Movement control system, movement control device, and movement control method

Abstract

A movement control system (1000) is provided with at least one mobile body (1), a sensor (3) for transmitting movement region information relating to a movement region of the mobile body, a route generating unit (440) for generating a route along which the mobile body is to move through the movement region, on the basis of the movement region information received via a network, and a mobile body control unit (450) for controlling the movement of the mobile body on the basis of the route, wherein: the route generating unit generates an avoidance route for avoiding a second region including a first region representing the position of an object present in the movement region, and a surrounding region around the first region; and the mobile body control unit is configured to control the mobile body on the basis of the avoidance route.

Description

Technical Field

[0004] , , , , , , , , ,

[0001] The present invention relates to a movement control system, a movement control device, and a movement control method.

Background Art

[0002] Conventionally, in a logistics warehouse, a factory, or the like, robots (moving bodies) that convey parts, materials, and the like are utilized. For example, Patent Document 1 discloses a technique for moving a robot by detecting obstacles around the robot by a sensor mounted on the robot and generating a movement path so as to avoid the detected obstacles. Further, Patent Document 2 discloses a technique for moving a robot along a movement path by controlling the posture of the robot based on the distance between an obstacle detected by a sensor and the robot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technologies disclosed in Patent Documents 1 and 2, the robot is controlled based on signals from sensors mounted on the robot itself. To avoid obstacles such as parts and materials using the technologies disclosed in Patent Documents 1 and 2, the robot must be moved to a range where the sensors can detect the obstacle, which can cause the robot to get too close to the obstacle. As a result, the robot may not be able to safely transport the goods due to its proximity to the obstacle. For example, if the robot performs an avoidance maneuver just before an obstacle, it may not be able to completely avoid a collision with the robot if the obstacle moves. Furthermore, if the robot does not operate as directed due to a malfunction or other reason, a collision between the robot and the obstacle is also possible. Thus, there is a problem in that the robot getting too close to obstacles reduces the safety and productivity of the transport operation.

[0005] The object of the present invention is to provide a movement control system, a movement control device, and a movement control method that improve the safety and productivity of transport operations. [Means for solving the problem]

[0006] The movement control system of the present invention comprises at least one moving body, a sensor that transmits movement area information relating to the movement area of ​​the moving body, a path generation unit that generates a path for the moving body to move through the movement area based on the movement area information received via a network, and a moving body control unit that controls the movement of the moving body based on the path, wherein the path generation unit generates an avoidance path that avoids a second area including a first area representing the position of an object present in the movement area and a surrounding area of ​​the first area, and the moving body control unit controls the moving body based on the avoidance path.

[0007] The motion control device of the present invention comprises: a path generation unit that generates a path for a moving body to move through a moving area based on motion area information relating to the motion area of ​​at least one moving body received from a sensor via a network; and a moving body control unit that controls the movement of the moving body based on the path, wherein the path generation unit generates an avoidance path that avoids a second area including a first area representing the position of an object present in the motion area and a surrounding area of ​​the first area, and the moving body control unit controls the moving body based on the avoidance path.

[0008] The movement control method of the present invention comprises transmitting movement area information relating to the movement area of ​​at least one moving body, generating a path for the moving body to move through the movement area based on the movement area information received via a network, and controlling the movement of the moving body based on the path, wherein when generating the path, an avoidance path is generated that avoids a second area including a first area representing the position of an object present in the movement area and a surrounding area of ​​the first area, and when controlling the movement of the moving body, the moving body is controlled based on the avoidance path. [Effects of the Invention]

[0009] According to the present invention, a movement control system, a movement control device, and a movement control method can be provided that improve the safety and productivity of transport operations by moving a moving body while avoiding obstacles so that the moving body does not get too close to the obstacles. In addition, the present invention may provide other effects in lieu of or in conjunction with the above effect. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram illustrating the overview of the transport system according to the first embodiment. [Figure 2] This figure shows the hardware configuration of the information processing device according to the first embodiment. [Figure 3] This is an external perspective view showing the schematic configuration of a transport robot according to the first embodiment. [Figure 4]It is a top view diagram for explaining the operations of the rotation mechanism, restoration mechanism, and guide mechanism of the transport robot according to the first embodiment. [Figure 5] It is a functional block diagram showing the functional configuration of the transport robot according to the first embodiment. [Figure 6] It is a schematic diagram showing an example of the path along which the transport robot according to the first embodiment moves. [Figure 7] It is an explanatory diagram for explaining the control of the transport robot according to the first embodiment. [Figure 8] It is a block diagram exemplifying the schematic configuration of the movement control system according to the first embodiment. [Figure 9] It is a functional block diagram exemplifying the schematic configuration of the movement control device according to the first embodiment. [Figure 10] It is a sequence diagram showing the flow of controlling the movement of a moving body by the movement control system according to the first embodiment. [Figure 11] It is a flowchart showing the flow of controlling the movement of a moving body by the movement control method according to the first embodiment. [Figure 12] It is an explanatory diagram of the first region and the second region according to the first embodiment. [Figure 13] It is a diagram showing the operation mode of the transport system according to the second embodiment. [Figure 14] It is a sequence diagram showing the flow of controlling the movement of the transport robot in the transport system according to the second embodiment. [Figure 15] It is a diagram showing the operation mode of the transport system according to the third embodiment. [Figure 16] It is an explanatory diagram of the avoidance path according to the third embodiment. [Figure 17] It is a sequence diagram showing the flow of controlling the movement of the transport robot in the transport system according to the third embodiment. [Figure 18] It is an explanatory diagram of the position information according to the third embodiment. [Figure 19] It is a diagram exemplifying the information configuration of the position information according to the third embodiment. [Figure 20]It is a diagram illustrating the information configuration of the mobile body information regarding the mobile body according to the third embodiment. [Figure 21] It is a diagram illustrating the information configuration of the conveyed object information regarding the conveyed object according to the third embodiment. [Figure 22] It is a diagram showing the operation mode of the conveying system according to the fourth embodiment. [Figure 23] It is a sequence diagram showing the flow of controlling the movement of the conveying robot in the conveying system according to the fourth embodiment. [Figure 24] It is a plan view schematically showing an example of cooperative conveyance according to the fourth embodiment. [Figure 25] It is a side view schematically showing an example of cooperative conveyance according to the fourth embodiment. [Figure 26] It is an explanatory diagram of the avoidance route according to the fourth embodiment. [Figure 27] It is an overall view of the movement area according to the fourth embodiment.

Embodiments for Carrying out the Invention

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and drawings, for elements that can be similarly described, duplicate description may be omitted by assigning the same reference numerals.

[0012] Each of the embodiments described below is merely an example of a configuration capable of realizing the present invention. Each of the following embodiments can be appropriately modified or changed according to the configuration of the device to which the present invention is applied and various conditions. Not all combinations of elements included in the following embodiments are essential for realizing the present invention, and some of the elements can be appropriately omitted. Therefore, the scope of the present invention is not limited by the configurations described in the following embodiments. As long as there is no contradiction, a configuration combining a plurality of configurations described in the embodiments can also be adopted.

[0013] The description will be made in the following order. 1. Outline of Embodiments of the Present Invention 2. First Embodiment 2.1. Overview of the Conveyor System 2.2. Hardware configuration of the information processing device 2.3. Overview of Transport Robots 2.4. Operational Model of the Conveyor System 2.5. Processing flow in the transport system 3. Second Embodiment 3.1. Operational configuration of the transport system 3.2. Processing flow in the transport system 4. Third Embodiment 4.1. Operational configuration of the transport system 4.2. Method for generating avoidance routes 4.3. Processing flow in the transport system 5. Fourth Embodiment 5.1. Operational Model of the Conveyor System 5.2. Method for generating avoidance routes 5.3. Processing flow in the transport system 6. Modified form of the fourth embodiment 7. Other Embodiments

[0014] <1. Overview of Embodiments of the Invention> First, an overview of the embodiments of the present invention will be described.

[0015] (Technical issues) Traditionally, robots (mobile vehicles) have been used in logistics warehouses and factories to transport parts and materials. For example, a technology has been disclosed in which a robot is moved by detecting obstacles around it using sensors mounted on the robot and generating a path that avoids the detected obstacles. Another technology has been disclosed in which a robot is moved along a path by controlling its posture based on the distance between the robot and obstacles detected by sensors.

[0016] These technologies control the robot based on signals from sensors mounted on the robot itself. To avoid obstacles such as parts and materials using these technologies, the robot needs to move to a range where the sensors can detect the obstacle, which can cause the robot to get too close to the obstacle. As a result, the robot may not be able to safely transport the goods due to its proximity to the obstacle. For example, if the robot performs an avoidance maneuver just before an obstacle, it may not be able to completely avoid a collision with the robot if the obstacle moves. Also, if the robot does not operate as intended due to a malfunction or other reason, a collision between the robot and the obstacle is also possible. Thus, there is a problem in that the robot getting too close to obstacles reduces the safety and productivity of the transport operation.

[0017] In view of the above circumstances, the present invention aims to provide a movement control system, a movement control device, and a movement control method that improve the safety and productivity of transport operations.

[0018] <2. First Embodiment> <2.1. Overview of the Conveyor System> First, with reference to Figure 1, an overview of the transport system 1000 according to the first embodiment of the present invention will be described. Figure 1 is a diagram showing an overview of the transport system 1000. The transport system 1000 is configured by connecting a transport robot 1, transported objects 2, sensors 3, a system control device 4, and an AP (Access Point) 5 via a network 6. Note that the transport system 1000 may include transport robots other than the transport robot 1. Also, the transport system 1000 may be configured without the AP 5. Furthermore, the transport system 1000 may include multiple sensors 3 and AP 5. In addition, the network 6 may be wireless communication only, such as Wi-Fi, local 5G, 4G, 3G, or LTE, or a combination of wireless communication and wired communication may be used.

[0019] As shown in Figure 1, the transport robot 1 is capable of transporting an object 2, which is the object to be transported. Examples of transport robots 1 that can be used include a transport robot that can move with the object 2 on it, a transport robot that can move while towing a trolley carrying the object 2 with a towing device, a transport robot that can move while supporting the object 2, and a transport robot that can move while lifting the trolley carrying the object 2. Note that the transport robot 1 in this disclosure is just one example of a mobile body.

[0020] Sensor 3 acquires information about the movement area in which the transport robot 1 moves. The movement area corresponds to the area in the transport system 1000 that the transport robot can travel. The information about the movement area includes, for example, an image of the movement area, the absolute coordinates of obstacles 7 in the movement area, relative coordinates (from the current location and destination of the transport robot 1), and an identification number for the area where obstacles 7 are located in the movement area. The movement area may be an area designated in advance by the user of the transport system 1000. Alternatively, information indicating the movement area may be obtained from a database that manages facility information. Alternatively, information indicating the movement area may be obtained in advance using a technology such as VSLAM (Visual Simultaneous Localization and Mapping). The movement area may also include the travel route and its surroundings specified by magnetic tape or the like.

[0021] As sensor 3, for example, a depth camera, stereo camera, ToF camera, laser sensor, and radar sensor can be used. Alternatively, as shown in Figure 1, sensor 3 may be placed above the transport robot 1 to acquire information about the movement area from above the transport robot 1. For example, if the movement area of ​​the transport robot 1 is in a factory or warehouse, sensor 3 may be placed on the ceiling, columns, beams, etc. of the factory or warehouse. In this way, it becomes possible to acquire information about the movement area from an overhead viewpoint. Sensor 3 is connected to the system control device 4 via the network 6, acquires information about the movement area, and transmits it to the system control device 4 as movement area information.

[0022] The system control unit 4 controls the transport operation of the transport robot 1 based on the movement area information received from the sensor 3. First, the system control unit 4 generates various information for controlling the transport operation in the transport system 1000 based on the movement area information. Next, the system control unit 4 transmits information for controlling the operation of the transport robot 1 to the transport robot 1 via AP5. AP5 communicates wirelessly with the transport robot 1. Note that the elements corresponding to the system control unit 4 may be implemented on a PC (Personal Computer) or the cloud as a configuration for controlling the transport operation in the transport system 1000. Also, the elements included in the system control unit 4 do not necessarily have to be mounted on the same information processing device. In other words, the elements included in the system control unit 4 may be realized by distributed processing by multiple servers. The system control unit 4 in this embodiment is an example of a movement control device.

[0023] When a depth camera is used as sensor 3, the system control unit 4 can determine the position and size of objects within the movement area of ​​the transport robot 1 by recognizing the shape of objects from the depth camera's captured image, depending on the height of the objects relative to the transport robot 1's travel surface. In some cases, the system control unit 4 may also recognize information regarding the height of the transport robot 1. In this case, the system control unit 4 can determine the position of the transport robot 1 by extracting the area corresponding to the height of the transport robot 1 from the depth camera's captured image based on the depth information. Furthermore, if the transport robot 1 in the overhead view has a specific shape (e.g., a rectangle), the system control unit can more accurately identify the position of the transport robot 1 by recognizing its shape in the depth camera's captured image. Sensor 3 may also be a sensor unit capable of determining the position and size of objects within the movement area of ​​the transport robot 1 from the depth camera's captured image. Alternatively, the system may recognize the transport robot 1 within the movement area by reading a QR code (registered trademark) written on the transport robot 1. Furthermore, the system may recognize the transport robot 1 within the movement area by transmitting its identification number to the system control unit 4.

[0024] <2.2. Hardware Configuration of Information Processing Equipment> Next, with reference to Figure 2, the hardware configuration of the information processing devices, such as the control unit 16 (see Figure 5), system control device 4, and AP5 of the transport robot 1, will be described. Figure 2 is a block diagram showing the hardware configuration of the information processing device according to this embodiment.

[0025] The information processing device consists of a CPU (Central Processing Unit) 110, a ROM (Read Only Memory) 120, a RAM (Random Access Memory) 130, a storage medium 140, and an interface (I / F) 150, all interconnected via a bus 190. An input unit 170, a display unit 180, and a network 6 are connected to the I / F 150.

[0026] The CPU 110 is the arithmetic unit and controls the operation of the entire information processing unit. The RAM 130 is a volatile storage medium that allows for high-speed reading and writing of information and is used as a workspace for the CPU 110 when processing information. The ROM 120 is a read-only non-volatile storage medium that stores programs such as firmware. The storage medium 140 is a non-volatile storage medium that allows for reading and writing of information, such as an HDD (Hard Disk Drive), and stores the OS, various control programs, application programs, etc.

[0027] I / F150 connects and controls the bus 190 to various hardware and network 6, etc. The input unit 170 is an input device such as a keyboard or mouse for the user to input information into the information processing device. The display unit 180 is a display device such as an LCD (Liquid Crystal Display) for the user to check the status of the information processing device. Note that the input unit 170 and the display unit 180 are optional.

[0028] In this hardware configuration, the CPU 110 performs calculations according to the program stored in the ROM 120 and the program loaded from the storage medium 140 into the RAM 130, thereby forming the software control unit of the information processing device. Then, the combination of the software control unit configured as described above and the hardware forms the control unit 16 (see Figure 5) of the transport robot 1 and the controller 400 (see Figure 5) of the system control device 4 according to this embodiment. 13 Functional blocks are configured to implement the functions of information processing devices such as (see reference).

[0029] <2.3. Overview of Transport Robots> Next, an overview of the transport robot 1 will be described with reference to Figures 3 to 7. Figure 3 is an external perspective view showing the schematic configuration of the transport robot 1. Figure 4 is a top view illustrating the operation of the rotation mechanism 40, the restoration mechanism 50, and the guide mechanism 60 of the transport robot 1. Figure 5 is a functional block diagram showing the functional configuration of the transport robot 1. Figure 6 is a schematic diagram showing an example of a path for the transport robot 1. Figure 7 is an explanatory diagram for explaining the control of the transport robot 1.

[0030] First, the general configuration of the transport robot 1 will be described with reference to Figures 3 and 4. The transport robot 1 has a main body 10, wheels 20 and 21, a contact part 30, a rotation mechanism 40, and a guide mechanism 60.

[0031] The main body 10 has a frame 11 to which wheels 20, 21, contact parts 30, a rotating mechanism 40, and a guide mechanism 60 are attached. The wheels 20 and 21 are rotatably mounted on both sides of the frame 11. Casters 22 are also attached to the bottom of the frame 11 (see Figures 24 and 25).

[0032] Wheel 20 is fixed to shaft 14. Wheel 21 is fixed to shaft 15. Wheels 20 and 21 are arranged coaxially on axle 81. Wheels 20 and 21 may also be arranged to have a camber angle, and the camber angle may be designed to vary by a suspension, constant velocity joint, etc.

[0033] The caster 22 is configured to be rotatable so that it can change direction of travel in conjunction with the rotation of the wheels 20 and 21.

[0034] The contact portion 30 is the part that contacts the conveyed object 2 and is fixed to one end of the arms 41 and 43 of the rotating mechanism 40. The arms 41 and 43 are supported by the frame 11 so as to be rotatable around a shaft portion 42 provided at the other end of the arms 41 and 43. The contact portion 30 is rotatable in conjunction with the rotation of the arms 41 and 43. The rotation direction of the contact portion 30 includes at least a horizontal direction with respect to the main body 10, and may also include a vertical direction with respect to the main body 10.

[0035] The plate member 31 is supported by the plate member 32 via elastic members 34, 35, 36, and 37. A friction portion 33 is provided on the surface of the plate member 31 that comes into contact with the conveyed object 2.

[0036] The plate member 32 supports the plate member 31 via elastic members 34, 35, 36, and 37. The plate member 32 is attached to the arm 43 by a stay and to the arm 41 by a stay 47. The plate member 32 is slidably positioned in contact with the guide surface 61a of the guide member 61.

[0037] The friction portion 33 is provided on the side of the plate member 31 that contacts the conveyed object 2 in order to increase the frictional force generated between it and the conveyed object 2. As a result, even if the rotation mechanism 40 rotates while the plate member 31 is in contact with the friction portion 33, lateral slippage of the conveyed object 2 can be suppressed. For the material of the friction portion 33, for example, a material with a higher coefficient of friction than the material used for the plate member 31, or an elastic material with restorative force (for example, rubber) can be used.

[0038] The elastic members 34, 35, 36, and 37 are positioned between plate member 31 and plate member 32, respectively. The elastic members 34, 35, 36, and 37 are elastic members such as coil springs that elastically deform according to the distance between plate members 31 and 32. The spring constants of the elastic members 34, 35, 36, and 37 can be used for load detection by the load sensor 23 (see Figure 5), described later.

[0039] The rotating mechanism 40 rotatably supports the contact portion 30 with respect to the main body 10. The rotating mechanism 40 has a shaft portion 42 and arms 41 and 43.

[0040] The shaft portion 42 is mounted on the upper surface of the frame 11. It is preferable that the axis of the shaft portion 42 is designed to pass through the midpoint of the width W between the wheels 20 and 21. Arms 41 and 43 are rotatably mounted on the shaft portion 42.

[0041] Arms 41 and 43 are arranged perpendicular to the main body 10 at a predetermined distance from each other, and are shaped so that the contact portion 30 does not come into contact with the main body 10 or the wheels 20 and 21 when the contact portion 30 is rotated. Arm 43 is attached to the plate member 31 of the contact portion 30 by a stay (not shown). Arm 41 is attached to the plate member 31 of the contact portion 30 by a stay 47. Although Figure 3 illustrates a rotation mechanism 40 including two arms 41 and 43, the rotation mechanism 40 may include one or more arms.

[0042] A pin portion (not shown) is fixed to the arm 41 at a position radially away from the shaft portion 42. The pin portions of the arm 41 are spaced apart from each other, and the oscillating member 51 of the restoration mechanism 50 is positioned to be able to contact the pin portions of the arm 41.

[0043] The restoration mechanism 50 rotates the rotation mechanism 40 to restore the contact portion 30, which has rotated from a predetermined position, back to the predetermined position. The restoration mechanism 50 includes a swinging member 51, a shaft portion (not shown), a pin portion 53, and an elastic member 54.

[0044] The oscillating member 51 is provided so as to be able to swing around a shaft (not shown) attached to the frame 11 at a position different from the shaft portion 42. The oscillating member 51 can swing while in contact with a pin portion (not shown) provided on the arm 41. One end of the oscillating member 51 is provided with a pin portion 51c so as to be attracted toward a pin portion 53 connected to the other end of the elastic member 54.

[0045] The elastic member 54 has a pin portion 51c of the oscillating member 51 attached to one end, and a pin portion (not shown) attached to the other end. The elastic member 54 is elastically deformed so that the pin portion 51c of the oscillating member 51 is pulled towards the pin portion 53. The elastic member 54 is elastically deformed when the oscillating member 51 oscillates while in contact with the pin portion (not shown) provided on the arm 41. For example, a coil spring or a torsion spring can be used for the elastic member 54.

[0046] In the restoration mechanism 50, when the arm 41 rotates to the left from a predetermined position (center position) around the shaft portion 42, the oscillating member 51 rotates around a shaft portion (not shown), causing the elastic member 54 between the pin portions 51c and 53 to extend. The arm 41 rotates back to the predetermined position (center position) due to the force generated when the elastic member 54 contracts.

[0047] Furthermore, in the restoration mechanism 50, when the arm 41 rotates to the right from a predetermined position (center position) around the shaft portion 42, the oscillating member 51 rotates around a shaft portion (not shown), causing the elastic member 54 between the pin portions 51c and 53 to extend. The arm 41 rotates back to the predetermined position (center position) due to the force generated when the elastic member 54 contracts.

[0048] The rotating mechanism 40 may also have a damping mechanism that dampens vibrations caused by the extension or contraction of the elastic member 54 due to friction, viscosity, hysteresis, etc.

[0049] The guide mechanism 60 has a guide member 61 that guides the main body 10 from the contact portion 30. The guide member 61 has a guide surface 61a formed along the rotational trajectory of the contact portion 30, and the plate member 32 is slidably arranged along the guide surface 61a.

[0050] Figure 5 shows the functional configuration of the transport robot 1 implemented in the internal space of the frame 11. The transport robot 1 includes drive units 12 and 13, shafts 14 and 15, control unit 16, communication unit 17, load sensor 23, and angle sensor 24.

[0051] The drive units 12 and 13 each correspond to drive units that include a motor, a reduction gear, a driver, various sensors (current sensor, torque sensor, position sensor, etc.), a regulator, etc., and drive the wheels 20 and 21.

[0052] Shafts 14 and 15 are axle members that transmit rotational power from drive units 12 and 13 to wheels 20 and 21, respectively. Shaft 14 is connected to the output shaft of drive unit 12, extends toward one external side of frame 11, and is connected to the axle of wheel 20 outside of frame 11. Shaft 15 is connected to the output shaft of drive unit 13, extends toward the other external side of frame 11, and is connected to the axle of wheel 21 outside of frame 11. Shafts 14 and 15 are arranged coaxially on the axle 81 shown by the dashed line in Figure 4. Note that shafts 14 and 15 may be arranged so that wheels 20 and 21 are tilted relative to frame 11. Also, shafts 14 and 15 may be designed so that the tilt of wheels 20 and 21 varies by means of a suspension, constant velocity joint, etc.

[0053] The control unit 16 includes a CPU 110, ROM 120, RAM 130, etc., and controls the drive units 12 and 13. By controlling the drive units 12 and 13 with the control unit 16, the movement speed, movement direction, and drive torque of the transport robot 1 are adjusted. The control unit 16 can communicate with other transport robots and information processing devices such as the system control device 4 included in the transport system 1000 via the communication unit 17. The control unit 16 controls the operation of the transport robot 1 based on control information received from the system control device 4. In this disclosure, the control information for the transport robot 1 refers to information for controlling the operation of the transport robot 1, such as starting and stopping the movement of the transport robot 1. The control information for the transport robot 1 may include, for example, the rotation speed of the wheels 20 and 21, the position information of the transport robot 1, and information on the path along which the transport robot 1 moves.

[0054] The control unit 16 receives the load detection result of the conveyed object 2 detected by the load sensor 23 and controls the drive units 12 and 13 based on the received detection result.

[0055] The load sensor 23 is a sensor that detects the load applied to the contact portion 30. As the load sensor 23, for example, a distance sensor capable of detecting the load applied to the contact portion 30 based on the distance between the plate member 31 and the plate member 32 that sandwich the elastic members 34, 35, 36, and 37 at the contact portion 30 can be used. Alternatively, as the load sensor 23, a piezoelectric element or strain gauge that detects the pressure from the conveyed object 2 on the plate member 31 may be used. The detection result of the load sensor 23 is transmitted to the control unit 16.

[0056] The angle sensor 24 is a sensor that detects the rotation angle of the arms 41 and 43. As described above, the contact portion 30 rotates along with the rotation of the arms 41 and 43, so the rotation angle of the arms 41 and 43 corresponds to the rotation angle of the contact portion 30. As the angle sensor 24, for example, an angle measuring position encoder or position angle sensor (magnetic type, resolver type, contact type) connected to a part of the shaft portion 42 that rotates in conjunction with the arms 41 and 43 can be used. The detection result of the angle sensor 24 is transmitted to the control unit 16.

[0057] The control unit 16 receives the detection result of the rotation angle of the contact portion 30 detected by the angle sensor 24, and controls the drive units 12 and 13 based on the received detection result.

[0058] The communication unit 17 communicates with mobile bodies other than the transport robot 1 included in the transport system 1000, and with external input devices such as tablet terminals and mobile communication terminals operated by the operator of the transport system 1000.

[0059] Figure 6 shows an example of a path taken by the transport robot 1. In the figure, the expected points of passage for the transport robot 1 are indicated by circles, and the paths taken by the transport robot 1 are illustrated by connecting the circles with lines. The transport robot 1 can move according to instructions from an external input device operated by, for example, an operator of the transport system 1000. For example, if the transport robot 1 receives information from an external input device specifying the starting point PS and ending point PG of its movement, it will move along the path connecting the starting point PS and the ending point PG, as shown in Figure 6. The starting point PS is the current position of the transport robot 1, and may be calculated based on information acquired from the sensor 3 via the communication unit 17, or based on the control history of the drive units 12 and 13. Transport robot 1 For example, a position detection unit such as a GPS (Global Positioning System) receiver or a beacon receiver may be provided to acquire the current position of the transport robot 1.

[0060] Next, with reference to Figure 7, the control information transmitted from the system control device 4 to the transport robot 1 will be explained. Figure 7 is an explanatory diagram illustrating the operation of the transport robot 1 when it moves to the end point PG by arc motion. In Figure 7, assuming that the transport robot 1 moves a distance d during time Δt, the operation of the transport robot 1 is explained, with the drive unit 12 moving at a speed vl and the drive unit 13 moving at a speed vr.

[0061] Assuming that the transport robot 1 travels a distance d during time Δt, the velocity vr of wheel 20 and the velocity vl of wheel 21 of the transport robot 1 can be calculated from equation (1-1).

number

[0062] When the transport robot 1 transports the transport object 2 by itself, the speed r of the drive unit 12 and the speed vl of the drive unit 13 of the transport robot 1, which can be determined by equation (1-1), are transmitted to the transport robot 1 from the system control device 4 as control information.

[0063] <2.4. Operational Configuration of the Conveyor System> Next, the operation mode of the transport system 1000 in the first embodiment of the present invention will be described with reference to Figures 8 to 12. Figure 8 is a block diagram illustrating the operation mode of the transport system 1000. As shown in Figure 8, the transport system 1000 includes at least one transport robot 1, a sensor 3 that transmits movement area information relating to the movement area of ​​the transport robot 1, and a system control device 4. Note that the transport system 1000 in this embodiment is an example of a movement control system.

[0064] Figure 9 is a functional block diagram illustrating the schematic configuration of the system control device 4 according to the first embodiment. As shown in Figure 9, the system control device 4 includes a path generation unit 440 that generates a path for the transport robot 1 based on movement area information received via a network, and a movement control unit 450 that controls the movement of the transport robot 1 based on the path.

[0065] The path generation unit 440 generates a path for the transport robot 1 to move within the movement area AR1. For example, using path generation algorithms such as A*, RRT (Rapidly exploring Random Tree), and DWA (Dynamic Window Approach), the path for the transport robot 1 to move within the movement area AR1 (Figure 12 (See reference) A path is generated for the transport robot 1 to move.

[0066] The mobile unit control unit 450 generates control information for moving the transport robot 1 along the path, based on the path information generated by the path generation unit 440. The control information generated by the mobile unit control unit 450 is transmitted to the transport robot 1.

[0067] <2.5. Processing flow in the transport system> Figure 10 is a sequence diagram showing the flow of controlling the movement of the transport robot 1 in the movement control system 1000. First, in step S51, the sensor 3 transmits movement area information regarding the movement area AR1 of the transport robot 1 to the path generation unit 440. In step S52, the path generation unit 440 identifies a first region 7A that represents the position where an object exists in the movement area AR1.

[0068] Figure 12 is an explanatory diagram of the first region 7A and the second region 7B, which are determined based on the position of the obstacle 7. Figure 12 shows the obstacle 7 as an example of an object present in the movement region AR1 of the transport robot 1. The obstacle 7 corresponds to objects present in the movement region AR1, such as shelves, walls, other transported objects, items placed in the movement region AR1, transport robots other than transport robot 1, workbenches (desks), work machines, and objects dropped by transport robots other than transport robot 1 or by people (including people such as workers). In Figure 12, the entire movement region AR1 is divided into a grid, and the grid where the obstacle 7 is located is shown as the first region 7A with a dark dot pattern as an example. Note that the first region 7A may be a rectangle as shown in Figure 12, or it may be the shape of the obstacle 7 itself present in the movement region AR1.

[0069] Next, in step S53, the path generation unit 440 identifies the second region 7B. Specifically, in the movement region AR1, the path generation unit 440 identifies the first region 7A and the grid surrounding the first region 7A as the second region 7B. For example, the path generation unit 440 identifies the second region as a region obtained by expanding the first region 7A by a predetermined margin from the movement region AR1, or a region obtained by combining the first region 7A and a region obtained by adding n grids (where n is a natural number) around the first region 7A, or a region obtained by expanding the size of the obstacle 7 by a predetermined x times (where x > 1). In other words, the second region 7B corresponds to the region including the first region 7A and the surrounding region of the first region 7A.

[0070] Furthermore, the path generation unit 440 does not necessarily have to expand in one direction. For example, the path generation unit 440 may identify the second region 7B by expanding the first region 7A along the direction in which the passageway in the factory extends. Thus, the expansion ratio of the expansion region may be different depending on the direction. For example, the expansion ratio of the second region 7B to the first region 7A applied in the direction parallel to the direction in which the passageway extends in the moving region AR1 may be different from the expansion ratio of the second region 7B to the first region 7A applied in the direction perpendicular to it.

[0071] Next, in step S54, the path generation unit 440 generates a path for the transport robot 1. For example, if the location of the obstacle 7 in the movement area AR1 is shown by dividing the movement area AR1 into a grid, the path generation unit 440 may generate a path by connecting the grids that serve as targets when the transport robot 1 moves. Alternatively, the path generation unit 440 may generate a path point cloud by connecting the target locations when the transport robot 1 moves, which represents the path the transport robot 1 will travel. A path point cloud corresponds to a set of points that indicate the path that the transport robot 1 will travel. If the movement area AR1 is divided into a grid, it may be a set of grids. A path point refers to a point in the path point cloud that indicates the path. In this case, if there is an object such as an obstacle 7 in the movement area AR1, the path generation unit 440 generates an avoidance path for the transport robot 1 that avoids the second area 7B identified in step S53.

[0072] Next, in step S55, the path generation unit 440 transmits path information relating to the path generated in step S54 to the mobile unit control 450. For example, if a path is generated by connecting grids that serve as targets when the transport robot 1 moves, the path information corresponds to information indicating the grids that serve as targets when the transport robot 1 moves. Also, for example, if a path is generated by connecting target positions when the transport robot 1 moves to form a point cloud of path points for the transport robot 1 to move, the path information corresponds to information indicating the grids containing the target points when the transport robot 1 moves, that is, the grids where the path points exist. If an object such as an obstacle 7 exists in the moving area AR1, the path information transmitted to the mobile unit control 450 includes information regarding an avoidance path that avoids the second area 7B.

[0073] Upon receiving route information, the mobile unit control 450 controls the transport robot 1 in step S56 so that the transport robot 1 moves along the route.

[0074] Figure 11 is a flowchart illustrating the flow of controlling the movement of the transport robot 1 in the movement control method according to the first embodiment. The movement control method shown in the flowchart of Figure 11 can be executed primarily by the transport system 1000. First, in step S61, movement area information relating to the movement area AR1 of the transport robot 1 is transmitted. Next, in step S62, a first area 7A representing the position where an object exists in the movement area AR1 is identified. Next, in step S63, a second area 7B including the first area 7A and the surrounding area of ​​the first area 7A is identified.

[0075] Next, in step S64, a path for the transport robot 1 is generated. At this time, an avoidance path is generated that avoids the second region 7B identified in step S63 as the path for the transport robot 1. Subsequently, in step S65, the transport robot 1 is controlled to move along the avoidance path generated in step S64.

[0076] As described above, in the first embodiment of the present invention, when generating a path for the transport robot 1 to move within the movement area AR1 of the transport robot 1, an avoidance path is generated that can avoid obstacles 7 present in the movement area AR1. By doing so, it is possible to avoid situations in which the transport robot 1 gets too close to obstacles 7, thereby improving safety and productivity in transport operations.

[0077] <3. Second Embodiment> <3.1. Operational Configuration of the Conveyor System> Next, with reference to Figures 13 and 14, an overview of the process for generating the path to which the transport robot 1 moves according to the second embodiment will be described. Figure 13 is a diagram showing the operation of the transport system 1000A according to the first embodiment. Figure 14 is a sequence diagram showing the flow for controlling the movement of the transport robot 1 in the transport system 1000A according to the first embodiment.

[0078] First, the operation mode of the transport system 1000A according to the second embodiment will be described. In the first embodiment, the operation mode of the transport system 1000A in so-called single-unit transport, where the transport robot 1 transports the transported object 2 by itself, will be described. As shown in Figure 13, in the transport system 1000A according to the second embodiment, the sensor 3 and the system control device 4 are connected via a network 6, and the system control device 4 communicates with the transport robot 1. The system control device 4 includes a network I / F 401 and a controller 400. Note that the transport system 1000A in this embodiment is an example of a movement control system.

[0079] The controller 400 performs tasks such as generating the path for the transport robot 1 to move and controlling the movement of the transport robot 1. The controller 400 is configured by installing a dedicated software program on the system control device 4. The controller 400 includes a path generation unit 440 and a mobile unit control unit 450.

[0080] The path generation unit 440 generates a path for the transport robot 1 to move within the movement area AR1. For example, using path generation algorithms such as A*, RRT (Rapidly exploring Random Tree), and DWA (Dynamic Window Approach), the path for the transport robot 1 to move within the movement area AR1 (Figure 12 (See reference) A path is generated for the transport robot 1 to move.

[0081] The mobile unit control unit 450 generates control information for moving the transport robot 1 along the path, based on the path information generated by the path generation unit 440. The control information generated by the mobile unit control unit 450 is transmitted to the transport robot 1.

[0082] Alternatively, the system control device 4 may transmit route information regarding the transport robot 1's path to the transport robot 1, and the control unit 16 of the transport robot 1 may control the movement of the transport robot 1. Alternatively, the mobile unit 450 may transmit control information to the transport robot 1, and the control unit 16 of the transport robot 1 may control the transport robot 1 so that it moves along the path.

[0083] <3.2. Processing flow in the transport system> Next, referring to Figure 14, the flow of controlling the movement of the transport robot 1 in the transport system 1000A will be described. In step S11, the sensor 3 acquires information about the movement area AR1 of the transport robot 1 and transmits the acquired information about the movement area AR1 of the transport robot 1 to the system control device 4 as movement area information.

[0084] In step S12, the path generation unit 440 identifies a first region 7A that represents the position where an object exists in the movement region AR1, based on the movement region information (see Figure 12).

[0085] In step S13, the path generation unit 440 identifies the second region 7B in the movement region AR1 (see Figure 12).

[0086] Next, in step S14, the path generation unit 440 generates a path for the transport robot 1.

[0087] Next, in step S15, the route generation unit 440 transmits route information relating to the route generated in step S14 to the mobile unit control unit 450.

[0088] Upon receiving route information, the mobile unit control 450 generates control information for controlling the transport robot 1 in step S16. Subsequently, in step S17, the mobile unit control 450 transmits the control information generated in step S16 to the transport robot 1. The transport robot 1 moves within the mobile area AR1 based on the control information received from the system control device 4.

[0089] In the sequence diagram shown in Figure 14, the control process for the transport robot 1 may be configured such that, each time the system control device 4 determines that the transport robot 1 has passed through one of the predicted passing points shown in Figure 6, it sends control information for the next predicted passing point. In other words, the system control device 4 may configure itself to execute the control process for the transport robot 1 shown in Figure 14 each time it determines that the transport robot 1 has passed through one of the predicted passing points shown in Figure 6. Furthermore, the system control device 4 may send control information to the transport robot 1 to stop its movement if an object enters one of the predicted passing points shown in Figure 6 that the transport robot 1 has not yet passed through.

[0090] As described above, in the second embodiment of the present invention, when generating a path for the transport robot 1 to move within the movement area AR1 of the transport robot 1, an avoidance path is generated that can avoid obstacles 7 present in the movement area AR1. By doing so, it is possible to avoid situations in which the transport robot 1 approaches obstacles 7 too closely, thereby improving safety and productivity in transport operations.

[0091] <4. Third Embodiment> In the first and second embodiments, an avoidance path was generated for the transport robot 1 based on information about the transport robot 1's movement area to avoid obstacles 7. The third embodiment differs from the first and second embodiments in that it generates an avoidance path to avoid obstacles 7 by reflecting information about the transported object 2 based on information about the movement area, and controls the movement of the transport robot 1. In the description of the third embodiment, the same elements as in the first and second embodiments are denoted by the same reference numerals in the drawings, and their descriptions may be omitted.

[0092] <4.1. Operational Configuration of the Conveyor System> A third embodiment of the present invention will be described with reference to Figures 15 to 21. In the third embodiment, the operation mode of the transport system 1000B in so-called single-unit transport, in which the transport robot 1 transports the transported object 2 by itself, will be described. Figure 15 is a diagram showing the operation mode of the transport system 1000B according to the third embodiment. Figure 16 is an explanatory diagram of the avoidance path according to the third embodiment. Figure 17 is a sequence diagram showing the flow for controlling the movement of the transport robot 1 in the transport system 1000B according to the third embodiment. Figure 18 is an explanatory diagram of the position information according to the third embodiment. Figure 19 is a diagram illustrating the information configuration of the position information. Figure 20 is a diagram illustrating the information configuration of mobile body information related to a mobile body such as the transport robot 1. Figure 21 is a diagram illustrating the information configuration of transported object information related to the transported object 2 transported by a mobile body such as the transport robot 1.

[0093] As shown in Figure 15, in the transport system 1000B according to the third embodiment, the sensor 3 and the system control device 4 are connected via a network 6, and the transport robot 1 that transports the transported object 2 communicates with the system control device 4 via AP 5. The system control device 4 includes a network I / F 401 and a controller 400. Note that the transport system 1000B of this embodiment is an example of a movement control system.

[0094] The controller 400 performs tasks such as generating position information of objects in the movement area AR1 of the transport robot 1, generating a path for the transport robot 1, and controlling the movement of the transport robot 1. The controller 400 is configured by installing a dedicated software program on the system control device 4. The controller 400 includes a position information generation unit 410, a map information storage unit 420, a mobile object selection unit 430, a path generation unit 440, and a mobile object control unit 450. The path generation unit 440 and the mobile object control unit 450 are the same as in the first and second embodiments, so their description is omitted.

[0095] The position information generation unit 410 generates position information for objects such as obstacles 7 present in the movement area AR1 of the transport robot 1, based on the movement area information received from the sensor 3. In this embodiment, the object position information corresponds to, for example, the absolute coordinates or relative coordinates of the object's position, or the position where the object exists in the movement area AR1 of the transport robot 1 (for example, the grid identification number when the movement area AR1 is divided into a grid). The position information generation unit 410 also generates transport information for transported objects 2 transported by the transport robot 1, based on the movement area information received from the sensor 3. If the transport system 1000B includes a sensor unit that includes an element corresponding to the position information generation unit 410 and the sensor 3, the sensor unit may generate the position information for objects present in the movement area AR1 of the transport robot 1 and the transported object information.

[0096] The map information storage unit 420 stores map information relating to the movement area AR1 of the transport robot 1, such as information indicating walls and paths in the movement area AR1, including the factory or warehouse where the transport robot 1 is installed. Map information corresponds to information such as associating walls and paths in the movement area AR1 with the identification numbers of the grids when the movement area AR1 is divided into a grid. The map information storage unit 420 also stores area information relating to the first area 7A and the second area 7B determined by the path generation unit 440, along with the map information.

[0097] The mobile body selection unit 430 has mobile body information relating to mobile bodies such as the transport robot 1 included in the transport system 1000B, and selects a mobile body (for example, the transport robot 1) to transport the transport object 2 based on the mobile body information and the transport object information.

[0098] Alternatively, the system control device 4 may transmit route information regarding the transport robot 1's path to the transport robot 1, and the control unit 16 of the transport robot 1 may control the movement of the transport robot 1 based on the received route information. Alternatively, the mobile unit 450 may transmit control information to the transport robot 1, and the control unit 16 of the transport robot 1 may control the movement of the transport robot 1 based on the received control information so that the transport robot 1 moves along the path.

[0099] <4.2. Method for generating avoidance routes> In this embodiment, the path generation unit 440 acquires location information of obstacles 7, information on transported objects, and information on moving objects to define the first region 7A and the second region 7B in the movement region AR1 of the transport robot 1. Then, it generates a path point cloud to avoid the second region 7B and generates a path for the transport robot 1. In Figure 16, the path point cloud generated by the path generation unit 440 in the movement region AR1 of the transport robot 1 is shown as black circles. As shown in Figure 16, the path generation unit 440 generates a path for the transport robot 1 by further selecting multiple path points from the path point cloud generated in the movement region AR1 of the transport robot 1.

[0100] <4.3. Processing flow in the transport system> Next, with reference to Figure 17, the process flow for controlling the movement of the transport robot 1 in the transport system 1000B will be described. In step S21, the sensor 3 acquires information about the movement area AR1 of the transport robot 1 and transmits the acquired information about the movement area AR1 of the transport robot 1 to the system control device 4 as movement area information.

[0101] In step S22, the position information generation unit 410 generates position information regarding the location of obstacles 7 and other objects present in the moving area AR1, as well as transported object information regarding the transported object 2, based on the moving area information received from the sensor 3.

[0102] Here, with reference to Figures 18, 19, and 20, the position information and transported object information generated by the position information generation unit 410 will be explained. In this embodiment, as shown in Figure 18, the entire movement area AR1 is divided into a grid, and coordinates are assigned to each vertex, with the intersections of the grid lines being used as vertices. Then, as shown in Figure 19, the position information generation unit 410 generates information including the coordinates of four or more vertices as position information indicating the grid in which the transport robot 1, obstacle 7, or transported object 2 exists. The position information indicates that an object such as the transport robot 1, obstacle 7, or transported object 2 exists in the area within the movement area AR1 enclosed by grid lines identified by the coordinates of four or more vertices.

[0103] The position information in Figure 19 indicates that the transport robot 1A is located within the area of ​​the movement region AR1 enclosed by grid lines identified by the first coordinates "x11, y11, z11", the second coordinates "x12, y12, z12", the third coordinates "x13, y13, z13", and the fourth coordinates "x14, y14, z14". Based on the movement region information received from the sensor 3, the position information generation unit 410 identifies the position of the object in the movement region AR1 and generates position information indicating the location of the area within the movement region AR1 occupied by the object. The position information generation unit 410 transmits the position information to the mobile object selection unit 430 and the path generation unit 440.

[0104] Furthermore, the position information generation unit 410 generates transported object information regarding the transported object 2 located in the moving area AR1 based on the moving area information received from the sensor 3. The transported object information in Figure 20 includes current position information, which indicates the coordinates of the upper left vertex, and size information, which indicates the size of the transported object 2, regarding the location of the area within the moving area AR1 where the transported object 2 is located. If information indicating the transport destination position of the transported object 2 is transmitted to the system control device 4 from an external input device such as a tablet terminal or mobile communication terminal operated by the operator of the transport system 1000B, the transported object information may also include information indicating the coordinates of the transport destination position of the transported object 2. In addition, the transported object information may also include information regarding the height of the transported object 2 and information regarding the weight of the transported object 2. The position information generation unit 410 transmits the transported object information to the moving object selection unit 430.

[0105] Next, in step S23, the map information storage unit 420 transmits information indicating the walls, roads, etc. of the factory or warehouse where the transport robot 1 or other mobile object is installed to the route generation unit 440 as map information relating to the mobile area AR1.

[0106] Next, in step S24, the mobile body selection unit 430 selects a mobile body to transport the transported object 2 from among the mobile bodies included in the transport system 1000B, based on the transported object information. Here, we will continue the explanation assuming that the transport robot 1A has been selected as the mobile body to transport the transported object 2.

[0107] The mobile object selection unit 430 stores mobile object information relating to the mobile objects included in the transport system 1000B. The mobile object information illustrated in Figure 20 includes, for example, the IP address information of the mobile object, the current position information of the mobile object in the transport area AR1, the operating status information of the mobile object, the intended use of the mobile object, the battery level information of the mobile object, and information about other mobile objects that can be transported in cooperation.

[0108] The mobile information illustrated in Figure 20 shows that for the transport robot 1A, the IP address is "Z.ZZZ.ZZ.Z" and the coordinates of the top-left vertex indicating the current position are " x1, y1, z1 The information includes that the operating state is "standby", the application is "cooperative transport possible", and the battery level is "80%". Regarding transport robot 1B, the information includes that its IP address is "XXX.XX.XXX.X", the coordinates of the top-left vertex indicating its current position are "x2,y2,z2", the operating state is "standby", the application is "cooperative transport possible", and the battery level is "50%". Regarding transport robot 1D, the information includes that its IP address is "YYY.YY.YYY.Y", the coordinates of the top-left vertex indicating its current position are "x3,y3,z3", the operating state is "solo transporting", the application is "solo transport", and the battery level is "20%". Note that the coordinates indicating the current position of transport robot 1 included in the mobile information are not limited to the top-left coordinates. For example, the coordinates of the top-right, bottom-left, bottom-right, or center may be used instead of the top-left coordinates.

[0109] In step S24, the mobile body selection unit 430, based on the mobile body information, selects the mobile body with the highest battery charge among the mobile bodies in standby mode as the mobile body to transport the transported object 2. Therefore, as described above, in step S24, the mobile body selection unit 430 selects the transport robot 1A as the mobile body to transport the transported object 2. In addition, the mobile body selection unit 430 may, for example, select the mobile body closest to the transported object 2 among the mobile bodies in standby mode, based on the mobile body information, as the mobile body to transport the transported object 2. The mobile body information of the mobile body selected by the mobile body selection unit 430 as the mobile body to transport the transported object 2 is transmitted to the route generation unit 440 and the mobile body control unit 450.

[0110] In step S25, the route generation unit 440 identifies the first region 7A (see Figure 16) based on map information relating to the movement region AR1 and positional information relating to the locations of obstacles 7, etc., present in the movement region AR1.

[0111] Next, in step S26, the path generation unit 440 identifies the first region 7A and the surrounding region of the first region 7A as the second region 7B. Specifically, the path generation unit 440 identifies the first region 7A identified in step S25 and the surrounding region of the first region 7A as the second region 7B. The path generation unit 440 identifies the range to be set as the second region 7B based, for example, on the minimum curve radius when the transport robot 1 transports the transported object 2. By doing so, depending on the size of the transported object 2, for example, when transporting a long transported object 2, it becomes possible to identify a larger second region 7B. Therefore, in this embodiment, obstacles 7 etc. present in the movement region AR1 can be avoided more appropriately depending on the size of the transported object 2 transported by the transport robot 1. The path generation unit 440 transmits the region information regarding the identified first region 7A and second region 7B to the map information storage unit 420.

[0112] Next, in step S27, the path generation unit 440 generates a path for the transport robot 1 as described in Figure 16. If an obstacle 7 or other object exists in the movement area AR1, the path generation unit 440 generates a path point cloud that avoids the second area 7B identified in step S26, and selects multiple path points from the path point cloud to generate an avoidance path.

[0113] Furthermore, the path generation unit 440 generates an avoidance path for the transport robot 1 that prohibits entry into the second area 7B of the transported object 2 to be transported by the transport robot 1. This makes it possible to improve the safety of the transport operation by the transport robot 1.

[0114] Next, in step S28, the route generation unit 440 transmits route information relating to the route generated in step S27 to the map information storage unit 420 and the mobile unit control unit 450. If there are objects such as obstacles 7 in the moving area AR1, the route information transmitted to the mobile unit control unit 450 includes information on avoidance routes that avoid the first area 7A and the second area 7B.

[0115] In step S29, the map information storage unit 420 stores the region information indicating the first and second regions received from the route generation unit 440 along with the map information. The map information storage unit 420 may also update the region information stored along with the map information when the position of an obstacle 7 in the moving region AR1 changes. By doing so, if the position of the obstacle 7 has not changed, it becomes possible to generate a route based on the information stored in the map information storage unit 420.

[0116] Upon receiving route information, the mobile unit control 450 generates control information for controlling the transport robot 1 in step S30. At this time, the mobile unit control 450 transmits control information to control the transport robot 1 to move along the route based on the route information.

[0117] Next, in step S31, the mobile unit control unit 450 transmits the control information generated in step S30 to the transport robot 1. The transport robot 1 moves within the mobile area AR1 based on the control information received from the system control device 4.

[0118] Alternatively, after the path generation unit 440 generates a path, a mobile body (for example, a transport robot 1) capable of moving along the path generated by the path generation unit 440 may be selected to transport the transported object 2.

[0119] As described above, in the third embodiment of the present invention, when generating a path for the transport robot 1 to move within the movement area AR1 of the transport robot 1, an avoidance path is generated that can avoid obstacles 7 present in the movement area AR1. By doing so, it is possible to avoid situations in which the transport robot 1 approaches obstacles 7 too closely, thereby improving safety and productivity in transport operations.

[0120] Furthermore, in the third embodiment, the second region 7B is identified based on the transport information relating to the transport object 2 transported by the transport robot 1. Therefore, even if there is a difference in the inner wheel distance between the movement trajectory of the transport robot 1 and the movement trajectory of the transport object 2 during transport of the transport object 2, it is possible to suppress collisions between the obstacle 7 and the transport object 2.

[0121] <5. Fourth Embodiment> The first to third embodiments described configurations for controlling the movement of a transport robot 1 that transports an object 2 independently. The fourth embodiment describes a transport system 1000C capable of cooperative transport of the object 2 by transport robots 1A and 1B. The fourth embodiment differs from the first to third embodiments in that it cooperatively transports the object 2 by multiple transport robots 1 (for example, transport robots 1A and 1B), and includes elements that predict the movement results when transport robots 1A and 1B move along a path. In the description of the fourth embodiment, elements that are the same as those in the first to third embodiments are denoted by the same reference numerals in the drawings, and their descriptions may be omitted.

[0122] <5.1. Operational Configuration of the Conveyor System> Refer to Figures 22 to 27 for the present invention. Fourth Embodiment This will be explained. Figure 22 is a diagram showing the operation of the transport system 1000C according to the fourth embodiment. Figure 23 is a sequence diagram showing the flow for controlling the movement of transport robots 1A and 1B in the transport system 1000C according to the fourth embodiment. Figure 24 is a schematic plan view showing an example of cooperative transport. Figure 25 is a schematic side view showing an example of cooperative transport. Figure 26 is an explanatory diagram of the avoidance path according to the fourth embodiment. Figure 27 is an overall view of the movement area AR1 according to the fourth embodiment.

[0123] First, the cooperative transport according to this embodiment will be described with reference to Figures 22, 24, and 25. As shown in Figure 22, the transport system 1000C of the fourth embodiment is capable of so-called cooperative transport, in which transport robots 1A and 1B cooperate to transport an object 2. In the transport system 1000C according to the fourth embodiment, the sensor 3 and the system control device 4 are connected via a network 6, and the transport robots 1A and 1B that transport the object 2 communicate with the system control device 4 via AP 5. The system control device 4 includes a network I / F 401 and a controller 400. Note that the transport system 1000C of this embodiment is an example of a movement control system.

[0124] In this embodiment, "cooperative transport" refers to the operation of transporting an object 2 by coordinating the movements of multiple transport robots 1. As an example of cooperative transport by transport robots 1A and 1B, Figure 22 shows the transport system 1000C when cooperative transport is performed with the transport object 2 sandwiched between transport robots 1A and 1B. In this embodiment, as shown in Figures 24 and 25, a trolley, dolly, etc., having multiple rotatable casters 71, 72, 73, 74 on a base 70 on which the cargo 2A is placed can be used as the transport object 2 for cooperative transport. Note that the transport object 2 may be something that does not have wheels such as casters (for example, cardboard boxes). Furthermore, transport robots 1A and 1B can each transport the transport object 2 independently. In addition, transport robots 1A and 1B can move even when not transporting an object 2. In the following description, when it is not necessary to distinguish between transport robots 1A and 1B, they may be referred to as "transport robot 1".

[0125] As shown in Figures 24 and 25, when cooperative transport is performed by transport robot 1B moving behind transport robot 1A, transport robots 1A and 1B transport the object 2 by sandwiching it between the contact portion 30 of transport robot 1A and the contact portion 30 of transport robot 1B (see Figures 3 and 4). At this time, the contact portions 30 of transport robots 1A and 1B each receive a contact load from the object 2. The contact portion 30 has plate members 31 and 32, a friction portion 33, and elastic members 34, 35, 36, and 37 (see Figures 3 and 4), and the contact load when the contact portion 30 and the object 2 come into contact can be detected by detecting the distance between the plate members 31 and 32. The contact load when the contact portion 30 and the object 2 come into contact is detected by a load sensor 23 (see Figure 5). One of the contact portion 30 of transport robot 1A and the other of the contact portion 30 of transport robot 1B corresponds to the first pressurizing unit of this embodiment, and the other corresponds to the second pressurizing unit of this embodiment.

[0126] Next, we will explain the control information transmitted from the system control device 4 to the control unit 16 of transport robot 1A and the control unit 16 of transport robot 1B (see Figure 5) when transporting the transport object 2 in a coordinated transport by transport robot 1A and transport robot 1B. Here, we assume that transport robot 1A is a leading mobile body that moves in front, and transport robot 1B is a following mobile body that moves behind. The communication unit 17 of transport robot 1A corresponds to the communication unit of the leading mobile body. Also, the drive units 12 and 13 of transport robot 1A correspond to the drive unit of the leading mobile body. Also, the control unit 16 of transport robot 1A corresponds to the drive control unit of the leading mobile body. Furthermore, the communication unit 17 of transport robot 1B corresponds to the communication unit of the following mobile body. Also, the drive units 12 and 13 of transport robot 1B correspond to the drive unit of the following mobile body. Also, the control unit 16 of transport robot 1B corresponds to the drive control unit of the following mobile body. Also, the load sensor 23 of transport robot 1B corresponds to the state detection unit.

[0127] Assuming that the transport robot 1A travels a distance d during time Δt (see Figure 7), the velocity vLr of wheel 20 and the velocity vLl of wheel 21 of the transport robot 1A can be calculated from equation (2-1).

number

[0128] When transport robot 1A transports an object 2 in cooperative transport with transport robot 1B, the system control device 4 transmits the speed vLr of the drive unit 12 and the speed vLl of the drive unit 13 of transport robot 1A, which can be determined by equation (2-1), as control information to transport robots 1A and 1B. In other words, the system control device 4 transmits the same control information to transport robot 1B as it does to transport robot 1A.

[0129] Next, we will explain the control of the transport robot 1B after it receives control information. The control unit 16 of the transport robot 1B performs speed control in the forward and backward direction of the transport robot 1B, and speed control in the left and right direction of the transport robot 1B.

[0130] First, the speed control of the transport robot 1B in the forward and backward direction will be explained. The control unit 16 of the transport robot 1B controls the drive units 12 and 13 of the transport robot 1B to follow the leading transport robot 1A, based on the detection results of the load sensor 23 in the transport robot 1B.

[0131] First, the control unit 16 of the transport robot 1B calculates the difference Δd in distance between plate members 31 and 32 of the transport robot 1B based on the detection result of the load sensor 23 (Equation (2-2)). In Equation (2-2), "dt" is the target distance between plate members 31 and 32, and "dp" is the actual distance between plate members 31 and 32 detected by the load sensor 23. The target distance between plate members 31 and 32 is set in advance so that they can be transported in cooperation with the transport robot 1A.

number

[0132] Next, the control unit 16 of the transport robot 1B corrects the difference Δd in distance between plate members 31 and 32 of the transport robot 1B using νβ (Equation (2-3)). νβ is a value proportional to the deviation between the target distance dt between plate members 31 and 32 and the actual distance dp between plate members 31 and 32. Also, Kd is the gain coefficient.

number

[0133] Next, the control unit 16 of the transport robot 1B determines the velocity of the transport robot 1B in the forward and backward direction based on the control information received from the system control device 4 and νβ obtained by equation (2-3) (equation (2-4)).

number

[0134] Specifically, the control unit 16 of the transport robot 1B controls the drive units 12 and 13 so that the speed vF of the transport robot 1B accelerates when, for example, the distance dp between plate members 31 and 32 is greater than the target distance dt. On the other hand, if, for example, the distance dp between plate members 31 and 32 is closer than the target distance dt, the control unit 16 of the transport robot 1B controls the drive units 12 and 13 so that the speed vF of the transport robot 1B decelerates.

[0135] Furthermore, the control unit 16 of the transport robot 1A controls the drive units 12 and 13 so that the speed vL of the transport robot 1A decreases when, for example, the distance dp between plate members 31 and 32 is greater than the target distance dt. On the other hand, if, for example, the distance dp between plate members 31 and 32 is closer than the target distance dt, the control unit 16 of the transport robot 1A controls the drive units 12 and 13 so that the speed vL of the transport robot 1B increases. In the case of cooperative transport, the transport robots 1A and 1B maintain a state in which they grip the transported object 2 with a constant force.

[0136] Next, the speed control of the transport robot 1B in the left-right direction will be explained. In controlling the speed of the transport robot 1B in the left-right direction, the control unit 16 of the transport robot 1B controls the speed of the transport robot 1B so that the rotation angle of the contact part 30 becomes the target value θt. Here, the target value θt is the angle determined by assuming that the transport robot 1B is positioned directly behind the transport robot 1A.

[0137] First, the control unit 16 of the transport robot 1B determines the target value θt of the rotation angle of the contact part 30 (Equation (2-5)).

number

[0138] Next, the control unit 16 of the transport robot 1B calculates the difference Δθ between the angle θ of the contact portion 30 of the transport robot 1B detected by the angle sensor 24 and the target value θt of the rotation angle of the contact portion 30 (Equation (2-6)).

number

[0139] Next, the control unit 16 of the transport robot 1B corrects the difference Δθ between the angle θ of the contact portion 30 of the transport robot 1B and the target value θt of the rotation angle of the contact portion 30 using νγ (Equation (2-7)). νγ is a value proportional to the deviation between the angle θ of the contact portion 30 of the transport robot 1B and the target value θt of the rotation angle of the contact portion 30. Also, Κγ is the gain coefficient.

number

[0140] Next, the control unit 16 of the transport robot 1B determines the velocity of the transport robot 1B in the left-right direction based on the control information received from the system control device 4, νβ obtained by equation (2-3), and νγ obtained by equation (2-7) (equation (2-8)).

number

[0141] In this way, the control unit of the transport robot 1B controls the drive units 12 and 13 of the transport robot 1B so that the transport robot 1B moves in the direction of travel of the leading transport robot 1A, based on the detection results of the angle sensor 24 in the transport robot 1B.

[0142] Furthermore, the feedback control based on the detection results of the load sensor 23 in the transport robot 1A may be omitted, and feedback control based on the detection results of both the load sensor 23 and the angle sensor 24 may be performed only in the transport robot 1B. The feedback control may also be, for example, PID (Proportional Integral Differential) control, which controls the input value using three elements: the deviation between the output value and the target value in the load sensor 23 and the angle sensor 24, the integral of the deviation, and the derivative of the deviation.

[0143] In addition to transmitting the same control information from the system control device 4 to the transport robot 1B as to the transport robot 1A, the transport robot 1B may also move in accordance with the movement of the transport robot 1A in the following manner. For example, the control unit 16 of the transport robot 1A may generate and transmit control information for the transport robot 1B based on the control information received from the system control device 4. Alternatively, for example, the system control device 4 may transmit control information for the transport robot 1B to the transport robot 1B.

[0144] Next, with reference to Figure 22, the functional configuration of the system control device 4 according to this embodiment will be described. The controller 400 performs functions such as generating position information of objects in the movement area of ​​the transport robots 1A and 1B, generating paths for the transport robots 1A and 1B, predicting the movement of the transport robots 1A and 1B along the paths, and controlling the movement of the transport robots 1A and 1B. The controller 400 is configured by installing a dedicated software program on the system control device 4. The controller 400 includes a position information generation unit 410, a map information storage unit 420, a mobile object selection unit 430, a path generation unit 440, a mobile object control unit 450, and a prediction unit 460. The position information generation unit 410, the map information storage unit 420, the mobile object selection unit 430, the path generation unit 440, and the mobile object control unit 450 are the same as in the first to third embodiments, so their description will be omitted.

[0145] The prediction unit 460 predicts the movement trajectory of the transport robots 1A and 1B when they move along the paths generated by the path generation unit 440. The prediction results from the prediction unit 460 are transmitted to the path generation unit 440. Based on the prediction results from the prediction unit 460, the path generation unit 440 may generate new paths for the transport robots 1A and 1B.

[0146] Specifically, the prediction unit 460 determines, for example, whether there is a possibility that the transport robots 1A and 1B or the transported object 2 will collide with an obstacle 7 in the movement area AR1, based on the movement trajectories when the transport robots 1A and 1B are moved in an arc along the path generated by the path generation unit 440. The prediction unit 460 determines, for example, that there is a possibility that the transport robots 1A and 1B or the transported object 2 will collide with an obstacle 7 in the movement area AR1 if the movement trajectories of the transport robots 1A and 1B or the movement trajectory of the transported object 2 enter the first area 7A in the movement area AR1. The result of the prediction processing by the prediction unit 460 is transmitted to the path generation unit 440.

[0147] Furthermore, in predicting the path taken by the transport robots 1A and 1B, the prediction unit 460 may prohibit the transport object 2 to be transported by the transport robots 1A and 1B from entering the first region 7A, while allowing it to enter the second region 7B.

[0148] <5.2. Method for generating avoidance routes> In this embodiment, the path generation unit 440 acquires location information of obstacles 7, information on transported objects, and information on moving objects to define a first region 7A and a second region 7B in the movement area of ​​the transport robot 1. Then, it generates a path point cloud to avoid the first region 7A and the second region 7B and generates paths for transport robots 1A and 1B. In Figure 26, the path point cloud generated by the path generation unit 440 in the movement areas of transport robots 1A and 1B is shown as black circles. The path generation unit 440 further selects multiple path points from the path point cloud generated in the movement areas of transport robots 1A and 1B and generates a path for transport robot 1 by connecting these multiple path points. An example of a cooperative transport path in this embodiment is the path when transport robots 1A and 1B cooperate to transport the transported object 2.

[0149] For example, the path generation unit 440 selects multiple path points from the path point cloud to generate a path, and then smooths the generated path based on a simplification algorithm such as the Ramer-Douglas-Peucker algorithm. In Figures 26 and 27, the path points included in the smoothed path are shown as black circles enclosed in solid lines.

[0150] By doing so, as shown in the overall view of the moving area AR1 in Figure 27, for example, the Ramer-Douglas-Peucker algorithm approximates the path of the transport robots 1A and 1B so that the line connecting the starting point PS and the ending point PG is straight. In other words, compared to the path of the transport robot 1A generated in the third embodiment, the path of the transport robots 1A and 1B generated in this embodiment requires the transport robot 1A to change direction of movement fewer times. Therefore, as the transport robots 1A and 1B move along the path, the number of times the transport robot 1A changes direction of movement can be reduced, making it possible to reduce the control load on the transport robot 1B in cooperative transport by the transport robots 1A and 1B.

[0151] <5.3. Processing Flow in the Conveyor System> Next, referring to Figure 23, the process flow for controlling the movement of the transport robot 1 in the transport system 1000C will be described. In step S41, the sensor 3 acquires information about the movement area AR1 of the transport robot 1 and transmits the acquired information about the movement area AR1 of the transport robot 1 to the system control device 4 as movement area information.

[0152] In step S42, the position information generation unit 410 generates position information regarding the locations of obstacles 7 and other objects present in the moving area AR1, as well as transported object information regarding the transported object 2, based on the moving area information received from the sensor 3. The position information generation unit 410 transmits the position information to the moving object selection unit 430 and the route generation unit 440, and transmits the transported object information to the moving object selection unit 430.

[0153] Next, in step S43, the map information storage unit 420 transmits information indicating the walls, roads, etc. of the factory or warehouse where the transport robot 1 or other mobile object is installed to the route generation unit 440 as map information relating to the mobile area AR1.

[0154] Next, in step S44, the mobile body selection unit 430 selects a mobile body to transport the transported object 2 from among the mobile bodies included in the transport system 1000C, based on the transported object information. Here, we will continue the explanation assuming that transport robot 1A and transport robot 1B have been selected as the mobile bodies to transport the transported object 2.

[0155] The mobile body selection unit 430 stores mobile body information relating to the mobile bodies included in the transport system 1000C (see Figure 20). In step S44, based on the mobile body information, the mobile body selection unit 430 selects two mobile bodies that are capable of cooperative transport from among the mobile bodies in standby mode to be used to transport the transported object 2. The mobile body information shown in Figure 20 includes, for example, information indicating that transport robots 1A and 1B are capable of cooperative transport and are in standby mode.

[0156] Therefore, as described above, in step S44, the mobile body selection unit 430 selects transport robots 1A and 1B as mobile bodies to transport the transported object 2. In addition, the mobile body selection unit 430 may, for example, select two mobile bodies that are in standby mode and are closest to the transported object 2, based on the mobile body information, as the mobile bodies to transport the transported object 2. The mobile body information of the mobile bodies selected by the mobile body selection unit 430 as the mobile bodies to transport the transported object 2 is transmitted to the route generation unit 440, the mobile body control unit 450, and the prediction unit 460.

[0157] In step S45, the route generation unit 440 identifies the first region 7A (see Figures 26 and 27) based on map information relating to the movement region AR1 and position information relating to the locations of obstacles 7, etc., present in the movement region AR1. The region information relating to the first region 7A and the second region 7B identified by the route generation unit 440 is transmitted to the map information storage unit 420.

[0158] Next, in step S46, the path generation unit 440 identifies the area including the first area 7A and the surrounding area of ​​the first area as the second area 7B (see Figures 26 and 27). Specifically, the path generation unit 440 identifies the range to be set as the second area 7B based on the transport information related to the transported object 2 and the moving body information related to the transport robot 1. For example, the path generation unit 440 identifies the range to be set as the second area 7B based on the minimum curve radius when the transport robots 1A and 1B transport the transported object 2 in a coordinated manner.

[0159] In step S47, the map information storage unit 420 stores the region information indicating the first and second regions received from the route generation unit 440 along with the map information. The map information storage unit 420 may also update the region information stored along with the map information when the position of an obstacle 7 in the moving region AR1 changes. In this way, if the position of the obstacle 7 has not changed, it is possible to generate a route based on the information stored in the map information storage unit 420. The map information stored in the map information storage unit 420 is transmitted to the prediction unit 460.

[0160] Next, in step S48, the path generation unit 440 generates paths for the transport robots 1A and 1B as described in Figure 26. If an obstacle 7 or other object exists in the movement area AR1, the path generation unit 440 generates a set of path points that avoid the first area 7A and the second area 7B identified in steps S45 and S46, and selects multiple path points from the set of path points to generate an avoidance path. In Figure 27, the lines connecting the path points indicated by the black circles enclosed in solid circles correspond to the avoidance path generated by the path generation unit 440. The path information regarding the paths generated by the path generation unit 440 is transmitted to the prediction unit 460.

[0161] Next, in step S49, the prediction unit 460 predicts the movement trajectories of the transport robots 1A and 1B based on the map information and the path information received from the path generation unit 440. Specifically, the prediction unit 460 determines whether there is a possibility that the transport robots 1A and 1B or the transported object 2 will collide with an obstacle 7 present in the movement area AR1, based on the movement trajectories of the transport robots 1A and 1B, which were selected as moving objects, when they move along the path generated by the path generation unit 440.

[0162] Next, if the path generation unit 440 determines in the prediction process that the transport robots 1A, 1B or the transported object 2 will collide with an obstacle 7 in the movement area AR1, it generates a new path for the transport robots 1A, 1B in step S50. The path generation unit 440 generates a new path that can avoid the second area 7B by performing processes such as changing the range of the area identified as the second area 7B, excluding paths generated before the prediction by the prediction unit 460, or shifting the grid indicating the path predicted by the prediction unit 460 to collide with obstacle 7 by one square at a time. The path information regarding the new path generated by the path generation unit 440 is transmitted to the prediction unit 460.

[0163] Furthermore, if the prediction process determines that the transport robots 1A and 1B or the transported object 2 will collide with an obstacle 7 in the movement area AR1, and a new path that avoids the second area 7B cannot be generated, the system may notify that there is a problem with the transport of the transported object 2 by the transport robots 1A and 1B (for example, information about an unavoidable obstacle 7 in the movement area AR1). If the prediction unit 460 does not determine that the transport robots 1A and 1B or the transported object 2 will collide with an obstacle 7 in the movement area AR1, step S50 can be omitted.

[0164] Next, in step S51, the path generation unit 440 transmits path information to the map information storage unit 420 and the mobile unit control unit 450. If an object such as an obstacle 7 exists in the moving area AR1, the path information transmitted to the mobile unit control unit 450 includes information on avoidance paths that were determined in the prediction process in step S49 to not collide with the transport robots 1A, 1B and the transported object 2 and the obstacle 7.

[0165] Upon receiving route information, the mobile unit control unit 450 generates control information for controlling the transport robots 1A and 1B in step S52. At this time, the control information generated by the mobile unit control unit 450 first generates control information for transport robot 1A, and then generates the same control information for transport robot 1B as control information for transport robot 1B.

[0166] Next, in step S53, the mobile unit control 450 transmits the control information generated in step S52 to the transport robots 1A and 1B, respectively. The transport robots 1A and 1B move within the mobile area AR1 based on the control information received from the system control device 4.

[0167] As described above, in the fourth embodiment of the present invention, when generating a path for the transport robots 1A and 1B to move within the movement area AR1 of the transport robots 1A and 1B, an avoidance path is generated that can avoid obstacles 7 present in the movement area AR1. By doing so, it is possible to avoid situations in which the transport robots 1A and 1B get too close to obstacles 7, thereby improving safety and productivity in transport operations.

[0168] Furthermore, in the fourth embodiment, the path is generated such that the number of times the transport robots 1A and 1B change direction of movement is reduced. Therefore, the effect of vibration on the transported object 2 can be reduced, and damage or malfunction of the transported object 2 can be suppressed.

[0169] Furthermore, the fourth embodiment is an embodiment in which the transport object 2 is transported in a coordinated manner by transport robot 1A and transport robot 1B. In coordinated transport, a path is generated in such a way that the number of times the direction of movement is changed is reduced, which has the effect of making it easier for the following transport robot 1B to follow the movement of the leading transport robot 1A, which moves in the lead.

[0170] Furthermore, in the fourth embodiment, during the prediction process, it is determined whether the transport robots 1A and 1B will collide with obstacle 7 when moving along the path generated by the path generation unit 440. If the prediction process indicates a possibility of collision with obstacle 7, a new path is generated, thereby further improving the safety and productivity of the transport operations performed by the transport robots 1A and 1B.

[0171] <6. Modified form of the fourth embodiment> In the transport system 1000C, when the transport robot 1A is transporting by itself, it may perform the same processing as described in Figures 22, 23, 26, and 27. For example, when the transport robot 1A is towing the transported object 2, reducing the number of times the transport robot 1A changes direction of movement reduces the impact of vibration on the transported object 2, thereby suppressing damage or malfunction of the transported object 2.

[0172] <7. Other Embodiments> Although embodiments of the present invention have been described above, the present invention is not limited to these embodiments. It will be understood by those skilled in the art that these embodiments are merely illustrative and that various modifications are possible without departing from the scope and spirit of the present invention.

[0173] For example, the steps in the process described herein do not necessarily have to be executed chronologically in the order shown in the sequence diagram or flowchart. For example, the steps in the process may be executed in a different order than that shown in the sequence diagram or flowchart, or they may be executed in parallel. Also, some steps in the process may be deleted, or additional steps may be added to the process.

[0174] Furthermore, an apparatus comprising the components of the system control device 4 described herein (for example, elements corresponding to the route generation unit 440 and the mobile unit control unit 450) may be provided. A method including processing of the above components may also be provided, and a program for causing a processor to perform the processing of the above components may also be provided. Furthermore, a computer-readable non-transitory recording medium on which the program is recorded may also be provided. Naturally, such apparatuses, modules, methods, programs, and computer-readable non-transitory recording media are also included in the present invention.

[0175] Some or all of the above embodiments may also be described as follows, but are not limited to the following.

[0176] (Note 1) At least one mobile body, A sensor that transmits movement area information relating to the movement area of ​​the moving object, A path generation unit generates a path for the moving object to move through the moving area based on the moving area information received via the network, The system comprises a mobile body control unit that controls the movement of the mobile body based on the aforementioned path, The path generation unit generates an avoidance path that avoids a second region which includes a first region representing the position of an object in the movement region and a region surrounding the first region. The moving body control unit controls the moving body based on the avoidance path. A mobile control system.

[0177] (Note 2) The aforementioned mobile body transports the transported object, The moving body includes a prediction unit that predicts the movement trajectory when it moves along the avoidance path while transporting an object. The path generation unit generates a new avoidance path that can avoid the second region based on the movement trajectory predicted by the prediction unit. The movement control system described in Appendix 1.

[0178] (Note 3) The aforementioned mobile body includes a plurality of mobile bodies that perform coordinated transport, which transports objects in cooperation with each other. The aforementioned path generation unit, As the aforementioned path, a cooperative transport path is generated in which the plurality of moving bodies transport the transported object by the cooperative transport. A movement control system as described in Appendix 1 or 2.

[0179] (Note 4) The aforementioned mobile area information includes transported object information relating to the transported object transported by the mobile body, The aforementioned path generation unit, Based on the transported object information, the second region is identified. A movement control system as described in any one of the appendices 1 to 3.

[0180] (Note 5) The moving region includes a passage through which the moving body moves. The aforementioned path generation unit, By expanding the first region along the direction in which the passage extends, the second region is identified. A movement control system as described in any one of the items 1 to 4 of the appendix.

[0181] (Note 6) The aforementioned path generation unit, Based on the aforementioned movement area information, a path point cloud is generated that indicates a first path that avoids the second area, and the avoidance path is generated by selecting multiple path points from the path point cloud. A movement control system as described in any one of the items 1 to 5 of the appendix.

[0182] (Note 7) The system includes an input device for performing operations to set the starting point and ending point of the movement of the moving body within the aforementioned movement area. The aforementioned path generation unit, A route is generated that includes the starting point and the ending point of the movement. A movement control system as described in any one of the appendices 1 to 6.

[0183] (Note 8) The path generation unit notifies that there is a problem with the transport of the object by the moving body if it is not possible to generate a path that avoids the second region based on the movement trajectory predicted by the prediction unit. The movement control system described in Appendix 2.

[0184] (Note 9) A path generation unit generates a path for a moving object to move through a moving area based on movement area information relating to the movement area of ​​at least one moving object received from a sensor via a network, The system comprises a mobile body control unit that controls the movement of the mobile body based on the aforementioned path, The path generation unit generates an avoidance path that avoids a second region which includes a first region representing the position of an object in the movement region and a region surrounding the first region. The moving body control unit controls the moving body based on the avoidance path. Mobile control device.

[0185] (Note 10) The aforementioned mobile body transports the transported object, The moving body includes a prediction unit that predicts the movement trajectory when it moves along the avoidance path while transporting an object. The path generation unit generates a new avoidance path based on the movement trajectory predicted by the prediction unit. The mobile control device described in Appendix 9.

[0186] (Note 11) The aforementioned mobile body includes a plurality of mobile bodies that perform coordinated transport, which transports objects in cooperation with each other. The aforementioned path generation unit, As the aforementioned path, a cooperative transport path is generated in which the plurality of moving bodies transport the transported object by the cooperative transport. The mobile control device described in Appendix 9 or 10.

[0187] (Note 12) The aforementioned mobile area information includes transported object information relating to the transported object transported by the mobile body, The aforementioned path generation unit, Based on the transported object information, the second region is identified. A mobile control device as described in any one of the appendices 9 to 11.

[0188] (Note 13) The moving region includes a passage through which the moving body moves. The aforementioned path generation unit, By expanding the first region along the direction in which the passage extends, the second region is identified. A mobile control device as described in any one of the appendices 9 to 12.

[0189] (Note 14) The aforementioned path generation unit, Based on the aforementioned movement area information, a path point cloud is generated that indicates a first path that avoids the second area, and the avoidance path is generated by selecting multiple path points from the path point cloud. A mobile control device as described in any one of the appendices 9 to 13.

[0190] (Note 15) The path generation unit notifies that there is a problem with the transport of the object by the moving body if it is not possible to generate a path that avoids the second region based on the movement trajectory predicted by the prediction unit. The mobile control device described in Appendix 10.

[0191] (Note 16) Transmitting movement area information relating to the movement area of ​​at least one mobile object, Based on the moving area information received via the network, the system generates a path for the moving object to travel through the moving area. The system includes controlling the movement of the mobile body based on the aforementioned path, When generating the aforementioned path, an avoidance path is generated that avoids a second region which includes a first region representing the position of an object in the movement region and a region surrounding the first region. When controlling the movement of the moving body, the moving body is controlled based on the avoidance path. A method for controlling movement.

[0192] (Note 17) The aforementioned mobile body transports the transported object, The system includes predicting the movement result when the moving body transports an object while moving along the avoidance path, When generating the aforementioned path, a new avoidance path is generated based on the movement result predicted by the prediction unit that predicts the movement result. The movement control method described in Appendix 16.

[0193] (Note 18) The aforementioned mobile body includes a plurality of mobile bodies that perform coordinated transport, which transports objects in cooperation with each other. When generating the aforementioned path, the system generates a cooperative transport path in which the multiple moving bodies transport the transported object by the cooperative transport. The movement control method described in Appendix 16 or 17.

[0194] (Note 19) The aforementioned mobile area information includes transported object information relating to the transported object transported by the mobile body, When generating the aforementioned route, the second region is identified based on the transported object information. A movement control method described in any one of the appendices 16 to 18.

[0195] (Note 20) The moving region includes a passage through which the moving body moves. When generating the aforementioned path, the second region is identified by expanding the first region along the direction in which the passage extends. A movement control method described in any one of the appendices 16 to 19.

[0196] (Note 21) When generating the aforementioned path, a set of path points is generated that indicates a first path that avoids the second region based on the movement region information, and the avoidance path is generated by selecting multiple path points from the set of path points. A movement control method described in any one of the items 16 to 20 of the appendix.

[0197] (Note 22) When generating the aforementioned path, the path is generated including the starting point and ending point of the movement input from an input device that performs operation input to set the starting point and ending point of the movement of the moving body in the movement area. A movement control method described in any one of the items 16 to 21 of the appendix.

[0198] (Note 23) When generating the aforementioned path, the prediction unit predicts the aforementioned Movement results If a path that avoids the second region cannot be generated based on this, the system will notify that there is a problem with the transport of the object by the moving body. The movement control method described in Appendix 17.

[0199] (Note 24) The system includes a position information generation unit that generates position information relating to the position of the object based on the aforementioned movement area information, The path generation unit determines the first and second regions in the movement region based on the position information. A movement control system as described in any one of the appendices 1 to 9.

[0200] (Note 25) The system includes a map information storage unit that stores map information relating to the aforementioned moving area, as well as area information relating to the first and second areas. The prediction unit, based on the route information relating to the avoidance route, the map information, and the area information, Predictive processing Execute A movement control system as described in any one of the items 2 to 9 of the appendix.

[0201] (Note 26) The aforementioned path generation unit, The mobile body information relating to the mobile body is acquired, and the second region is defined based on the mobile body information. A movement control system as described in any one of the appendices 1 to 9.

[0202] (Note 27) The aforementioned mobile body includes a plurality of mobile bodies, The system includes a mobile body selection unit that selects a mobile body from among the plurality of mobile bodies to transport the object. The aforementioned path generation unit, The aforementioned mobile body selection unit generates a path for the mobile body selected to transport the transported object. A movement control system as described in any one of the appendices 1 to 9.

[0203] (Note 28) The aforementioned mobile body includes a plurality of mobile bodies, The system includes a mobile body selection unit that selects a mobile body from among the plurality of mobile bodies that is capable of moving along the path and that will transport the transported object. A movement control system as described in any one of the appendices 1 to 9.

[0204] (Note 29) The aforementioned moving body selection unit is From among the plurality of moving bodies, a leading moving body is selected to lead the transported object, and a following moving body is selected to follow the leading moving body and perform coordinated transport of the transported object together with the leading moving body. The aforementioned path generation unit, To generate the path of the leading mobile body, A movement control system as described in Appendix 27 or 28.

[0205] (Note 30) The leading moving body is equipped with a first pressurizing unit that pressurizes the conveyed object, The subsequent moving body is equipped with a second pressurizing unit that pressurizes the conveyed object, The cooperative conveyance is executed with the conveyed object sandwiched between the first pressurizing unit and the second pressurizing unit. The movement control system according to Supplementary Note 29.

[0206] (Supplementary Note 31) The leading moving body is a leading moving body communication unit that communicates with the movement control unit, a leading moving body drive unit, and a leading moving body drive control unit that controls the leading moving body drive unit so that the leading moving body moves along the path. The subsequent moving body is a subsequent moving body communication unit that communicates with the movement control unit, a state detection unit that detects the driving state of the leading moving body, a subsequent moving body drive unit, and a subsequent moving body drive control unit that controls the subsequent moving body drive unit. When the subsequent moving body drive control unit executes the cooperative conveyance, it controls the subsequent moving body drive unit based on the driving state of the leading moving body detected by the state detection unit so that the subsequent moving body moves along the path following the leading moving body. The movement control system according to Supplementary Note 29 or 30.

[0207] (Supplementary Note 32) The state detection unit detects, as the driving state of the leading moving body, the load received by the subsequent moving body from the conveyed object. [[ID=4�]] The movement control system according to Supplementary Note 31.

[0208] (Supplementary Note 33) The path generation unit selects the point group of paths so as to avoid the first region and the second region. The movement control system according to Supplementary Note 6.

[0209] (Note 34) The aforementioned path generation unit, The path is generated such that the number of path points included in the aforementioned path is less than the number of path points included in the first path. A movement control system as described in Appendix 6 or 33.

[0210] (Note 35) The path generation unit generates the path such that the number of times the moving body changes direction when moving along the path is less than the number of times the moving body changes direction when moving along the first path. A movement control system as described in any one of the following appendices: 6, 33, or 34. [Industrial applicability]

[0211] This invention provides a movement control system, a movement control device, and a movement control method that improve the safety and productivity of transport operations. [Explanation of Symbols]

[0212] 1, 1A, 1B, 1C Transport robots 2. Transported items 2A Luggage 3 sensors 4 System Control Unit 5 AP (Access Point) 6 Network 7 Obstacles 7A 1st area 7B 2nd area 10 Main unit 11 frames 12, 13 Drive unit 14, 15 shafts 16 Control Unit 17 Communications Department 20, 21 wheels 22 Caster 23 Load Sensor 24 Angle Sensor 30 Contact area 31 and 32 board members 33 friction part 34, 35, 36, and 37 elastic members 40 rotation mechanism 41 arm 42 shaft part 43 arm 47 stay 50 restoration mechanism 51 rocking member 51c and 53 pin parts 54 elastic member 60 guide mechanism 61 guide member 61a guide surface 70 pedestal 71, 72, 73, and 74 casters 81 axle 110 CPU (Central Processing Unit) 120 ROM (Read Only Memory) 130 RAM (Random Access Memory) 140 storage medium 150 interface (I / F) 170 input part 180 display part 190 bus 400 controller 401 network I / F 410 position information generation part 420 map information storage part 430 moving object selection part 440 and 440D route generation parts 450 and 450D movement control parts 460 prediction part 1000, 1000A, 1000B, and 1000C conveying systems AR1 moving area PS starting point PG ending point

Claims

1. A path generation means generates a path for a moving object to move through a moving area based on moving area information relating to the moving area of ​​at least one moving object received from a sensor via a network, The system includes a mobile body control means for controlling the movement of the mobile body based on the aforementioned path, The path generation means generates an avoidance path that avoids a second region which includes a first region representing the position of an object in the movement region and a region surrounding the first region. The moving body control means controls the moving body based on the avoidance path, The aforementioned mobile area information includes transported object information relating to the transported object supported and transported by the mobile body, The transported object information includes information regarding the current position of the transported object, the target position of the transported object, and the size of the transported object. The path generation means identifies the second region based on the current position, the target position, and the size. Mobile control device.

2. The aforementioned mobile body transports the transported object, The moving body is equipped with a prediction means for predicting the movement trajectory when it moves along the avoidance path while transporting an object. The path generation means generates a new avoidance path that avoids the second region based on the movement trajectory predicted by the prediction means. The motion control device according to claim 1.

3. The aforementioned mobile body includes a plurality of mobile bodies that perform coordinated transport, which transports objects in cooperation with each other. The aforementioned route generation means is As the aforementioned path, a cooperative transport path is generated in which the plurality of moving bodies transport the transported object by the cooperative transport. The motion control device according to claim 1 or 2.

4. The moving region includes a passage through which the moving body moves. The aforementioned route generation means is The second region is identified by expanding the first region along the direction in which the passage extends. A mobile control device according to any one of claims 1 to 3.

5. The aforementioned route generation means is Based on the aforementioned movement region information, a group of path points is generated that indicates a first path that avoids the second region, and the avoidance path is generated by selecting multiple path points from the group of path points. A mobile control device according to any one of claims 1 to 4.

6. Transmitting movement area information relating to the movement area of ​​at least one moving object, Based on the moving area information received via the network, the system generates a path for the moving object to travel through the moving area. The system includes controlling the movement of the mobile body based on the aforementioned path, When generating the aforementioned path, an avoidance path is generated that avoids a second region which includes a first region representing the position of an object in the movement region and a region surrounding the first region. When controlling the movement of the moving body, the moving body is controlled based on the avoidance path, The aforementioned mobile area information includes transported object information relating to the transported object supported and transported by the mobile body, The transported object information includes information regarding the current position of the transported object, the target position of the transported object, and the size of the transported object. When generating the aforementioned path, the second region is identified based on the current position, the target position, and the size. A method for controlling movement.

7. At least one mobile body, A sensor that transmits movement area information relating to the movement area of ​​the moving object, A path generation means that generates a path for the moving object to move through the moving area based on the moving area information received via the network, The system includes a mobile body control means for controlling the movement of the mobile body based on the aforementioned path, The path generation means generates an avoidance path that avoids a second region which includes a first region representing the position of an object in the movement region and a region surrounding the first region. The moving body control means controls the moving body based on the avoidance path, The aforementioned mobile area information includes transported object information relating to the transported object supported and transported by the mobile body, The transported object information includes information regarding the current position of the transported object, the target position of the transported object, and the size of the transported object. The path generation means identifies the second region based on the current position, the target position, and the size. A mobile control system.

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