Control method, program, and information processing device for a mobile object.

Abstract

To suppress interference between mobile bodies.SOLUTION: A control method comprises: a step of acquiring first mobile body information including a position of a first mobile body; a step of setting a first area having a possibility of entering of the first mobile body based on the first mobile body information; a step of setting a second area at a position more separated from the first mobile body than the first area based on the first mobile body information; a step of acquiring second mobile body information including a position of a second mobile body; and a step of executing predetermined processing in both of cases where the position of the second mobile body indicated by the second mobile body information is within a predetermined distance with respect to the first area and where the position of the second mobile body indicated by the second mobile body information is within a predetermined range with respect to the second area.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present disclosure relates to a method for controlling a moving body, a program, and an information processing apparatus.

Background Art

[0002] Control for suppressing interference between moving bodies is known. For example, in Patent Document 1, a travel permission section is set for an unmanned vehicle that autonomously travels in a mine, and when a manned vehicle approaches the travel permission section, a warning is transmitted to the manned vehicle to avoid interference between the manned vehicle and the unmanned vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, there is room for improvement in suppressing interference between moving bodies.

[0005] An object of the present disclosure is to provide a method for controlling a moving body, a program, and an information processing apparatus that can appropriately suppress interference between moving bodies.

Means for Solving the Problems

[0006] A method for controlling a moving body according to this disclosure includes the steps of: acquiring first moving body information including the position of a first moving body; setting a first region into which the first moving body may enter based on the first moving body information; setting a second region located further away from the first moving body than the first region based on the first moving body information; acquiring second moving body information including the position of a second moving body; and performing predetermined processing in both cases: when the position of the second moving body indicated by the second moving body information is within a predetermined distance range from the first region, and when the position of the second moving body indicated by the second moving body information is within a predetermined distance range from the second region.

[0007] The program relating to this disclosure causes a computer to perform the following steps: acquire first mobile body information including the position of a first mobile body; set a first region into which the first mobile body may enter based on the first mobile body information; set a second region further away from the first mobile body than the first region based on the first mobile body information; acquire second mobile body information including the position of a second mobile body; and perform predetermined processing in both cases where the position of the second mobile body indicated by the second mobile body information is within a predetermined distance range from the first region and where the position of the second mobile body indicated by the second mobile body information is within a predetermined distance range from the second region.

[0008] The information processing device according to this disclosure includes: a mobile body information acquisition unit that acquires first mobile body information including the position of a first mobile body and second mobile body information including the position of a second mobile body; a first area setting unit that sets a first area into which the first mobile body may enter based on the first mobile body information; a second area setting unit that sets a second area located further away from the first mobile body than the first area based on the first mobile body information; and a processing execution unit that performs predetermined processing in both cases: when the position of the second mobile body indicated by the second mobile body information is within a predetermined distance range from the first area, and when the position of the second mobile body indicated by the second mobile body information is within a predetermined distance range from the second area. [Effects of the Invention]

[0009] According to this disclosure, interference between moving objects can be appropriately suppressed. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram of the motion control system according to this embodiment. [Figure 2] Figure 2 is a schematic diagram of the configuration of the first mobile unit as an unmanned vehicle. [Figure 3] Figure 3 is a schematic block diagram of the control device for the first mobile unit as an unmanned vehicle. [Figure 4] Figure 4 is a schematic diagram of the configuration of the second mobile vehicle as a manned vehicle. [Figure 5] Figure 5 is a schematic block diagram of the control system. [Figure 6] Figure 6 is a schematic block diagram of an information processing device. [Figure 7] Figure 7 is a schematic diagram showing an example of the configuration of the first and second regions of the first mobile unit as an unmanned vehicle. [Figure 8] Figure 8 is a schematic diagram showing an example of the configuration of the first and second regions of the second mobile vehicle as a manned vehicle. [Figure 9] Figure 9 is a flowchart illustrating the processing flow of the motion control system. [Figure 10] Figure 10 is a schematic diagram showing an example where the target area on the intersection is set to the second area. [Figure 11] Figure 11 is a schematic diagram showing an example where the target area on the intersection is set as the second area. [Figure 12] Figure 12 is a schematic diagram showing another example of the setting of the second domain. [Figure 13] Figure 13 is a schematic diagram showing another example of the setting of the second domain. [Modes for carrying out the invention]

[0011] Preferred embodiments of the present disclosure will be described in detail below with reference to the attached drawings. However, this disclosure is not limited to these embodiments, and where there are multiple embodiments, they may also be combinations of these embodiments.

[0012] (Movement control system) Figure 1 is a schematic diagram of the movement control system according to this embodiment. As shown in Figure 1, the movement control system 1 according to this embodiment includes a mobile body 10, a management device 12, and an information processing device 14. The movement control system 1 is a system that controls the movement of the mobile body 10 belonging to facility W. Facility W is, for example, a facility that is managed for logistics, such as a warehouse, but it may be any facility that operates the mobile body 10. In the movement control system 1, the mobile body 10 is located within the area AR of facility W. ta The system picks up and transports objects. Area AR is the area where objects are placed or the mobile unit 10 moves, for example, the floor surface of the facility W. In this embodiment, the objects transported by the mobile unit 10 are transport objects with goods loaded on a pallet. However, the objects are not limited to those with goods loaded on a pallet and may take any form, for example, they may consist only of goods without a pallet. Furthermore, the mobile unit 10 is not limited to transporting objects, but may be a device that moves within the facility W for any purpose.

[0013] Hereafter, the direction along region AR will be defined as the X direction, and the direction along region AR that intersects direction X will be defined as the Y direction. In this embodiment, the Y direction is perpendicular to the X direction. The X and Y directions may also be described as directions along the horizontal plane. Furthermore, the direction perpendicular to the X and Y directions, more specifically the direction pointing upward in the vertical direction, will be defined as the Z direction. In this embodiment, unless otherwise specified, "position" refers to the position (coordinates) in the coordinate system (coordinate system of region AR) on the two-dimensional plane of region AR. Furthermore, unless otherwise specified, the "attitude (orientation)" of the moving object 10, etc., refers to the orientation of the moving object 10, etc. in the coordinate system of region AR, and refers to the yaw angle (rotation angle) of the moving object 10 when viewed from the Z direction, with the X direction being 0°.

[0014] (Waypoint) In the area AR, waypoints WP are set for each position (coordinate). The path along which the moving body 10 moves is set so as to connect the waypoints WP. That is, the path connecting the waypoints WP that the moving body 10 is scheduled to pass through becomes the path of the moving body 10. The waypoints WP are set according to the layout of the facility W. For example, the waypoints WP are set in a matrix within the area AR.

[0015] (Moving body) In the present embodiment, it is preferable that the moving body 10 includes a manned vehicle that moves by the operation of a driver. For example, all the moving bodies 10 in the facility W may be manned vehicles. Also, for example, some of the moving bodies 10 may be manned vehicles, and some of the other moving bodies 10 may be unmanned vehicles that move autonomously. Also, for example, all the moving bodies 10 may be unmanned vehicles. Hereinafter, a case will be described as an example in which the first moving body 10A among the moving bodies 10 is an unmanned vehicle and the second moving body 10B among the moving bodies 10 is a manned vehicle.

[0016] (The first moving body as an unmanned vehicle) FIG. 2 is a schematic diagram of the configuration of the first moving body as an unmanned vehicle. The first moving body 10A as an unmanned vehicle is a device that can move automatically. In the present embodiment, the first moving body 10A is a device that can transport an object. More specifically, in the present embodiment, the first moving body 10A is a forklift, and more specifically, a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift). However, the first moving body 10A is not limited to being a forklift that transports an object, and may be any device that can move automatically.

[0017] As shown in Figure 2, the first mobile body 10A comprises a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, a fork 24, a sensor 26A, and a control device 28. The straddle legs 21 are a pair of axial members provided at one end of the vehicle body 20 in the longitudinal direction and protruding from the vehicle body 20. The mast 22 is movably attached to the straddle legs 21 and moves in the longitudinal direction of the vehicle body 20. The mast 22 extends along the vertical direction (here, direction Z) perpendicular to the longitudinal direction. The fork 24 is movably attached to the mast 22 in direction Z. The fork 24 may also be movable relative to the mast 22 in the lateral direction of the vehicle body 20 (in a direction intersecting the vertical and longitudinal directions). The fork 24 has a pair of claws 24A and 24B. The claws 24A and 24B extend from the mast 22 toward the rear of the vehicle body 20. Claws 24A and 24B are positioned apart from each other in the lateral direction of the mast 22. Hereinafter, in the front-rear direction, the direction on the first moving body 10A where the fork 24 is not provided will be referred to as the front direction, and the direction on the side where the fork 24 is provided will be referred to as the rear direction.

[0018] Sensor 26A detects at least one of the position and orientation of an object present around the vehicle body 20. It can also be said that sensor 26A detects at least one of the position of an object relative to the first moving body 10A and the orientation of an object relative to the first moving body 10A. In this embodiment, sensors 26A are provided at the rear end of each straddle leg 21 and on the front side of the vehicle body 20. However, the position of sensors 26A is not limited to this, and they may be provided at any position, and the number of sensors provided may also be arbitrary.

[0019] Sensor 26A is, for example, a sensor that emits laser light. Sensor 26A emits laser light while scanning in one direction (in this case, the horizontal direction), and detects the position and orientation of an object from the reflected light of the emitted laser light. In other words, sensor 26A can be said to be a so-called 2D LiDAR (Light Detection And Ranging). However, sensor 26A is not limited to the above and may be a sensor that detects an object in any way, for example, a so-called 3D LiDAR that scans in multiple directions, a so-called 1D LiDAR that does not scan, or a camera.

[0020] Figure 3 is a schematic block diagram of the control device for the first mobile body as an unmanned vehicle. The control device 28 is a device that controls the first mobile body 10A. The control device 28 is a computer and, as shown in Figure 3, includes a communication unit 70, a storage unit 72, and a control unit 74. The communication unit 70 is a module used by the control unit 74 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 70 is wireless communication, but the communication method may be arbitrary. The storage unit 72 is a memory that stores various information such as the calculation contents and programs of the control unit 74, and includes at least one of, for example, RAM (Random Access Memory), main memory such as ROM (Read Only Memory), and external memory such as HDD (Hard Disk Drive).

[0021] The control unit 74 is an arithmetic unit and includes arithmetic circuits such as a CPU (Central Processing Unit). The control unit 74 includes a path acquisition unit 80, a movement control unit 82, and an information transmission unit 84. The control unit 74 reads a program (software) from the storage unit 72 and executes it to realize the path acquisition unit 80, the movement control unit 82, and the information transmission unit 84, and performs their processing. The control unit 74 may perform these processing with a single CPU, or it may have multiple CPUs and perform the processing with those multiple CPUs. In addition, at least a part of the path acquisition unit 80, the movement control unit 82, and the information transmission unit 84 may be realized with hardware circuits. Furthermore, the program for the control unit 74 stored in the storage unit 72 may be stored on a recording medium that the control device 28 can read.

[0022] The path acquisition unit 80 acquires information about the path along which the first mobile body 10A travels. The movement control unit 82 controls the movement mechanisms of the first mobile body 10A, such as the drive unit and steering, to control the movement of the first mobile body 10A. The information transmission unit 84 transmits the first mobile body information, which indicates the position of the first mobile body 10A, to an external device such as the information processing device 14. The specific details of these processes will be described later.

[0023] (Second mobile vehicle as a manned vehicle) Figure 4 is a schematic diagram of the configuration of the second mobile body as a manned vehicle. The second mobile body 10B as a manned vehicle is a device that moves under the operation of a driver U. For example, the second mobile body 10B moves when operated by a driver U who is riding in the second mobile body 10B. However, it is not limited to this, and the second mobile body 10B may also move when remotely operated by a driver U who is not riding in the second mobile body 10B. Furthermore, in this embodiment, the second mobile body 10B is a device capable of transporting objects. More specifically, in this embodiment, the second mobile body 10B is a forklift. However, the second mobile body 10B is not limited to being a forklift that transports objects, and may be any device that can be moved under the operation of a driver U.

[0024] As shown in Figure 4, the second mobile vehicle 10B, as a manned vehicle, has an operating unit 90, a drive unit 92, and a control device 94. The operating unit 90 is an interface mechanism that receives input from the driver U and may include, for example, a steering wheel, accelerator, and brake. The drive unit 92 is a drive mechanism that moves the second mobile vehicle 10B. The second mobile vehicle 10B moves when the drive unit 92 is driven by the input from the driver U received by the operating unit 90.

[0025] The control device 94 is a device that controls the second mobile body 10B. The control device 94 is a computer and includes a communication unit 96, a storage unit 98, and a control unit 100. The communication unit 96 is a module used by the control unit 100 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 96 is wireless communication, but the communication method may be arbitrary. The storage unit 98 is a memory that stores various information such as the calculation contents and programs of the control unit 100, and includes, for example, at least one of RAM, a main memory device such as ROM, and an external storage device such as an HDD.

[0026] The control unit 100 is an arithmetic unit and includes arithmetic circuits such as a CPU. The control unit 100 includes an information transmission unit 102 and a movement control unit 104. The control unit 100 realizes the information transmission unit 102 and the movement control unit 104 and performs their processing by reading and executing a program (software) from the storage unit 98. The control unit 100 may perform these processing with a single CPU, or it may have multiple CPUs and perform the processing with those multiple CPUs. In addition, at least a part of the information transmission unit 102 and the movement control unit 104 may be realized with hardware circuits. Furthermore, the program for the control unit 100 stored in the storage unit 98 may be stored on a recording medium that the control device 94 can read.

[0027] The information transmission unit 102 transmits second mobile body information, indicating the position of the second mobile body 10B, to an external device such as the information processing device 14, and the movement control unit 104 controls the movement of the second mobile body 10B. The specific details of these processes will be described later. The movement control unit 104 automatically controls the second mobile body 10B, for example, by automatically stopping the second mobile body 10B. However, since the second mobile body 10B is a manned vehicle, it does not need to have a function to automatically control the second mobile body 10B, or in other words, it does not need to include a movement control unit 104.

[0028] (Management device) Figure 5 is a schematic block diagram of the management device. The management device 12 is a system for managing logistics in facility W. In this embodiment, the management device 12 is a WCS (Warehouse Control System) or a WMS (Warehouse Management System), but it is not limited to WCS and WMS and may be any system, for example, a backend system such as another production management system. The location where the management device 12 is installed is arbitrary; it may be installed within facility W, or it may be installed at a location away from facility W and manage facility W from that location. The management device 12 is a computer and, as shown in Figure 5, includes a communication unit 30, a storage unit 32, and a control unit 34.

[0029] The communication unit 30 is a module used in the control unit 34 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 30 is wireless communication, but the communication method may be arbitrary. The storage unit 32 is a memory that stores various information such as the calculation contents and programs of the control unit 34, and includes, for example, at least one of RAM, a main memory device such as ROM, and an external storage device such as an HDD.

[0030] The control unit 34 is an arithmetic unit and includes arithmetic circuits such as a CPU. The control unit 34 includes a target position setting unit 40. The control unit 34 realizes the target position setting unit 40 and executes its processing by reading and executing a program (software) from the storage unit 32. The control unit 34 may execute the processing with one CPU, or it may have multiple CPUs and execute the processing with those multiple CPUs. In addition, at least a part of the target position setting unit 40 may be realized with hardware circuits. Furthermore, the program for the control unit 34 stored in the storage unit 32 may be stored on a recording medium that can be read by the management device 12.

[0031] The target position setting unit 40 sets the target position to which the moving body 10 will move. The specific processing details of the target position setting unit 40 will be described later.

[0032] Furthermore, the control device 12 may perform processes other than setting the target location. For example, the control device 12 may also set information for controlling mechanisms other than the movable body 10 installed in the facility W (e.g., elevators, doors, etc.).

[0033] (Information processing device) Figure 6 is a schematic block diagram of the information processing device. The information processing device 14 is a device that processes information related to the movement of the mobile body 10. The information processing device 14 is, for example, an FCS (Fleet Control System), but is not limited to that, and may be any device that processes information related to the movement of the mobile body 10. The information processing device 14 is a computer and, as shown in Figure 6, includes a communication unit 50, a storage unit 52, and a control unit 54. The communication unit 50 is a module used by the control unit 54 to communicate with external devices such as the management device 12 and the mobile body 10, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 50 is wireless communication, but the communication method may be arbitrary. The storage unit 52 is a memory that stores various information such as the calculation contents and programs of the control unit 54, and includes, for example, at least one of RAM, a main memory device such as ROM, and an external memory device such as an HDD.

[0034] The control unit 54 is an arithmetic unit and includes arithmetic circuits such as a CPU. The control unit 54 includes a route setting unit 60, a mobile object information acquisition unit 62, a first area setting unit 64, a second area setting unit 66, and a processing execution unit 68. The control unit 54 reads a program (software) from the storage unit 52 and executes it to realize the route setting unit 60, the mobile object information acquisition unit 62, the first area setting unit 64, the second area setting unit 66, and the processing execution unit 68, and then executes their processes. The control unit 54 may execute these processes with a single CPU, or it may have multiple CPUs and execute the processes with those multiple CPUs. In addition, at least a part of the route setting unit 60, the mobile object information acquisition unit 62, the first area setting unit 64, the second area setting unit 66, and the processing execution unit 68 may be realized with hardware circuits. Furthermore, the program for the control unit 54 stored in the storage unit 52 may be stored on a recording medium that the information processing device 14 can read.

[0035] The route setting unit 60 sets the route for the first mobile body 10A as an unmanned vehicle, the mobile body information acquisition unit 62 acquires information about the mobile body 10, the first area setting unit 64 sets the first area AR1 for the first mobile body 10A, and the second area setting unit 66 sets the second area AR2 for the first mobile body 10A. The processing execution unit 68 also executes predetermined processing according to the positional relationship between the first area AR1 and the second mobile body 10B, and the positional relationship between the second area AR2 and the second mobile body 10B. The specific details of these processes will be described later.

[0036] In this embodiment, the management device 12 and the information processing device 14 were separate devices, but they may be an integrated device. That is, the management device 12 may incorporate at least some of the functions of the information processing device 14, and the information processing device 14 may incorporate at least some of the functions of the management device 12.

[0037] (Processing of the movement control system) The processing details of the movement control system 1 are described below.

[0038] (Setting the target location) The target location setting unit 40 of the management device 12 sets the target location, which is the destination of the first mobile body 10A as an unmanned vehicle. The target location setting unit 40 may set any location within the facility W as the target location. For example, based on pre-set order information indicating the object to be transported and the source and destination of the object, a waypoint WP to which the first mobile body 10A should move may be set, and that waypoint WP may be set as the target location. The target location setting unit 40 may also set the target location for a manned vehicle in the same manner as described above for an unmanned vehicle.

[0039] The management device 12 transmits the location information of the set target location to the information processing device 14. In other words, the information processing device 14 acquires the location information of the target location set by the target location setting unit 40 of the management device 12. The location information of the target location may be any information indicating the location of the target location, for example, it may be information indicating the coordinates of the target location, or it may be information indicating the identifier of the waypoint WP corresponding to the target location.

[0040] (Setting the route) The route setting unit 60 of the information processing device 14 sets a route to the target location based on the location information of the target location, as the route for the first mobile body 10A as an unmanned vehicle. In this embodiment, the route setting unit 60 sets a route connecting each waypoint WP from the starting point of the first mobile body 10A to the target location as the route for the first mobile body 10A. The starting point location can be set arbitrarily; for example, the waypoint WP closest to the position where the first mobile body 10A starts moving may be set as the starting point.

[0041] The information processing device 14 transmits route information to the first mobile body 10A, and the route acquisition unit 80 of the first mobile body 10A acquires the route information set by the information processing device 14. The route information may be any information indicating the location of the route, but in this embodiment, it may be location information of waypoints WP included in the route.

[0042] The route setting unit 60 of the information processing device 14 sets areas that overlap with the route set for the first mobile body 10A as an unmanned vehicle as an occupied area. An occupied area refers to an area where entry is permitted for the first mobile body 10A that is the target of the setting of the occupied area, but entry is not permitted for other unmanned vehicles. In this embodiment, the route setting unit 60 sets waypoints WP included in the route as an occupied area during the scheduled time period when the first mobile body 10A is scheduled to travel along the route set for the first mobile body 10A. As a result, waypoints WP included in the occupied area will not be overlappingly reserved as routes that other unmanned vehicles will take during that scheduled time period, thereby suppressing interference and deadlocks between unmanned vehicles.

[0043] Thus, in this embodiment, the information processing device 14 sets the route of the first mobile body 10A, but the entity responsible for setting the route is not limited to the information processing device 14 and may be any entity. For example, the route acquisition unit 80 of the first mobile body 10A may set the route in the same manner as described above.

[0044] (Movement of the first mobile unit as an unmanned vehicle) The first mobile unit 10A, acting as an unmanned vehicle, moves according to a set path. That is, the movement control unit 82 of the first mobile unit 10A moves the first mobile unit 10A according to the path acquired by the path acquisition unit 80. More specifically, in this embodiment, it is preferable that the path acquisition unit 80 sets a second path (global path) based on a first path (layout path) which is a path acquired from the information processing device 14. In this case, the path acquisition unit 80 sets the second path based on the first path and information on the vehicle specifications of the first mobile unit 10A. Information on vehicle specifications refers to specifications that affect the paths that the first mobile unit 10A can move, such as the size of the first mobile unit 10A and the minimum turning radius. The second path, like the first path, is a path that leads to the target position. More specifically, the second path is a path that the first mobile unit 10A can follow and that reaches the target position.

[0045] The movement control unit 82 moves the first mobile body 10A to follow a set path (the second path in this embodiment) by sequentially grasping the position information of the first mobile body 10A. The method for acquiring the position information of the first mobile body 10A is arbitrary, but for example, in this embodiment, a detection body (not shown) is provided on the equipment W, and the movement control unit 82 acquires information on the position and orientation of the first mobile body 10A based on the detection of the detection body. Specifically, the first mobile body 10A irradiates laser light toward the detection body and receives the reflected light of the laser light from the detection body to detect its own position and orientation on the equipment W. The method for acquiring information on the position and orientation of the first mobile body 10A is not limited to using a detection body, and for example, SLAM (Simultaneous Localization And Mapping) may be used.

[0046] (Movement of the second mobile vehicle as a manned vehicle) The second mobile vehicle 10B, as a manned vehicle, moves according to the operation of the driver U. The second mobile vehicle 10B moves along a path corresponding to the operation of the driver U. For example, the driver U may grasp the information of the destination location of the second mobile vehicle 10B, which has been set by the management device 12 and the information processing device 14, and move the second mobile vehicle 10B toward that destination location. In this embodiment, the path of the second mobile vehicle 10B does not need to be set in advance by the information processing device 14.

[0047] (Interference between the first moving object and the second moving object) As described above, in this embodiment, since multiple mobile bodies 10 (in this example, the first mobile body 10A and the second mobile body 10B) move within the facility W, it is necessary to appropriately suppress interference and deadlocks between the mobile bodies 10. Furthermore, as in this embodiment, when at least one of the mobile bodies 10 is a manned vehicle, it is difficult to know the movement path of the manned vehicle in advance, so it is especially necessary to appropriately suppress interference and deadlocks between the mobile bodies 10. In response to this, in this embodiment, a first area AR1 and a second area AR2 are sequentially set for each mobile body 10, which other mobile bodies 10 should not enter, and processing is performed according to the positional relationship between the first area AR1 and the second mobile body 10B, and the positional relationship between the second area AR2 and the second mobile body 10B. This makes it possible to appropriately suppress interference and deadlocks between the mobile bodies 10. Below, the specific processing will be explained using the case where the first mobile body 10A is an unmanned vehicle and the second mobile body 10B is a manned vehicle as an example.

[0048] (Setting of the first domain for the first mobile vehicle as an unmanned vehicle) Figure 7 is a schematic diagram showing an example of setting the first and second regions of the first mobile body as an unmanned vehicle. The first mobile body 10A, as an unmanned vehicle, acquires first mobile body information from the movement control unit 82. The first mobile body information includes information including the position of the first mobile body 10A, and preferably includes information including the position, attitude (orientation), and speed of the first mobile body 10A. The movement control unit 82 acquires the first mobile body information sequentially. In this embodiment, the movement control unit 82 acquires the first mobile body information sequentially while the first mobile body 10A is moving along a set path (the second path in this example). The method of acquiring the first mobile body information is arbitrary, but for example, the position and attitude may be acquired using a detection device or SLAM as described above, and the speed may be detected by a speed sensor provided on the first mobile body 10A.

[0049] The information transmission unit 84 of the first mobile device 10A transmits the first mobile device information to the information processing device 14. That is, the mobile device information acquisition unit 62 of the information processing device 14 acquires the first mobile device information from the first mobile device 10A.

[0050] The first area setting unit 64 of the information processing device 14 sets the first area AR1 of the first mobile body 10A based on the first mobile body information. The first area AR1 is an area that the first mobile body 10A may enter, and an area that other mobile bodies 10 should not enter. The method of setting the first area AR1 may be arbitrary, but in this embodiment, the first area setting unit 64 calculates a predicted destination position that the first mobile body 10A may reach before stopping, based on the first mobile body information. More specifically, the first area setting unit 64 calculates the predicted destination position as the position where the first mobile body 10A will stop if it starts to decelerate at its current position, based on the attitude and speed indicated by the first mobile body information. Then, in this embodiment, the first area setting unit 64 sets the area from the current position of the first mobile body 10A (the position indicated by the first mobile body information) to the predicted destination position (in this example, each waypoint WP from the current position to the predicted destination position) as the first area AR1. In the example shown in Figure 7, the current position of the first mobile object 10A is waypoint WPA, and the predicted destination is waypoint WPB. Therefore, the section from waypoint WPA to waypoint WPB is set as the first region AR1. The first region AR1 can also be described as the region that includes the section from the current position of the first mobile object 10A to a position that is further in the direction of travel than the current position.

[0051] (Movement control system) Furthermore, if the first mobile unit 10A is stopped, that is, the first mobile unit body If the speed indicated by the information is zero, the first area setting unit 64 does not need to set the first area AR1. In this case, the movement control system 1 does not need to perform processing according to the positional relationship between the first area AR1 and other moving objects 10.

[0052] (Setting of the second domain for the first mobile unit as an unmanned vehicle) The second area setting unit 66 of the information processing device 14 sets the second area AR2 of the first mobile body 10A as an unmanned vehicle based on the first mobile body information. The second area AR2 is an area located further away from the first mobile body 10A than the first area AR1, and is an area that other mobile bodies 10 should not enter. Here, "located further away from the first mobile body 10A than the first area AR1" means that the position in the second area AR2 that is furthest from the first mobile body 10A is even further away from the first mobile body 10A than the position in the first area AR1 that is furthest from the first mobile body 10A (the predicted destination position in this example).

[0053] The second area setting unit 66 may set the second area AR2 in any way based on the first mobile body information. For example, in this embodiment, a target area AR0 is set in advance within the facility W, and the second area setting unit 66 sets the area including the target area AR0 (preferably the target area AR0 itself) as the second area AR2 when the current position of the first mobile body 10A is within a predetermined distance range from the target area AR0.

[0054] The target area AR0 may be, for example, an area where other mobile bodies 10 should not enter (an area requiring caution) if there is a possibility that the first mobile body 10A may enter the target area AR0. The target area AR0 may be set at any position within the area AR of the equipment W, and the number of target areas AR0 may also be arbitrary. However, it is preferable that the target area AR0 be set according to the positional relationship of the waypoints WP. That is, for example, it is preferable to set the section containing the waypoints WP that have a positional relationship that satisfies predetermined conditions as the target area AR0. By setting the target area AR0 in advance in this way, it is possible to suppress other mobile bodies 10 from entering the area requiring caution, and thereby appropriately suppress interference between mobile bodies 10.

[0055] In this embodiment, the target area AR0 is set at the intersection where a path connecting waypoints WP (first path) branches off from another path (second path). More specifically, in this embodiment, the target area AR0 is set to include the intersection where the first path branches off from the second path, and the sections of the first and second paths within a predetermined distance range from the intersection. In the example in Figure 7, the path RA (first path) connecting waypoints WP aligned in the Y direction and the path RB (second path) connecting waypoints WP aligned in the X direction intersect at waypoint WPC1 (path RA branches off from path RB at waypoint WPC1). Furthermore, in Figure 7, waypoint WP located within a predetermined distance range in the Y direction from waypoint WPC1 (intersection) in route RA is designated as waypoint WPB, waypoint WP located within a predetermined distance range in the opposite direction from waypoint WPC1 in route RA is designated as waypoint WPC3, waypoint WP located within a predetermined distance range in the opposite direction from waypoint WPC1 in route RB is designated as waypoint WPC2, and waypoint WP located within a predetermined distance range in the X direction from waypoint WPC1 in route RB is designated as waypoint WPC4. In this case, in the example in Figure 7, the target includes the section from waypoint WPC1 to waypoint WPB, the section from waypoint WPC1 to waypoint WPC2, the section from waypoint WPC1 to waypoint WPC3, and the section from waypoint WPC1 to waypoint WPC4. region AR0 is set.

[0056] As described above, the second region setting unit 66 preferably sets the region including the target region AR0 as the second region AR2 when the current position of the first moving body 10A is within a predetermined distance range from the target region AR0. More specifically, the second region setting unit 66 may set the region including the target region AR0 (preferably the target region AR0 itself) as the second region AR2 when at least a part of the first region AR1 overlaps with the target region AR0. In other words, in the example of Figure 7, the first region AR1 and the target region AR0 overlap at the waypoint WPB, so the target region AR0 is set as the second region AR2.

[0057] In this embodiment, if there is no target area AR0 within a predetermined distance range from the current position of the first moving body 10A (i.e., if there is no target area AR0 that overlaps with the first area AR1 in at least part), the second area AR2 does not need to be set. In this case, the movement control system 1 does not need to perform processing according to the positional relationship between the second area AR2 and other moving bodies 10.

[0058] The information processing device 14 sets the first area AR1 and the second area AR2 of the first mobile body 10A based on the first mobile body information as described above. The information processing device 14 sequentially acquires the first mobile body information and sets (updates) the first area AR1 and the second area AR2 of the first mobile body 10A each time it acquires the first mobile body information. Note that the entity that sets the first area AR1 and the second area AR2 of the first mobile body 10A is not limited to the information processing device 14. For example, the first mobile body 10A itself may set the first area AR1 and the second area AR2.

[0059] (Setting of the first area for the second mobile vehicle as a manned vehicle) Figure 8 is a schematic diagram showing an example of setting the first and second regions of the second mobile body as a manned vehicle. The second mobile body 10B as a manned vehicle acquires second mobile body information via the information transmission unit 102. The second mobile body information includes information including the position of the second mobile body 10B, and preferably includes information including the position, attitude (orientation), and speed of the second mobile body 10B. The information transmission unit 102 acquires the second mobile body information sequentially. In this embodiment, the information transmission unit 102 acquires the second mobile body information sequentially while the second mobile body 10B is moving according to the operation of the driver U. The method of acquiring the second mobile body information is arbitrary, but for example, the position and attitude may be acquired using a detection device or SLAM, similar to the first mobile body 10A, and the speed may be detected by a speed sensor provided on the second mobile body 10B.

[0060] The information transmission unit 84 of the second mobile body 10B transmits the second mobile body information to the information processing device 14. That is, the mobile body information acquisition unit 62 of the information processing device 14 acquires the second mobile body information from the second mobile body 10B.

[0061] The first area setting unit 64 of the information processing device 14 sets the first area AR1 of the second mobile body 10B based on the second mobile body information. The method for setting the first area AR1 of the second mobile body 10B is the same as the method for setting the first area AR1 of the first mobile body 10A, except that the second mobile body information is used instead of the first mobile body information, so the explanation is omitted.

[0062] (Setting of the second area for the second mobile vehicle as a manned vehicle) The second area setting unit 66 of the information processing device 14 sets the second area AR2 of the second mobile body 10B as a manned vehicle based on the second mobile body information. The second area AR2 is an area located further away from the second mobile body 10B than the first area AR1, and is an area that other mobile bodies 10 should not enter. Here, "located further away from the second mobile body 10B than the first area AR1" means that the position in the second area AR2 that is furthest from the second mobile body 10B is even further away from the second mobile body 10B than the position in the first area AR1 that is furthest from the second mobile body 10B (in this example, the predicted arrival position). The method for setting the second area AR2 of the second mobile body 10B is the same as the method for setting the second area AR2 of the first mobile body 10A, except that the second mobile body information is used instead of the first mobile body information, so the explanation is omitted.

[0063] The information processing device 14 sets the first area AR1 and the second area AR2 of the second mobile body 10B based on the second mobile body information as described above. The information processing device 14 sequentially acquires the second mobile body information and sets (updates) the first area AR1 and the second area AR2 of the second mobile body 10B each time it acquires the second mobile body information. Note that the entity that sets the first area AR1 and the second area AR2 of the second mobile body 10B is not limited to the information processing device 14. For example, the second mobile body 10B itself may set the first area AR1 and the second area AR2.

[0064] (Execution of predetermined processes) The processing execution unit 68 of the information processing device 14 determines whether the current position of the second mobile body 10B (the position of the second mobile body 10B indicated by the second mobile body information) is within a predetermined distance range from the first region AR1 of the first mobile body 10A. If the current position of the second mobile body 10B is within a predetermined distance range from the first region AR1 of the first mobile body 10A, the processing execution unit 68 executes a predetermined process. If the current position of the second mobile body 10B is not within a predetermined distance range from the first region AR1 of the first mobile body 10A (i.e., it is outside the predetermined distance range), the processing execution unit 68 does not execute the predetermined process. Similarly, the processing execution unit 68 determines whether the current position of the second mobile body 10B is within a predetermined distance range from the second region AR2 of the first mobile body 10A. The processing execution unit 68 executes a predetermined process if the current position of the second mobile body 10B is within a predetermined distance range from the second region AR2 of the first mobile body 10A, but does not execute the predetermined process if the current position of the second mobile body 10B is not within a predetermined distance range from the second region AR2 of the first mobile body 10A (i.e., it is outside the predetermined distance range).

[0065] The prescribed processing here can be anything. For example, for the first mobile unit 10A, which is an unmanned vehicle, the prescribed processing may be to stop its movement. For example, for the second mobile unit 10B, which is a manned vehicle, the prescribed processing may be to notify the driver U of the second mobile unit 10B of a warning. For example, for the second mobile unit 10B, which is a manned vehicle, the prescribed processing may also be to stop its movement. By stopping the first mobile unit 10A or notifying the driver U of the second mobile unit 10B of a warning, interference and deadlocks between the mobile units 10 can be appropriately suppressed.

[0066] Thus, in this embodiment, the information processing device 14 determines whether the current position of the second mobile body 10B is within a predetermined distance range from the first region AR1 and the second region AR2 of the first mobile body 10A, and executes a predetermined process based on the determination result. However, the entity that executes this determination process and the predetermined process is not limited to the information processing device 14 and may be arbitrary. For example, the first mobile body 10A may make the above determination and perform the predetermined process on the first mobile body 10A, or the second mobile body 10B may make the above determination and perform the predetermined process on the driver U of the second mobile body 10B. In other words, the processing execution unit 68 may be included in the first mobile body 10A or the second mobile body 10B.

[0067] It is preferable that the processing execution unit 68 performs different processing depending on whether the current position of the second mobile body 10B is within a predetermined distance range from the first region AR1 of the first mobile body 10A or whether the current position of the second mobile body 10B is within a predetermined distance range from the second region AR2 of the first mobile body 10A. In other words, it is preferable that the processing execution unit 68 performs a first processing when the current position of the second mobile body 10B is within a predetermined distance range from the first region AR1 of the first mobile body 10A, and performs a second processing different from the first processing when the current position of the second mobile body 10B is within a predetermined distance range from the second region AR2 of the first mobile body 10A. By making the content of the processing performed different in each case, it becomes possible to perform processing appropriate to the positional relationship between the mobile bodies 10, and interference can be appropriately suppressed.

[0068] For example, the processing execution unit 68 may perform a second process on the first mobile body 10A, which is an unmanned vehicle, to stop its movement. The processing execution unit 68 may then perform a first process on the first mobile body 10A, which is an unmanned vehicle, to stop its movement such that the deceleration is higher than that of the first mobile body 10A in the second process. Here, deceleration refers to the degree of deceleration per unit time, and a high deceleration means that the time from when deceleration starts until it stops is short.

[0069] For example, the processing execution unit 68 may perform a second process with respect to the second mobile vehicle 10B, which is a manned vehicle, by notifying the driver U of a warning. The processing execution unit 68 may then perform a first process with respect to the second mobile vehicle 10B, which is a manned vehicle, by notifying the driver U of a warning that is more serious than the warning in the second process.

[0070] More specifically, it is preferable that the processing execution unit 68 executes a predetermined process in any of the following cases: when the second region AR2 of the first mobile body 10A and the second region AR2 of the second mobile body 10B overlap (when the first proximity condition is met); when the second region AR2 of the first mobile body 10A and the first region AR1 of the second mobile body 10B overlap (when the second proximity condition is met); when the first region AR1 of the first mobile body 10A and the second region AR2 of the second mobile body 10B overlap (when the third proximity condition is met); and when the first region AR1 of the first mobile body 10A and the first region AR1 of the second mobile body 10B overlap (when the fourth proximity condition is met). It is preferable that the processing execution unit 68 makes at least some of the processing content of the processing executed when the first proximity condition is met, the processing executed when the second proximity condition is met, the processing executed when the third proximity condition is met, and the processing executed when the fourth proximity condition is met. In this context, "overlapping regions" means that at least a portion of one region overlaps with at least a portion of the other region.

[0071] The following provides a detailed explanation of the processing steps involved when each proximity condition is met.

[0072] (If the first approach condition is met) If the first proximity condition (the second region AR2 of the first mobile body 10A and the second region AR2 of the second mobile body 10B overlap) is met, the processing execution unit 68 stops the first mobile body 10A, which is an unmanned vehicle. For example, the processing execution unit 68 sends a command to the first mobile body 10A to stop it normally, and when the first mobile body 10A receives this command, the movement control unit 82 stops the movement of the first mobile body 10A. For example in this case, the movement control unit 82 stops the movement of the first mobile body 10A by stopping the drive of the drive unit.

[0073] Furthermore, if the first proximity condition is met, the processing execution unit 68 notifies the driver U of the second mobile body 10B, which is a manned vehicle, of a warning indicating that the first proximity condition has been met. The method of notifying the warning is arbitrary. For example, the processing execution unit 68 may notify the driver U of the warning by having an output unit (speaker, light source, display, etc.) mounted on the second mobile body 10B output the warning, or it may have the first mobile body 10A output the warning, or it may have an output unit provided on the equipment W output the warning. The content of the warning is also arbitrary, and for example, at least one of an image, light, and sound may be output as a warning. The method of notifying the warning and the content of the warning are also arbitrary when the second to fourth proximity conditions are met, and any of the above may be applied.

[0074] (If the second proximity condition is met) If the second proximity condition (the second region AR2 of the first mobile body 10A and the first region AR1 of the second mobile body 10B overlap) is met, the processing execution unit 68 stops the first mobile body 10A, which is an unmanned vehicle. The method for stopping the first mobile body 10A when the second proximity condition is met is the first approach The stopping method for the first mobile unit 10A may be the same as the method used when the conditions are met.

[0075] Furthermore, if the second proximity condition is met, the processing execution unit 68 notifies the driver U of the second mobile body 10B, which is a manned vehicle, of a warning indicating that the second proximity condition has been met. It is preferable that the severity of the warning when the second proximity condition is met is higher than the severity of the warning when the first proximity condition is met. For example, the severity can be increased by making at least one of the content of the warning and the notification method when the second proximity condition is met different from at least one of the content of the warning and the notification method when the first proximity condition is met. For example, the severity can be increased by making the sound or light output when the second proximity condition is met stronger than the sound or light output when the first proximity condition is met. The second proximity condition is a state in which the second moving body 10B is closer to the first moving body 10A than the first proximity condition. By increasing the severity of the warning, the driver U can be further alerted, and interference and deadlock between the moving bodies 10 can be appropriately suppressed.

[0076] (If the third proximity condition is met) If the third proximity condition (the first region AR1 of the first mobile body 10A and the second region AR2 of the second mobile body 10B overlap) is met, the processing execution unit 68 stops the first mobile body 10A, which is an unmanned vehicle. The method for stopping the first mobile body 10A when the third proximity condition is met is the first approach The stopping method for the first mobile unit 10A may be the same as the method used when the conditions are met.

[0077] Furthermore, if the third proximity condition is met, the processing execution unit 68 notifies the driver U of the second mobile body 10B, which is a manned vehicle, of a warning indicating that the third proximity condition has been met. It is preferable that the severity of the warning when the third proximity condition is met is higher than the severity of the warning when the second proximity condition is met. For example, the severity can be increased by making at least one of the content of the warning and the notification method when the third proximity condition is met different from at least one of the content of the warning and the notification method when the second proximity condition is met. For example, the severity can be increased by making the sound or light output when the third proximity condition is met stronger than the sound or light output when the second proximity condition is met. The third proximity condition is a state in which the second moving body 10B is closer to the first moving body 10A than the second proximity condition. By increasing the severity of the warning, the driver U can be further alerted, and interference and deadlock between the moving bodies 10 can be appropriately suppressed.

[0078] (If the fourth approach condition is met) If the fourth proximity condition (the first region AR1 of the first mobile body 10A and the first region AR1 of the second mobile body 10B overlap) is met, the processing execution unit 68 stops the first mobile body 10A, which is an unmanned vehicle. The processing execution unit 68 stops the first mobile body 10A such that the deceleration of the first mobile body 10A when the fourth proximity condition is met is higher than the deceleration of the first mobile body 10A when the first proximity condition (from the first proximity condition to the third proximity condition) is met. For example, the processing execution unit 68 sends a command to the first mobile body 10A to perform an emergency stop, and when the first mobile body 10A receives this command, the movement control unit 82 performs an emergency stop on the first mobile body 10A. For example in this case, the movement control unit 82 applies the brakes while stopping the drive of the drive unit, thereby increasing the deceleration of the first mobile body 10A compared to a normal stop. The fourth proximity condition is a state in which the second mobile body 10B and the first mobile body 10A are closer together than in the first to third proximity conditions. Therefore, by stopping the first mobile body 10A earlier, interference and deadlock between the mobile bodies 10 can be appropriately suppressed.

[0079] Furthermore, if the fourth proximity condition is met, the processing execution unit 68 notifies the driver U of the second mobile body 10B, which is a manned vehicle, of a warning indicating that the fourth proximity condition has been met. The processing execution unit 68 may set the severity of the warning when the fourth proximity condition is met to be the same as the severity of the warning when the third proximity condition is met.

[0080] Furthermore, if the fourth proximity condition is met, the processing execution unit 68 may also stop the second mobile vehicle 10B, which is a manned vehicle. More specifically, if the fourth proximity condition is met and the speed of the second mobile vehicle 10B indicated by the second mobile vehicle information is faster than a predetermined speed, the processing execution unit 68 may stop the movement of the second mobile vehicle 10B. For example, the processing execution unit 68 transmits a command to the second mobile vehicle 10B to stop it, and upon receiving this command, the movement control unit 104 stops the second mobile vehicle 10B.

[0081] (Processing flow) The following describes the processing flow of the motion control system 1 as explained above. Figure 9 is a flowchart illustrating the processing flow of the motion control system. As shown in Figure 9, the information processing device 14 acquires the first motion information of the first motion body 10A and the second motion information of the second motion body 10B using the motion information acquisition unit 62 (step S10). The information processing device 14 sets the first region AR1 of the first motion body 10A based on the first motion information of the first motion body 10A using the first region setting unit 64 (step S12), and sets the second region AR2 of the first motion body 10A based on the first motion information of the first motion body 10A using the second region setting unit 66 (step S14). Then, the information processing device 14, using the processing execution unit 68, determines whether the current position of the second mobile body 10B is within a predetermined distance range from the first region AR1 of the first mobile body 10A (step S16). If it is within the predetermined distance range (step S16; Yes), it executes the first process (step S18) and proceeds to step S24. On the other hand, if the current position of the second mobile body 10B is not within the predetermined distance range from the first region AR1 of the first mobile body 10A (step S16; No), but is within the predetermined distance range from the second region AR2 of the first mobile body 10A (step S20; Yes), the processing execution unit 68 executes the second process (step S22) and proceeds to step S24. If the current position of the second mobile body 10B is not within the predetermined distance range from both the first region AR1 and the second region AR2 of the first mobile body 10A (step S20; No), neither the first nor the second process is executed, and the process proceeds to step S24. In step S24, if it is determined to terminate the process (step S24; Yes), the process is terminated. If it is determined not to terminate the process (step S24; No), the process returns to step S10 and continues.

[0082] (effect) As described above, in this embodiment, a first region AR1 and a second region AR2 are set for the first mobile body 10A, and a predetermined process is executed in both cases where the current position of the second mobile body 10B is within a predetermined distance range from the first region AR1 of the first mobile body 10A and within a predetermined distance range from the second region AR2 of the first mobile body 10A. Therefore, interference between the first mobile body 10A and the second mobile body 10B can be appropriately suppressed.

[0083] Furthermore, in this embodiment, a target area AR0 is set on the intersection, and when the first moving body 10A is within a predetermined distance range from the target area AR0 on the intersection, the target area AR0 is set to the second area AR2. This prevents the first moving body 10A and the second moving body 10B from getting too close, regardless of which direction the first moving body 10A moves across the intersection afterward, thereby appropriately suppressing interference between the first moving body 10A and the second moving body 10B.

[0084] Figures 10 and 11 are schematic diagrams illustrating an example where the target area on the intersection is set as the second area. As shown in Figure 10, the first mobile body 10A is moving along route R1 on the opposite side of the Y direction, and the area from the current position of the first mobile body 10A to waypoint WPB is set as the first area AR1, while the second mobile body 10B is moving along route R2 on the opposite side of the X direction. In this example, if we assume that the second area AR2 is not set, waypoint WPC4 on route R2 will not be set as the second area AR2. Therefore, the driver U of the second mobile body 10B may move the second mobile body 10B from waypoint WPC4 towards the intersection (waypoint WPC1) without receiving a warning, and may come too close to the first mobile body 10A which is moving from its current position towards the intersection (waypoint WPC1). In contrast, when a second region AR2 is set on an intersection, the waypoint WPC4 on the route R2 becomes the second region AR2. As a result, the first region AR1 of the second mobile body 10B and the second region AR2 of the first mobile body 10A overlap, and a warning is issued. Therefore, the driver U of the second mobile body 10B can adjust the movement of the second mobile body 10B as appropriate upon receiving the warning, thereby preventing it from approaching the first mobile body 10A.

[0085] Furthermore, as shown in Figure 11, let's consider the case where the first mobile vehicle 10A is turning (spinning) in the opposite direction to the X direction at an intersection (waypoint WPC1). In this example, if we assume that the second region AR2 is not set, waypoint WPC4 on the route R2 will not be set as the second region AR2. Therefore, the driver U of the second mobile vehicle 10B may move the second mobile vehicle 10B from waypoint WPC4 towards the intersection (waypoint WPC1) without receiving a warning, and may come too close to the first mobile vehicle 10A which is spinning at the intersection. On the other hand, if the second region AR2 is set on the intersection, waypoint WPC4 becomes the second region AR2, so the first region AR1 of the second mobile vehicle 10B and the second region AR2 of the first mobile vehicle 10A overlap, and a warning is issued. Therefore, upon receiving a warning, the driver U of the second mobile body 10B can appropriately adjust the movement of the second mobile body 10B to prevent it from approaching the first mobile body 10A.

[0086] (Other examples of setting up the second domain) Figures 12 and 13 are schematic diagrams showing other examples of setting the second region. In the above-described embodiment, the target region AR0 was set on the intersection and within a predetermined distance range from the intersection, and the region overlapping with the target region AR0 was set as the second region AR2 when the mobile body 10 (first mobile body 10A or second mobile body 10B) was within a predetermined distance from the target region AR0. However, as shown in Figure 12, when the mobile body 10 (first mobile body 10A or second mobile body 10B) is within a predetermined distance from the target region AR0, the section spanning from one intersection on the target region AR0 to the next intersection may be set as the second region AR2. That is, the intersection on the target region AR0 is set as the first intersection (waypoint WPC1 in the example of Figure 12), and the intersection where the path branches (intersects) with another path after the first intersection is set as the second intersection (waypoint WPD1 in the example of Figure 12). In other words, between the first and second intersections, the path does not branch to another path. In this case, if the moving object 10 is within a predetermined distance range from the target area AR0 set on the first intersection, the second area setting unit 66 sets the section from the first intersection to the second intersection as the second area AR2. More preferably, in this case, the second area setting unit 66 sets the second area AR2 to include the first intersection (waypoint WPC1 in the example of Figure 12), the sections within a predetermined distance range from the first intersection on each path that intersects at the first intersection (waypoints WPB to WPC3, waypoints WPC2 to WPC4), the section from the first intersection to the second intersection (waypoints WPC3 to WPD1), the second intersection (waypoint WPD1), and the sections within a predetermined distance range from the second intersection on each path that intersects at the second intersection (waypoints WPD2 to WPD4, waypoints WPD1 to WPD3). By setting the section up to the next intersection as the second area AR2 in this way, deadlocks can be appropriately suppressed.

[0087] Furthermore, as shown in Figure 13, among the waypoints WP on region AR, a section containing a waypoint WP whose distance to other waypoints WP belonging to adjacent paths is less than a predetermined distance may be set as the target region AR0. In the example in Figure 13, the current position of the first mobile body 10A is on waypoint WPE1, waypoints WPE1 to WPE2 belong to path R3, and waypoints WPF1 to WPF2 belong to path R4 adjacent to path R3. Also, the distance between waypoints WPF1 and WPF2 is less than a predetermined distance. In addition, since the distance from the current position of the first mobile body 10A (waypoint WPE1) to waypoints WPF1 to WPF2 is within a predetermined distance, the section from waypoints WPF1 to WPF2 is set as the second region AR2. By setting nearby paths as the second region AR2 in this way, interference and deadlocks with mobile bodies 10 moving on different paths can be appropriately suppressed.

[0088] Furthermore, the second area setting unit 66 may set a third area in which other mobile bodies 10 should not enter when the mobile body 10 is stopped. If the first mobile body information or the second mobile body information indicates that the mobile body 10 is stopped (for example, if its speed is zero), the second area setting unit 66 may set an area within a predetermined distance range from the current position of the mobile body 10 as the third area. In this case, the processing execution unit 68 may treat the third area as the same as the second area and perform the processing described in the above embodiment. That is, for example, if the second mobile body 10B, which is a manned vehicle, is located within a predetermined distance range from the third area of ​​the first mobile body 10A, which is an unmanned vehicle, the first mobile body 10A may remain stopped while a warning is notified to the driver U of the second mobile body 10B.

[0089] (Example where both vehicles are manned) In the example described above, the first mobile body 10A was an unmanned vehicle, and the second mobile body 10B of the mobile body 10 was a manned vehicle, but this is not limited to this. For example, both the first mobile body 10A and the second mobile body 10B may be manned vehicles, or the first mobile body 10A may be a manned vehicle and the second mobile body 10B may be an unmanned vehicle. The processing when the first mobile body 10A is a manned vehicle and the second mobile body 10B is an unmanned vehicle is as follows: , Yes Except for treating the first mobile body 10A, which is a manned vehicle, as the second mobile body 10B, and the second mobile body 10B, which is an unmanned vehicle, as the first mobile body 10A, the description is the same as in the above embodiment and will be omitted. Hereafter, the processing when both the first mobile body 10A and the second mobile body 10B are manned vehicles will be described.

[0090] If the first proximity condition (the second region AR2 of the first mobile body 10A and the second region AR2 of the second mobile body 10B overlap) is met, the processing execution unit 68 will determine the driver U of the first mobile body 10A, which is a manned vehicle, and It is a manned vehicle. A warning indicating that the first proximity condition is met is sent to both the driver U of the second mobile body 10B and the second mobile body 10B. The method of notifying the warning and the content of the warning may be the same as in the above embodiment when the first proximity condition is met.

[0091] If the second proximity condition (the second region AR2 of the first mobile body 10A and the first region AR1 of the second mobile body 10B overlap) is met, the processing execution unit 68 notifies both the driver U of the first mobile body 10A, which is a manned vehicle, and the driver U of the second mobile body 10B, of a warning indicating that the second proximity condition has been met. The method of notifying the warning and the content of the warning may be the same as in the above embodiment when the second proximity condition is met.

[0092] If the third proximity condition (the first region AR1 of the first mobile body 10A and the second region AR2 of the second mobile body 10B overlap) is met, the processing execution unit 68 notifies both the driver U of the first mobile body 10A, which is a manned vehicle, and the driver U of the second mobile body 10B, of a warning indicating that the third proximity condition has been met. The method of notifying the warning and the content of the warning may be the same as in the above embodiment when the third proximity condition is met.

[0093] If the fourth proximity condition (the first region AR1 of the first mobile body 10A and the first region AR1 of the second mobile body 10B overlap) is met, the processing execution unit 68 notifies both the driver U of the first mobile body 10A, which is a manned vehicle, and the driver U of the second mobile body 10B, of a warning indicating that the fourth proximity condition has been met. The method of notifying the warning and the content of the warning may be the same as in the above embodiment when the fourth proximity condition is met.

[0094] Furthermore, if the fourth proximity condition is met, the processing execution unit 68 may also stop at least one (preferably both) of the manned vehicles, the first mobile body 10A and the second mobile body 10B. More specifically, if the fourth proximity condition is met and at least one of the speeds of the first mobile body 10A indicated by the first mobile body information and the speed of the second mobile body 10B indicated by the second mobile body information is faster than a predetermined speed, the processing execution unit 68 may stop the movement of at least one (preferably both) of the first mobile body 10A and the second mobile body 10B.

[0095] (effect) As described above, a method for controlling a moving body according to a first aspect of this disclosure includes the steps of: acquiring first moving body information including the position of a first moving body 10A; setting a first region AR1 into which the first moving body 10A may enter based on the first moving body information; setting a second region AR2 located further from the first moving body 10A than the first region AR1 based on the first moving body information; acquiring second moving body information including the position of a second moving body 10B; and executing a predetermined process in both cases: when the position of the second moving body 10B indicated by the second moving body information is within a predetermined distance range from the first region AR1, and when the position of the second moving body 10B indicated by the second moving body information is within a predetermined distance range from the second region. According to this disclosure, by setting the first region AR1 and the second region AR2 in this manner and performing processing according to the positional relationship between the first region AR1 and the second mobile body 10B, and the positional relationship between the second region AR2 and the second mobile body 10B, interference and deadlock between the first mobile body 10A and the second mobile body 10B can be appropriately suppressed.

[0096] A control method according to a second aspect of this disclosure is a control method according to a first aspect, wherein in the step of setting a second region AR2, if the position of the first mobile body 10A indicated by the first mobile body information is within a predetermined distance range from a preset target region AR0, the region including the target region AR0 is set as the second region AR2. According to this disclosure, when the second mobile body 10B approaches a predetermined target region AR0 that requires attention, setting that target region AR0 as the second region AR2 prevents the second mobile body 10B from entering the area that requires attention, thereby appropriately suppressing interference and deadlocks.

[0097] A control method according to a third aspect of this disclosure is a control method according to the first or second aspect, wherein in the step of setting the second region AR2, if at least a part of the first region AR1 overlaps with the target region AR0, the region including the target region AR0 is set as the second region AR2. According to this disclosure, interference and deadlock can be appropriately suppressed by preventing the second mobile body 10B from entering the region requiring attention.

[0098] A control method relating to a fourth aspect of this disclosure is a control method relating to a second or third aspect, wherein the target area AR0 includes an intersection where the path of the moving body 10 branches off from another path, and a section of the path and the other path within a predetermined distance range from the intersection. By setting the target area AR0 on the intersection in this way, interference and deadlocks can be appropriately suppressed regardless of the direction in which the first moving body 10A moves through the intersection.

[0099] A control method relating to the fifth aspect of this disclosure is a control method relating to any of the first to fourth aspects, wherein in the step of executing a predetermined process, the process to be executed differs depending on whether the position of the second mobile body 10B is within a predetermined distance range from the first region AR1 or within a predetermined distance range from the second region AR2. By differentiating the content of the process to be executed, it becomes possible to perform processing appropriate to the positional relationship between the mobile bodies 10, thereby appropriately suppressing interference and deadlocks.

[0100] The control method according to the sixth aspect of this disclosure is a control method according to any of the first to fifth aspects, wherein at least one of the first mobile body 10A and the second mobile body 10B is a manned vehicle moved by the operation of driver U. When at least one of the mobile bodies 10 is a manned vehicle, it is difficult to know the movement path of the manned vehicle in advance, so there is a particular need to appropriately suppress interference and deadlocks between the mobile bodies 10. In response to this, according to this disclosure, interference and deadlocks between the mobile bodies 10 can be appropriately suppressed by performing processing according to the positional relationship between the first region AR1 and the second mobile body 10B, and the positional relationship between the second region AR2 and the second mobile body 10B.

[0101] A control method according to the seventh aspect of this disclosure is a control method according to any of the first to sixth aspects, wherein the first mobile body 10A is an autonomously moving unmanned vehicle, and in the step of performing a predetermined process, the first mobile body 10A is stopped in both cases: when the position of the second mobile body 10B is within a predetermined distance range with respect to the first region AR1, and when the position of the second mobile body 10B is within a predetermined distance range with respect to the second region AR2. By stopping the first mobile body 10A when the second mobile body 10B approaches in this way, interference and deadlocks between the mobile bodies 10 can be appropriately suppressed.

[0102] The control method according to the eighth aspect of this disclosure is the control method according to the seventh aspect, wherein in the step of performing a predetermined process, the deceleration of the first moving body 10A when the position of the second moving body 10B is within a predetermined distance range from the first region AR1 is made higher than the deceleration of the first moving body 10A when the position of the second moving body 10B is within a predetermined distance range from the second region AR2. By increasing the deceleration when the second moving body 10B approaches further in this way, interference and deadlock can be appropriately suppressed depending on the positional relationship between the moving bodies 10.

[0103] A control method according to the ninth aspect of this disclosure is a control method according to any of the first to sixth aspects, wherein the first mobile body 10A is a manned vehicle moved by the operation of the driver, and in the step of performing a predetermined process, an alarm is notified to the driver U in both cases: when the position of the second mobile body 10B is within a predetermined distance range with respect to the first region AR1, and when the position of the second mobile body 10B is within a predetermined distance range with respect to the second region AR2. By notifying the driver U of an alarm, the driver U's attention can be drawn, and interference and deadlocks can be appropriately suppressed.

[0104] A control method according to a tenth aspect of this disclosure is a control method according to a ninth aspect, wherein in the step of executing a predetermined process, the severity of the alarm is made different depending on whether the position of the second mobile body 10B is within a predetermined distance range from the first region AR1 or within a predetermined distance range from the second region AR2. By making the severity of the alarm different according to the relative positions of the mobile bodies 10 in this way, it becomes possible to provide warnings according to the relative positions, and interference and deadlocks can be appropriately suppressed.

[0105] A control method according to the 11th aspect of this disclosure is a control method according to the 9th or 10th aspect, wherein in the step of performing a predetermined process, the first mobile body 10A is stopped in at least one of the cases where the position of the second mobile body 10B is within a predetermined distance range with respect to the first region AR1, and where the position of the second mobile body 10B is within a predetermined distance range with respect to the second region AR2. By stopping the manned vehicle in this way, interference and deadlocks can be suppressed more effectively.

[0106] A program according to a twelfth aspect of this disclosure causes a computer to perform the following steps: acquire first mobile body information including the position of a first mobile body 10A; set a first region AR1 into which the first mobile body 10A may enter based on the first mobile body information; set a second region AR2 further away from the first mobile body 10A than the first region AR1 based on the first mobile body information; acquire second mobile body information including the position of a second mobile body 10B; and perform predetermined processing in both cases where the position of the second mobile body 10B indicated by the second mobile body information is within a predetermined distance range from the first region AR1, and where the position of the second mobile body 10B indicated by the second mobile body information is within a predetermined distance range from the second region. According to this disclosure, interference and deadlocks between the first mobile body 10A and the second mobile body 10B can be appropriately suppressed.

[0107] An information processing device according to a 13th aspect of this disclosure includes: a mobile body information acquisition unit 62 that acquires first mobile body information including the position of a first mobile body 10A and second mobile body information including the position of a second mobile body 10B; a first area setting unit 64 that sets a first area AR1 into which the first mobile body may enter based on the first mobile body information; a second area setting unit 66 that sets a second area AR2 located further from the first mobile body 10A than the first area AR1 based on the first mobile body information; and a processing execution unit 68 that performs predetermined processing in both cases: when the position of the second mobile body 10B indicated by the second mobile body information is within a predetermined distance range from the first area AR1, and when the position of the second mobile body 10B indicated by the second mobile body information is within a predetermined distance range from the second area. According to this disclosure, interference and deadlocks between the first mobile body 10A and the second mobile body 10B can be appropriately suppressed.

[0108] Although embodiments of the present disclosure have been described above, the embodiments are not limited to those described herein. Furthermore, the aforementioned components include those that can be easily conceived by those skilled in the art, those that are substantially the same, and those that fall within the so-called equivalent range. Moreover, the aforementioned components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the gist of the embodiments described above. [Explanation of symbols]

[0109] 10 Mobile Units 10A First Mobile Unit 10B 2nd mobile object 12 Management device 14 Information Processing Devices 62 Mobile object information acquisition unit 64 First Domain Setting Unit 66 Second Domain Setting Unit 68 Processing Execution Unit AR0 Target Area AR1 1st area AR2 2nd area

Claims

1. A method for controlling a mobile object performed by an information processing device, A step of acquiring information about the first moving object, including the position of the first moving object, A step of setting a first region into which the first moving object may enter, based on the first moving object information, A step of setting a second region located further away from the first mobile object than the first region, based on the first mobile object information, A step of acquiring information about the second mobile object, including the position of the second mobile object, The steps include: performing a predetermined process in both cases: when the position of the second mobile object indicated by the second mobile object information is within a predetermined distance range from the first region, and when the position of the second mobile object indicated by the second mobile object information is within a predetermined distance range from the second region; Includes, In the step of setting the second region, if the position of the first moving object indicated by the first moving object information is within a predetermined distance range from the pre-set target region, the region including the target region is set as the second region. The predetermined process is to stop the first mobile body or the second mobile body, or to notify the driver of the first mobile body or the second mobile body of a warning. A method for controlling a moving object.

2. The method for controlling a moving body according to claim 1, wherein in the step of setting the second region, if at least a part of the first region overlaps with the target region, the region including the target region is set as the second region.

3. The method for controlling a moving body according to claim 1 or claim 2, wherein the target area includes an intersection where the path of the moving body branches off from another path, and a section of the path and the other path within a predetermined distance range from the intersection.

4. The method for controlling a moving body according to claim 1 or claim 2, wherein in the step of performing the predetermined processing, the processing to be performed differs depending on whether the position of the second moving body is within a predetermined distance range from the first region or whether the position of the second moving body is within a predetermined distance range from the second region.

5. The method for controlling a mobile body according to claim 1 or 2, wherein at least one of the first mobile body and the second mobile body is a manned vehicle that moves by operation of a driver.

6. The first mobile object is an autonomously moving unmanned vehicle, The method for controlling a moving body according to claim 1 or 2, wherein in the step of performing the predetermined processing, the first moving body is stopped in both cases: when the position of the second moving body is within a predetermined distance range with respect to the first region, and when the position of the second moving body is within a predetermined distance range with respect to the second region.

7. The method for controlling a moving body according to claim 6, wherein in the step of performing the predetermined processing, the deceleration of the first moving body when the position of the second moving body is within a predetermined distance range from the first region is made higher than the deceleration of the first moving body when the position of the second moving body is within a predetermined distance range from the second region.

8. The first mobile unit is a manned vehicle that moves under the operation of a driver. The method for controlling a mobile body according to claim 1 or 2, wherein in the step of performing the predetermined processing, an alarm is notified to the driver in both cases: when the position of the second mobile body is within a predetermined distance range from the first region, and when the position of the second mobile body is within a predetermined distance range from the second region.

9. The method for controlling a mobile body according to claim 8, wherein in the step of performing the predetermined processing, the severity of the alarm is made different depending on whether the position of the second mobile body is within a predetermined distance range from the first region or whether the position of the second mobile body is within a predetermined distance range from the second region.

10. The method for controlling a moving body according to claim 8, wherein in the step of performing the predetermined processing, the first moving body is stopped in at least one of the cases where the position of the second moving body is within a predetermined distance range with respect to the first region, and where the position of the second moving body is within a predetermined distance range with respect to the second region.

11. A step of acquiring information about the first moving object, including the position of the first moving object, A step of setting a first region into which the first moving object may enter, based on the first moving object information, A step of setting a second region located further away from the first mobile object than the first region, based on the first mobile object information, A step of acquiring information about the second mobile object, including the position of the second mobile object, The steps include: performing a predetermined process in both cases: when the position of the second mobile object indicated by the second mobile object information is within a predetermined distance range from the first region, and when the position of the second mobile object indicated by the second mobile object information is within a predetermined distance range from the second region; Have the computer run it, In the step of setting the second region, if the position of the first moving object indicated by the first moving object information is within a predetermined distance range from the pre-set target region, the region including the target region is set as the second region. The predetermined process is to stop the first mobile body or the second mobile body, or to notify the driver of the first mobile body or the second mobile body of a warning. program.

12. A mobile body information acquisition unit that acquires first mobile body information including the position of the first mobile body and second mobile body information including the position of the second mobile body, A first area setting unit sets a first area into which the first moving object may enter, based on the first moving object information. A second region setting unit sets a second region that is located further away from the first moving object than the first region, based on the first moving object information, A processing execution unit that performs a predetermined process in both cases: when the position of the second mobile body indicated by the second mobile body information is within a predetermined distance range from the first region, and when the position of the second mobile body indicated by the second mobile body information is within a predetermined distance range from the second region; Includes, The second region setting unit sets the region including the target region as the second region when the position of the first moving object indicated by the first moving object information is within a predetermined distance range from the target region. The predetermined process is to stop the first mobile body or the second mobile body, or to notify the driver of the first mobile body or the second mobile body of a warning. Information processing device.

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