement paths acquired from the respective moving bodies 20 (S14). The map server 50 generates the map for each second period in the first period. That is, maps at times T = t1, t2,..., tn (t1: after the elapse of the second period, t2: after the elapse of 2× the second period, tn: after the elapse of n× the second period (= the first period)) are generated.

[0020] The longer the first period is, the more accurately each moving object 20 can select an optimal route, but the processing load increases. Therefore, the map server 50 may set the first period according to the processing capacity of the moving object 20.

[0021] The shorter the second period is, the more accurately the overall optimization can be improved. However, if the second period is too short, the processing of each moving object 20 cannot keep up. Also, if the second period is too long, there is a possibility that the moving objects 20 may come into contact with each other. Therefore, the map server 50 may set the second period according to at least one of the processing capacity of the moving object 20, the maximum speed of the moving object 20, the control error of the moving object 20, the size of the moving range 10, the number of moving objects, etc. The second period may be set variably. For example, when the distance between the moving objects 20 is long, the second period may be lengthened, and when the distance between the moving objects 20 is short, the second period may be shortened.

[0022] Each moving object 20 requests the map server 50 for the latest map (S16). The map server 50 transmits the latest map to each moving object 20 (S18).

[0023] Each moving object 20 detects its own current position (S20). The moving object 20 may detect its position by means of a technology such as GPS. The moving object 20 may be provided with an imaging device for imaging the surrounding image and detect its position by analyzing the captured image. An imaging device for imaging a plurality of moving objects 20 may be provided, and the positions of each of the moving objects 20 may be detected by analyzing the captured images of the plurality of moving objects 20. The moving object 20 may also detect its position by communication with other moving objects 20 or communication devices provided in the moving range 10.

[0024] Each mobile object 20 updates its planned route based on its current position, destination, evaluation function, and the latest map (S20). The mobile object 20 calculates the route from its current position to its destination that optimizes the evaluation function, with the constraint that it does not come into contact with other mobile objects 20. That is, the mobile object 20 solves the optimal route problem from its current position to its destination, with the constraint that at times T=t1, t2, ..., tn, its own domain does not interfere with the domains of other mobile objects 20.

[0025] Rules may be established to avoid contact when two moving objects 20 approach each other. For example, priority may be assigned to multiple moving objects 20 in advance, and a moving object 20 with a lower priority may detour or wait until the other moving object 20 passes so as not to obstruct its movement. Priority may also be determined by the relative positions of the moving objects 20. For example, in the coordinate system of the movement range 10, a moving object 20 located further to the right or further back may have priority. Directions for movement to avoid contact may also be predetermined. For example, they may move so as to pass each other on the right side.

[0026] Each mobile unit 20 transmits the generated planned route to the map server 50 (S22). Each mobile unit 20 also actually moves along the first unit period of the generated planned route (S24). The mobile unit 20 may start moving at the same time as transmitting the planned route to the map server 50, or it may start moving and then transmit the planned route to the map server 50, or it may transmit the planned route to the map server 50 and then start moving.

[0027] Return to S14 and repeat the above steps. This allows each mobile body 20 to move while optimizing its path in accordance with changing circumstances, thereby achieving optimal movement overall. Even if the accuracy of the movement of the mobile bodies 20 is relatively low and errors occur from the planned path, they can still move while correcting the planned path at each unit period, thus achieving optimal movement while avoiding contact between the mobile bodies 20.

[0028] Figure 3 shows an example of a map generated by the map server. Figure 3(a) shows an example of the map at time T=t1. The existence regions 11a, 11b, and 11c of the moving objects 20a, 20b, and 20c at time T=t1 are shown on the map. The size of the existence regions 11a, 11b, and 11c reflects the control errors of each moving object 20a, 20b, and 20c. Figure 3(b) shows an example of the map at time T=t2. Reflecting the cumulative control errors of each moving object 20a, 20b, and 20c, the size of the existence regions 11a, 11b, and 11c is larger than that at time T=t1. The map for each time point represents the region in which each moving object 20 can exist at that time.

[0029] Figure 4 shows the configuration of a mobile device 20 according to an embodiment. The mobile device 20 comprises a communication device 21, a means of transport 22, a storage device 24, and a processing device 30. The control device, including the communication device 21, the storage device 24, and the processing device 30, may be implemented by a device such as a personal computer or a mobile terminal such as a mobile phone terminal, smartphone, or tablet terminal.

[0030] The communication device 21 controls communication with other devices. The communication device 21 may communicate using any communication method, such as wired or wireless. The moving means 22 moves the mobile body 20. The moving means 22 may be wheels, belts, etc. The storage device 24 stores programs, data, etc., used by the processing device 30. The storage device 24 may be semiconductor memory, a hard disk, etc.

[0031] The processing unit 30 comprises a map acquisition unit 31, a planned route generation unit 32, a planned route transmission unit 33, a movement control unit 34, and a position detection unit 35. These configurations are implemented hardware-wise by the CPU, memory, and other LSIs of any computer, and software-wise by programs loaded into memory, but here we are describing the functional blocks that are realized through the cooperation of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be implemented in various forms, such as hardware only or a combination of hardware and software.

[0032] The map acquisition unit 31 acquires a map from the map server 50. The planned route generation unit 32 generates a planned route based on the current location, destination, evaluation function, and map. The planned route transmission unit 33 transmits the planned route generated by the planned route generation unit 32 to the map server 50. The movement control unit 34 controls the movement means 22 to move the moving body 20 along the first unit of time of the planned route generated by the planned route generation unit 32. The position detection unit 35 detects the current location of the moving body 20.

[0033] Figure 5 shows the configuration of a map server 50 according to an embodiment. The map server 50 includes a communication device 51, a storage device 54, and a processing device 60. The map server 50 may be a server device, a device such as a personal computer, or a mobile terminal such as a mobile phone terminal, smartphone, or tablet terminal.

[0034] The communication device 51 controls communication with other devices. The communication device 51 may communicate using any communication method, such as wired or wireless. The storage device 54 stores programs, data, etc., used by the processing unit 60. The storage device 54 stores the map at each time point. The storage device 54 may be a semiconductor memory, a hard disk, or the like.

[0035] The processing unit 60 includes a planned route acquisition unit 61, a map generation unit 62, and a map transmission unit 63. These configurations can be implemented in various ways, such as using only hardware or a combination of hardware and software.

[0036] The planned route acquisition unit 61 acquires planned routes from multiple mobile bodies 20. The map generation unit 62 generates a map from the planned routes of the multiple mobile bodies 20 acquired by the planned route acquisition unit 61 and stores it in the storage device 54. The map transmission unit 63 transmits the map stored in the storage device 54 to the mobile bodies 20 in response to a request from the mobile bodies 20.

[0037] The present disclosure has been explained above based on examples. These examples are illustrative, and it will be understood by those skilled in the art that various modifications are possible in combinations of their components and processing processes, and that such modifications are also within the scope of the present disclosure.

[0038] In this embodiment, an example in which a map server 50 is provided has been described, but in another example, one or more of the multiple mobile bodies 20 may have the functionality of a map server 50. In this case, a map server 50 may not be provided.

[0039] In the embodiment described, an example was given in which all mobile bodies 20 share a map representing the area of ​​existence of all mobile bodies 20. However, in another example, a map representing the area of ​​existence of mobile bodies 20 that are within a predetermined range may be provided to the mobile bodies 20. For example, the map server 50 may obtain planned routes from all mobile bodies 20 and generate and provide each mobile body 20 with a map representing the area of ​​existence of other mobile bodies 20 that are within a predetermined range from that mobile body 20. Alternatively, each mobile body 20 may directly obtain planned routes from mobile bodies 20 that are within a predetermined range from itself and update its own planned route. In this case, the map server 50 may not be provided.

[0040] In the embodiment described, an example was given in which the map server 50 generates a map from the planned paths of multiple mobile bodies 20 and provides it to the mobile bodies 20. However, in another example, the map server 50 may provide the planned paths of the multiple mobile bodies 20 directly to the mobile bodies 20. In this case, each mobile body 20 may generate an optimal path that does not come into contact with other mobile bodies 20 by referring to the planned paths of other mobile bodies 20, or it may generate a map from the planned paths of other mobile bodies 20 and solve the optimal path problem using the generated map as a constraint. [Explanation of Symbols]

[0041] 1 Control system, 10 Movement range, 11 Existence area, 12 Communication network, 20 Mobile body, 22 Means of movement, 31 Map acquisition unit, 32 Planned route generation unit, 33 Planned route transmission unit, 34 Movement control unit, 35 Position detection unit, 50 Map server, 54 Storage device, 61 Planned route acquisition unit, 62 Map generation unit, 63 Map transmission unit.

Claims

1. Multiple mobile units, A management device for managing the movement of the plurality of moving objects, Equipped with, The aforementioned control device is A planned route acquisition unit that acquires a planned route from each of the aforementioned multiple moving objects, A map generation unit generates information representing the positions of the multiple moving objects at future points in time from the planned routes of the multiple moving objects obtained by the planned route acquisition unit, A map transmission unit that transmits the information generated by the map generation unit to the plurality of moving objects, Equipped with, Each of the aforementioned multiple moving bodies is, A map acquisition unit that acquires the information from the management device, A planned route generation unit that generates a planned route based on its own current position and the future position of other moving objects, A planned route transmission unit transmits the planned route generated by the planned route generation unit to the management device, A movement control unit that moves itself according to at least a portion of the planned path generated by the planned path generation unit, Equipped with, The aforementioned information represents the positions of the multiple moving objects at future times T = t, 2t, ..., nt (where nt is the first period and t is the second period), Each of the aforementioned multiple moving bodies repeatedly performs the acquisition of the information, the updating of the planned route, and its own movement within a unit period. The first period is set according to the processing capacity of the mobile body, The second period is set according to at least one of the processing capacity, maximum speed, control error, range of motion, and number of the moving body. The aforementioned unit period, the first period, and the second period are common to the plurality of moving bodies. Control system.

2. A map acquisition unit that acquires information representing the position of multiple moving objects at a future point in time, generated from the planned paths of each of the multiple moving objects, A planned route generation unit that generates a planned route based on its own current position and the future position of other moving objects, A movement control unit that moves itself according to at least a portion of the planned path generated by the planned path generation unit, Equipped with, The aforementioned information represents the positions of the multiple moving objects at future times T = t, 2t, ..., nt (where nt is the first period and t is the second period), The acquisition of the aforementioned information, the updating of the planned route, and the movement of oneself are repeated each unit period. The first period is set according to the processing capacity of the mobile body, The second period is set according to at least one of the processing capacity, maximum speed, control error, range of motion, and number of the moving body. The aforementioned unit period, the first period, and the second period are common to the plurality of moving bodies. Control device.

3. The map acquisition unit acquires the information from a management device that generates the information by acquiring the planned route from each of the plurality of moving objects, The system further comprises a planned route transmission unit that transmits the planned route generated by the planned route generation unit to the management device. The control device according to claim 2.

4. The second period is set to be variable. The control device according to claim 2 or 3.

5. Computers, A map acquisition unit that acquires information representing the position of multiple moving objects at a future point in time, generated from the planned paths of each of the multiple moving objects, A planned route generation unit that generates a planned route based on its own current position and the future position of other moving objects, A movement control unit that moves itself according to at least a portion of the planned path generated by the planned path generation unit, To make it function as, The aforementioned information represents the positions of the multiple moving objects at future times T = t, 2t, ..., nt (where nt is the first period and t is the second period), The acquisition of the aforementioned information, the updating of the planned route, and the movement of oneself are repeated each unit period. The first period is set according to the processing capacity of the mobile body, The second period is set according to at least one of the processing capacity, maximum speed, control error, range of motion, and number of the moving body. The aforementioned unit period, the first period, and the second period are common to the plurality of moving bodies. Control program.

6. A moving part for movement, A control device for controlling the moving part, Equipped with, The control device is A map acquisition unit that acquires information representing the position of multiple moving objects at a future point in time, generated from the planned paths of each of the multiple moving objects, A planned route generation unit that generates a planned route based on its own current position and the future position of other moving objects, A movement control unit that moves itself according to at least a portion of the planned path generated by the planned path generation unit, Equipped with, The aforementioned information represents the positions of the multiple moving objects at future times T = t, 2t, ..., nt (where nt is the first period and t is the second period), The acquisition of the aforementioned information, the updating of the planned route, and the movement of oneself are repeated each unit period. The first period is set according to the processing capacity of the mobile body, The second period is set according to at least one of the processing capacity, maximum speed, control error, range of motion, and number of the moving body. The aforementioned unit period, the first period, and the second period are common to the plurality of moving bodies. A mobile object.

Images