Information processing device, method for controlling a mobile device, and control program for a mobile device

Abstract

To conduct work efficiently and avoid interference between a manned vehicle and an unmanned vehicle according to a state of the work.SOLUTION: An information processing device comprises: an acquisition unit that acquires at least first schedule information including a target position and a schedule time zone of work of a first mobile body that is a manned vehicle; and a processing unit that conducts an analysis related to interference of work between the first mobile body and a second mobile body that is an unmanned vehicle on the basis of the acquired first schedule information.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Control for suppressing interference between moving bodies is known. For example, in Patent Document 1, a configuration for avoiding interference between an unmanned vehicle that autonomously travels in a mine and a manned vehicle that is driven by a driver in the mine is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When performing work using a manned vehicle and an unmanned vehicle, a configuration is required that can flexibly suppress interference in both the manned vehicle and the unmanned vehicle according to the work situation while performing the work efficiently.

[0005] The present disclosure has been made in view of the above, and an object thereof is to provide an information processing apparatus, a method for controlling a moving body, and a control program for a moving body that can flexibly suppress interference between a manned vehicle and an unmanned vehicle according to the work situation while performing the work efficiently.

Means for Solving the Problems

[0006] The information processing apparatus according to the present disclosure includes an acquisition unit that at least acquires first schedule information including a target position and a scheduled time zone of work of a first moving body that is a manned vehicle, and a processing unit that performs an analysis related to interference of work between the first moving body and a second moving body that is an unmanned vehicle based on the acquired first schedule information.

[0007] The method for controlling a mobile body according to this disclosure includes at least the step of acquiring first scheduled information, including the target location and scheduled time period of work performed by a first mobile body which is a manned vehicle, and the step of performing an analysis of work interference between the first mobile body and a second mobile body which is an unmanned vehicle, based on the acquired first scheduled information.

[0008] The control program for a mobile body according to this disclosure causes a computer to perform at least the following processes: acquiring first scheduled information including the target location and scheduled time for work performed by a first mobile body, which is a manned vehicle; and performing analysis on work interference between the first mobile body and a second mobile body, which is an unmanned vehicle, based on the acquired first scheduled information. [Effects of the Invention]

[0009] According to this disclosure, it is possible to perform work efficiently while flexibly avoiding interference between manned and unmanned vehicles depending on the work situation. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram of the motion control system according to this embodiment. [Figure 2] Figure 2 is a schematic diagram of the configuration of the first mobile body. [Figure 3] Figure 3 is a schematic diagram of the configuration of the second mobile unit. [Figure 4] Figure 4 is a schematic block diagram of the control device for the second mobile unit. [Figure 5] Figure 5 is a schematic block diagram of the control system. [Figure 6] Figure 6 is a schematic block diagram of an information processing device. [Figure 7] Figure 7 shows an example of a work order. [Figure 8] Figure 8 shows an example of the analysis results displayed on the display unit. [Figure 9] Figure 9 is a schematic diagram illustrating an example of a workable area. [Figure 10]Figure 10 is a schematic diagram illustrating another example of the movement of a moving object. [Figure 11] Figure 11 is a schematic diagram showing an example of a candidate for the first planned information displayed on the display unit. [Figure 12] Figure 12 is a flowchart showing an example of the operation of the information processing device according to this embodiment. [Modes for carrying out the invention]

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

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

[0013] (work area) As shown in FIG. 1, a work area AR is set in the facility W. The work area AR is an area where the mobile body 10 of the present embodiment performs a predetermined work such as a cargo handling work. The work area AR includes a first area AR1 and a second area AR2.

[0014] Hereinafter, one direction along the floor surface of the work area is defined as the X direction, and a direction along the floor surface and intersecting the direction X is defined as the Y direction. In the present embodiment, the Y direction is a direction orthogonal to the X direction. The X direction and the Y direction may be said to be directions along the horizontal plane. In the X direction and the Y direction, the direction of the arrow is defined as the + direction (or + side), and the direction opposite to the + direction is denoted as the - direction (or - side). Further, a direction orthogonal to the X direction and the Y direction, more specifically, a direction upward in the vertical direction, is defined as the Z direction. In the present embodiment, the "position" refers to the position (coordinates) in the coordinate system (coordinate system of the first area AR1) on the two-dimensional plane of the first area AR1, unless otherwise specified. Further, the "posture (orientation)" of the mobile body 10 or the like refers to the orientation of the mobile body 10 or the like in the coordinate system of the first area AR1, and when viewed from the Z direction, the yaw angle (rotation angle) of the mobile body 10 when the X direction is 0°.

[0015] The first area AR1 is an area where, for example, the object P to be loaded onto the transport vehicle V or the object P unloaded from the transport vehicle V is placed. A plurality of placement areas A for placing the object P are provided in the first area AR1. The placement area A is an area set for placing the object P, and can also be said to be an area where the object P may be installed. The shape and size of the placement area A are preset. In the example of FIG. 1, the placement area A is rectangular, but the shape and size may be arbitrary. Further, the placement area A is partitioned for each object P, and one object P is placed in each placement area A. Depending on the situation of the facility W, the object P may or may not be placed in each placement area A. In the example of FIG. 1, the placement areas A are arranged in the Y direction, but the arrangement and number of the placement areas A may be arbitrary.

[0016] The second area AR2 is provided at a position adjacent to the first area AR1. In the example of FIG. 1, the second area AR2 is located on the -Y side of the first area AR1. The second area AR2 has a storage area B. The storage area B stores the object P. The storage area B is not limited to a configuration arranged side by side in the X and Y directions, and may be arranged side by side in the Z direction, such as on a shelf or the like.

[0017] (Waypoint) In the work area AR, a waypoint WP is set for each position (coordinate). The movement path of the moving body 10 is set to connect the waypoints WP. That is, the path connecting the waypoints WP that the moving body 10 is scheduled to pass through becomes the movement path of the moving body 10. The waypoint WP is set according to the layout of the work area AR. For example, the waypoint WP may be set in a matrix in the area where the moving body 10 can move in the work area AR. Also, the waypoint WP is preset according to the position where the object P is arranged within the parking area ARV. Further, the waypoint WP can be set to correspond to the placement area A or the like where the object P is arranged in the work area AR. For example, the waypoint WP can be set at the position (coordinate) corresponding to each placement area A.

[0018] (Moving body) In the present embodiment, the moving body 10 includes a first moving body 10A which is a manned vehicle that moves by the operation of a driver, and a second moving body 10B that moves autonomously.

[0019] (First moving body) Figure 2 is a schematic diagram of the configuration of the first mobile body. The first mobile body 10A, as a manned vehicle, is a device that moves under the operation of a driver U. For example, the first mobile body 10A moves when operated by a driver U who is riding in the first mobile body 10A. However, it is not limited to this, and the first mobile body 10A may also move when remotely operated by a driver U who is not riding in the first mobile body 10A. Furthermore, in this embodiment, the first mobile body 10A is a device capable of transporting objects. More specifically, in this embodiment, the first mobile body 10A is a forklift. However, the first mobile body 10A is not limited to being a forklift that transports objects, and may be any device that can be moved under the operation of a driver U.

[0020] As shown in Figure 2, the first mobile unit 10A includes an operation unit 70, a drive unit 72, a shooting unit 74, an input unit 76, a display unit 78, and a control device 80. The operation unit 70 is an interface mechanism that receives operations from the driver U and may include, for example, a steering wheel, accelerator, and brake. The drive unit 72 is a drive mechanism that moves the first mobile unit 10A. The first mobile unit 10A moves when the drive unit 72 is driven by the operations of the driver U received by the operation unit 70.

[0021] The imaging unit 74 is positioned, for example, on the head guard of the first mobile body 10A. The imaging unit 74 is installed facing the ceiling and photographs the ceiling. The imaging unit 74 outputs the photographic data to the control device 80.

[0022] The input unit 76 accepts information input from the driver U. Examples of information input by the driver U include the first scheduled information described later. The input unit 76 may also be various input devices such as a touch panel or keyboard.

[0023] The display unit 78 displays information such as characters and images. The display unit 78 can be any type of display, such as a liquid crystal display.

[0024] The control device 80 is a device that controls the first mobile body 10A. The control device 80 is a computer and includes a communication unit 82, a storage unit 84, and a control unit 86. The communication unit 82 is a module used by the control unit 86 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 82 is wireless communication, but the communication method may be arbitrary. The storage unit 84 is a memory that stores various information such as the calculation contents and programs of the control unit 86, and includes at least one of the following: RAM (Random Access Memory), main memory such as ROM (Read Only Memory), and external storage device such as HDD (Hard Disk Drive).

[0025] The control unit 86 is an arithmetic unit and includes arithmetic circuits such as a CPU (Central Processing Unit). The control unit 86 includes a position estimation unit 88, an information transmission unit 90, and a movement control unit 92. The control unit 86 reads a program (software) from the storage unit 84 and executes it to realize the position estimation unit 88, the information transmission unit 90, and the movement control unit 92, and performs their processing. The control unit 86 may perform these processing with a single CPU, or it may have multiple CPUs and perform the processing with those multiple CPUs. In addition, at least a part of the position estimation unit 88, the information transmission unit 90, and the movement control unit 92 may be realized with hardware circuits. Furthermore, the program for the control unit 86 stored in the storage unit 84 may be stored on a recording medium that the control device 80 can read.

[0026] The position estimation unit 88 analyzes the captured data taken by the imaging unit 74 using image processing and other methods. Based on the analysis results of the captured data and the movement conditions of the first mobile body 10A, such as its speed and steering angle, the position estimation unit 88 estimates the position of the first mobile body 10A in real time.

[0027] The information transmission unit 90 transmits first mobile body information, indicating the position and speed of the first mobile body 10A, and first scheduled information for the first mobile body to an external device such as the information processing device 14. The movement control unit 92 controls the movement of the first mobile body 10A. The specific details of these processes will be described later. The movement control unit 92 automatically controls the first mobile body 10A, for example, by automatically stopping the first mobile body 10A. However, since the first mobile body 10A is a manned vehicle, it does not need to have a function to automatically control the first mobile body 10A, or in other words, it does not need to include a movement control unit 92.

[0028] (Second mobile unit) Figure 3 is a schematic diagram of the configuration of the second mobile unit. The second mobile unit 10B, as an unmanned vehicle, is a device that can move automatically. In this embodiment, the second mobile unit 10B is a device that can transport objects. More specifically, in this embodiment, the second mobile unit 10B is a forklift, or more precisely, a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift). However, the second mobile unit 10B is not limited to a forklift that transports objects, and may be any device that can move automatically.

[0029] As shown in Figure 3, the second mobile body 10B comprises a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, forks 24, a sensor 26A, and a control device 28. The straddle legs 21 are a pair of axial members provided at one end of the vehicle body 20 in the longitudinal direction and protruding from the vehicle body 20. The mast 22 is movably attached to the straddle legs 21 and moves in the longitudinal direction of the vehicle body 20. The mast 22 extends along the vertical direction (here, direction Z) perpendicular to the longitudinal direction. The forks 24 are movably attached to the mast 22 in direction Z. The forks 24 may also be movable relative to the mast 22 in the lateral direction of the vehicle body 20 (in a direction intersecting the vertical and longitudinal directions). The forks 24 have a pair of claws 24A and 24B. The claws 24A and 24B extend from the mast 22 toward the rear of the vehicle body 20. Claws 24A and 24B are positioned apart from each other in the lateral direction of the mast 22. Hereinafter, in the front-rear direction, the direction on the second moving body 10B where the fork 24 is not provided will be referred to as the front direction, and the direction on the side where the fork 24 is provided will be referred to as the rear direction.

[0030] Sensor 26A detects at least one of the position and orientation of an object present around the vehicle body 20. It can also be said that sensor 26A detects at least one of the position of an object relative to the second moving body 10B and the orientation of an object relative to the second moving body 10B. In this embodiment, sensors 26A are provided at the rear end of each straddle leg 21 and on the front side of the vehicle body 20. However, the position of sensors 26A is not limited to this, and they may be provided at any position, and the number of sensors provided may also be arbitrary.

[0031] Sensor 26A is, for example, a sensor that emits laser light. Sensor 26A emits laser light while scanning in one direction (in this case, the horizontal direction), and detects the position and orientation of an object from the reflected light of the emitted laser light. In other words, sensor 26A can be said to be a so-called 2D LiDAR (Light Detection And Ranging). However, sensor 26A is not limited to the above and may be a sensor that detects an object in any way, for example, a so-called 3D LiDAR that scans in multiple directions, a so-called 1D LiDAR that does not scan, or a camera.

[0032] Figure 4 is a schematic block diagram of the control device for the second mobile body. The control device 28 is a device that controls the second mobile body 10B. The control device 28 is a computer and, as shown in Figure 4, includes a communication unit 100, a storage unit 102, and a control unit 104. The communication unit 100 is a module used by the control unit 104 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 100 is wireless communication, but the communication method may be arbitrary. The storage unit 102 is a memory that stores various information such as the calculation contents and programs of the control unit 104, and includes, for example, at least one of RAM, a main memory device such as ROM, and an external storage device such as an HDD.

[0033] The control unit 104 is an arithmetic unit and includes arithmetic circuits such as a CPU. The control unit 104 includes a route acquisition unit 110, a movement control unit 112, and an information transmission unit 114. The control unit 104 reads a program (software) from the storage unit 102 and executes it to realize the route acquisition unit 110, the movement control unit 112, and the information transmission unit 114, and performs their processing. The control unit 104 may perform these processing with a single CPU, or it may have multiple CPUs and perform the processing with those multiple CPUs. In addition, at least a part of the route acquisition unit 110, the movement control unit 112, and the information transmission unit 114 may be realized with hardware circuits. Furthermore, the program for the control unit 104 stored in the storage unit 102 may be stored on a recording medium that the control device 28 can read.

[0034] The path acquisition unit 110 acquires information about the path the second mobile body 10B travels, the movement control unit 112 controls the movement mechanisms of the second mobile body 10B, such as the drive unit and steering, to control the movement of the second mobile body 10B, and the information transmission unit 114 transmits second mobile body information indicating the position of the second mobile body 10B to an external device such as the information processing device 14. The specific details of these processes will be described later.

[0035] (Management device) Figure 5 is a schematic block diagram of the management device. The management device 12 is a system for managing logistics in facility W. In this embodiment, the management device 12 is a WCS (Warehouse Control System) or a WMS (Warehouse Management System), but it is not limited to WCS and WMS and may be any system, for example, a backend system such as another production management system. The location where the management device 12 is installed is arbitrary; it may be installed within facility W, or it may be installed at a location away from facility W and manage facility W from that location. The management device 12 is a computer and, as shown in Figure 5, includes a communication unit 30, a storage unit 32, and a control unit 34.

[0036] The communication unit 30 is a module used in the control unit 34 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 30 is wireless communication, but the communication method may be arbitrary. The storage unit 32 is a memory that stores various information such as the calculation contents and programs of the control unit 34, and includes, for example, at least one of RAM, a main memory device such as ROM, and an external storage device such as an HDD.

[0037] The control unit 34 is an arithmetic unit and includes arithmetic circuits such as a CPU. The control unit 34 includes a work order setting unit 40. The control unit 34 realizes the work order setting unit 40 and executes its processing by reading and executing a program (software) from the storage unit 32. The control unit 34 may execute the processing with one CPU, or it may have multiple CPUs and execute the processing with those multiple CPUs. In addition, at least a part of the work order setting unit 40 may be realized with hardware circuits. Furthermore, the program for the control unit 34 stored in the storage unit 32 may be stored on a recording medium that can be read by the management device 12.

[0038] The work order setting unit 40 sets work orders for each object P of the mobile unit 10. The work order setting unit 40 transmits the set work orders from the communication unit 30. The contents of the work orders will be described later.

[0039] Furthermore, the control device 12 may perform processes other than setting the target location. For example, the control device 12 may also set information for controlling mechanisms other than the movable body 10 installed in the facility W (e.g., elevators, doors, etc.).

[0040] (Information processing device) Figure 6 is a schematic block diagram of the information processing device. The information processing device 14 is a device that processes information related to the movement of the mobile body 10. The information processing device 14 is, for example, an FCS (Fleet Control System), but is not limited to that, and may be any device that processes information related to the movement of the mobile body 10. The information processing device 14 is a computer and, as shown in Figure 6, includes a communication unit 50, a storage unit 52, and a control unit 54. The communication unit 50 is a module used by the control unit 54 to communicate with external devices such as the management device 12 and the mobile body 10, and may include, for example, an antenna. In this embodiment, the communication method used by the communication unit 50 is wireless communication, but the communication method may be arbitrary. The storage unit 52 is a memory that stores various information such as the calculation contents and programs of the control unit 54, and includes, for example, at least one of RAM, a main memory device such as ROM, and an external memory device such as an HDD.

[0041] The control unit 54 is an arithmetic unit and includes arithmetic circuits such as a CPU. The control unit 54 includes an acquisition unit 60, a setting unit 62, and a processing unit 64. The control unit 54 realizes the acquisition unit 60, the setting unit 62, and the processing unit 64 by reading and executing a program (software) from the storage unit 52, and then executes their processes. The control unit 54 may execute these processes with a single CPU, or it may have multiple CPUs, and the processes may be executed by those multiple CPUs. In addition, at least a part of the acquisition unit 60, the setting unit 62, and the processing unit 64 may be realized with hardware circuits. Furthermore, the program for the control unit 54 stored in the storage unit 52 may be stored on a recording medium that the information processing device 14 can read.

[0042] The acquisition unit 60 acquires work orders transmitted from the management device 12. The acquisition unit 60 acquires first work information transmitted from the first mobile body 10A. The acquisition unit 60 acquires second mobile body information transmitted from the second mobile body 10B. The setting unit 62 sets the second scheduled information for the second mobile body 10B based on the work orders. The processing unit 64 performs an analysis regarding interference between the first mobile body 10A and the second mobile body 10B. The specific details of these processes will be described later.

[0043] In this embodiment, the management device 12 and the information processing device 14 were separate devices, but they may be an integrated device. That is, the management device 12 may incorporate at least some of the functions of the information processing device 14, and the information processing device 14 may incorporate at least some of the functions of the management device 12.

[0044] (Processing of the motion control system) The processing details of the movement control system 1 are described below.

[0045] (Acquisition of planned information) When the driver U inputs first scheduled information to the input unit 76 of the first mobile unit 10A, the information transmission unit 90 of the control unit 86 transmits the inputted first scheduled information to the information processing device 14. The first scheduled information includes information about the target location (first target location) of the work performed by the first mobile unit 10A, the scheduled time period for the work, and the priority of the work (first priority). The first scheduled information may also include information about the movement path of the first mobile unit 10A. The first target location may be any location within the equipment W. The first target location may be, for example, the location of the object that the first mobile unit 10A is to receive, the destination location of the object that the first mobile unit 10A is to transport, or any other location where the first mobile unit 10A is to perform work. The first scheduled time period may be the time period during which the driver U plans to perform work using the first mobile unit 10A. The first priority can be set appropriately according to the work situation, for example; the first priority can be set relatively high for urgent tasks and relatively low for normal tasks. In the information processing device 14, the communication unit 50 receives the first scheduled information transmitted from the first mobile device 10A. The acquisition unit 60 of the control unit 34 acquires the received first scheduled information.

[0046] (Second planned information acquisition) The work order setting unit 40 of the management device 12 sets work orders for the work of the second mobile unit 10B, which is an unmanned vehicle. Work orders are set for each object P. Figure 7 shows an example of a work order. As shown in Figure 7, a work order includes an order ID, the ID of the object P corresponding to the order ID, source and destination information, the priority of the work, and the ID of the mobile unit 10 to which the work is assigned. The work order setting unit 40 transmits the set work orders from the communication unit 30.

[0047] In the information processing device 14, the communication unit 50 receives a work order. The acquisition unit 60 acquires the received work order. The setting unit 62 generates second scheduled information for the work of the second mobile unit 10B based on the acquired work order. The second scheduled information includes information about the target location (second target location) of the work of the second mobile unit 10B, the scheduled time period for the work (second scheduled time period), and the priority of the work (second priority). The second scheduled information may also include information about the movement path of the second mobile unit 10B. The second target location may be any location within the equipment W. The second target location may be a location where the second mobile unit 10B is to perform work, such as the location of an object to be received by the second mobile unit 10B, or the destination location of an object to be transported by the second mobile unit 10B. The second scheduled time period may be the time period during which the second mobile unit 10B is scheduled to perform work. The second priority is the priority set in the work order. The acquisition unit 60 acquires the set second scheduled information.

[0048] (Analysis of interference 1) In the information processing device 14, the processing unit 64 performs an analysis of interference between the first mobile body 10A and the second mobile body 10B based on the acquired first scheduled information and second scheduled information. The processing unit 64 analyzes whether there is a time period in which the movement paths or target locations of the first mobile body 10A and the second mobile body 10B overlap when the first mobile body 10A performs work according to the first scheduled information and the second mobile body 10B performs work according to the second scheduled information.

[0049] The processing unit 64 determines which of the first mobile unit 10A and the second mobile unit 10B will perform the higher-priority task, based on the priorities included in the first and second scheduled information.

[0050] If the priority of the task in the second scheduled information is higher than the priority of the task in the first scheduled information, the processing unit 64 determines that the task with higher priority should be performed by the second mobile unit 10B rather than the first mobile unit 10A. In this case, the processing unit 64 transmits the analysis result to the first mobile unit 10A. At this time, the processing unit 64 can transmit to the first mobile unit 10A information that associates the analysis result and the second scheduled information by time.

[0051] The first mobile unit 10A receives the analysis results via the communication unit 82. The received analysis results are presented to the driver U, for example, by being displayed on the display unit 78. Figure 8 shows an example of the analysis results displayed on the display unit 78. Figure 8 shows the number of vehicles that the second mobile unit 10B passes per predetermined time overlaid on the map of the work area AR. In addition, the display unit 78 may also display an indicator 78a, and by sliding the indicator 78a, the change in the number of vehicles that the second mobile unit 10B passes per predetermined time when the time is changed may be shown. Furthermore, the area in which the first mobile unit 10A can move and the portion representing the movement path (the shaded area enclosed by the dashed line in Figure 8) may be overlaid on the map of the work area AR based on the analysis results.

[0052] The driver U can determine the work to be performed by the first mobile unit 10A based on the analysis results. For example, if the analysis results indicate that there is a time period in which the travel routes or target locations of the first mobile unit 10A and the second mobile unit 10B overlap, the driver U can change the first scheduled information to perform the work during a time period in which the travel routes or target locations of the first mobile unit 10A and the second mobile unit 10B do not overlap.

[0053] Furthermore, if the priority included in the second schedule information is higher than the priority included in the first schedule information, the processing unit 64 determines that the first mobile unit 10A will perform a higher priority task than the second mobile unit 10B. In this case, based on the analysis results, the processing unit 64 modifies the second schedule information of the second mobile unit 10B so as not to interfere with the first mobile unit 10A, which is performing work according to the first schedule information. For example, the processing unit 64 can set a time period during which the first mobile unit 10A does not perform work as the time period for the second schedule information. The processing unit 64 transmits the modified second schedule information to the second mobile unit 10B. The second mobile unit 10B receives the transmitted adjusted second schedule information and performs work based on the received adjusted second schedule information. The processing unit 64 may also notify the first mobile unit 10A of a time period different from the time period set in the second schedule information as a time period during which work is possible.

[0054] (Analysis of interference 2) In the above example, the explanation was given using the case where the second scheduled information is set by the setting unit 62, but the explanation is not limited to this case. For example, if the first scheduled information is acquired by the information processing device 14 when the second scheduled information has not been set, the processing unit 64 can perform an analysis of the interference between the first mobile body 10A and the second mobile body 10B based on the acquired first scheduled information, and set the second scheduled information based on the results of the analysis.

[0055] In this case, for example, the processing unit 64 calculates, as an analysis result, a travel route, destination location, and scheduled time slot that do not overlap with the acquired first scheduled information. Based on the results of the analysis, the setting unit 62 sets the second scheduled information for the second mobile body 10B so as not to interfere with the first mobile body 10A which is performing work according to the first scheduled information. The setting unit 62 can set the second scheduled information each time the first scheduled information is acquired.

[0056] When setting the second scheduled information, the processing unit 64 can calculate the workable area where the first mobile body 10A can work, for example, based on the analysis results. Figure 9 is a schematic diagram showing an example of a workable area. As shown in Figure 9, the workable area AR3 can be set to a range that includes, for example, the target position and movement path of the first mobile body 10A. In this case, the setting unit 62 can set the second scheduled information according to the calculated workable area AR3. That is, the setting unit 62 can set the second scheduled information so that work is performed outside the calculated workable area AR3. This ensures that interference between the first mobile body 10A and the second mobile body 10B is prevented.

[0057] Furthermore, if the first mobile unit 10A deviates from a predetermined route based on the first scheduled information, or if the work is performed in a manner different from the first scheduled information, such as when the first mobile unit 10A deviates from a predetermined route based on the first scheduled information, or when the work is performed beyond the scheduled time period based on the first scheduled information, or when the work is completed earlier than scheduled, the processing unit 64 may change the second scheduled information according to the manner of work performed by the first mobile unit 10A.

[0058] Figure 10 schematically illustrates another example of the operation of the mobile body 10. As shown in Figure 10, for example, if the movement path R2 of the first mobile body 10A deviates from a predetermined route R1 based on the first scheduled information, the processing unit 64 can change the second scheduled information to stop all work of the second mobile body 10B. Also, if the work of the first mobile body 10A is performed beyond the scheduled time period based on the first scheduled information, the processing unit 64 can change the scheduled time period for the work of the second mobile body 10B to be delayed. Also, if the work of the second mobile body 10B is completed earlier than scheduled, the processing unit 64 can change the scheduled time period for the work of the second mobile body 10B to be advanced.

[0059] Furthermore, the processing unit 64 may set multiple candidates for the first scheduled information and transmit multiple candidates to the first mobile unit 10A. Figure 11 is a schematic diagram showing an example of candidates for the first scheduled information displayed on the display unit 78. As shown in Figure 11, multiple candidates are displayed on the display unit 78 of the first mobile unit 10A. Alternatively, the system may be configured to display the travel route, work area, etc., to be moved with the first scheduled information, along with the multiple candidates for the first scheduled information, on a map. The driver U can select the first scheduled information from the multiple candidates displayed on the display unit 78. The driver U can input the selected first scheduled information using the input unit 76. The input first scheduled information is transmitted from the communication unit 82. The first scheduled information is received by the communication unit 50 of the information processing device 14. The received first scheduled information is acquired by the acquisition unit 60. In this way, the acquisition unit 60 acquires the selection result, which is that the first mobile unit 10A has selected one of the multiple candidates. The processing unit 64 sets the first scheduled information based on the acquired selection result.

[0060] (Movement of the first mobile object) The first mobile unit 10A, which is a manned vehicle, moves under the operation of driver U. By driving the first mobile unit 10A based on the first scheduled information set as described above, the first mobile unit 10A can perform work in accordance with the first scheduled information.

[0061] (Movement of the second mobile object) The unmanned vehicle, the second mobile unit 10B, performs its work according to the set second scheduled information. That is, the movement control unit 112 of the second mobile unit 10B moves the second mobile unit 10B according to the path acquired by the path acquisition unit 110, within the scheduled time period based on the second scheduled information. More specifically, in this embodiment, it is preferable that the path acquisition unit 110 sets the second path (global path) based on the first path (layout path), which is the movement path of the second scheduled information transmitted from the information processing device 14. In this case, the path acquisition unit 110 sets the second path based on the first path and the vehicle specification information of the second mobile unit 10B. The vehicle specification information includes, for example, the size of the second mobile unit 10B and the minimum turning radius, which are specifications that affect the paths that the second mobile unit 10B can move along. The second path, like the first path, is a path that leads to the target position. More specifically, the second path is a path that the second mobile unit 10B can follow and that reaches the target position.

[0062] The movement control unit 112 moves the second mobile body 10B along a set path (the second path in this embodiment) by sequentially grasping the position information of the second mobile body 10B. The method for acquiring the position information of the second mobile body 10B is arbitrary, but for example, in this embodiment, a detection body (not shown) is provided on the equipment W, and the movement control unit 112 acquires information on the position and orientation of the second mobile body 10B based on the detection of the detection body. Specifically, the second mobile body 10B irradiates laser light toward the detection body and receives the reflected light of the laser light from the detection body to detect its own position and orientation on the equipment W. The method for acquiring information on the position and orientation of the second mobile body 10B is not limited to using a detection body, and for example, SLAM (Simultaneous Localization And Mapping) may be used.

[0063] The second scheduled information is set by the information processing device 14 so as not to interfere with the work of the first mobile body 10A. Therefore, by having the second mobile body 10B perform its work according to the second scheduled information, interference between the work of the first mobile body 10A and the second mobile body 10B can be appropriately avoided.

[0064] Figure 12 is a flowchart illustrating an example of the operation of the information processing device 14 according to this embodiment. As shown in Figure 12, the information processing device 14 acquires first scheduled information from the first mobile body 10A in the acquisition unit 60 (step S10). The processing unit 64 determines whether or not second scheduled information has been set (step S20). If it is determined that second scheduled information has been set (Yes in step S20), the processing unit 64 acquires the second scheduled information (step S30). Based on the acquired first and second scheduled information, the processing unit 64 performs an analysis regarding interference between the work of the first mobile body 10A and the work of the second mobile body 10B (step S40). If the analysis determines that there is a time period in which interference occurs between the work of the first mobile body 10A and the work of the second mobile body 10B (Yes in step S50), the processing unit 64 compares the priority between the work of the first mobile body 10A and the work of the second mobile body 10B (step S60). In step S60, if it is determined that the work of the first mobile unit 10A has a higher priority (Yes in step S60), the analysis results are sent to the first mobile unit 10A (step S70). Also, in step S60, if it is determined that the second mobile unit 10B has a higher priority (No in step S60), the second scheduled information is modified so as not to interfere with the work of the first mobile unit 10A (step S80).

[0065] Furthermore, if it is determined in step S20 that the second schedule information has not been set (No. in step S20), the processing unit 64 performs analysis based on the first schedule information and calculates a travel route, destination location, and scheduled time slot that do not overlap with the first schedule information as the analysis result (step S90). The processing unit 64 sets the second schedule information based on the analysis result (step S100).

[0066] As described above, according to a first aspect of this disclosure, an information processing device 14 is provided, comprising an acquisition unit 60 that acquires at least first scheduled information including the target location and scheduled time period of work performed by a first mobile body 10A, which is a manned vehicle, and a processing unit 64 that performs an analysis of work interference between the first mobile body 10A and a second mobile body 10B, which is an unmanned vehicle, based on the acquired first scheduled information.

[0067] With this configuration, by performing an analysis of the interference between the work of the first mobile body 10A and the second mobile body 10B, the information processing device 14 can acquire information regarding the interference between the work of the first mobile body 10A and the second mobile body 10B. By appropriately using this information in the information processing device 14, it becomes possible to perform work efficiently while suppressing the interference between the work of the first mobile body 10A and the second mobile body 10B according to the work situation.

[0068] According to a second aspect of this disclosure, in the information processing device 14 according to the first aspect, the acquisition unit 60 acquires second scheduled information including the target location and scheduled time for the work of the second mobile body 10B. The first scheduled information and the second scheduled information each include information regarding priority, and the processing unit 64 determines which of the first mobile body 10A and the second mobile body 10B will perform the higher priority work. Therefore, by determining the priority of the first mobile body 10A and the second mobile body 10B, the work can be performed appropriately according to the priority.

[0069] According to a third aspect of this disclosure, in the information processing device 14 according to the second aspect, if the processing unit 64 determines that the second mobile body 10B is performing a higher priority task than the first mobile body 10A, it transmits the analysis results to the first mobile body 10A. Therefore, the driver U can be prompted to reset the first scheduled information of the first mobile body 10A to match the second mobile body 10B which is performing a higher priority task.

[0070] According to the fourth aspect of this disclosure, in the information processing device 14 according to the third aspect, the processing unit 64 transmits to the first mobile unit 10A information that associates the analysis results with the second scheduled information by time. Therefore, when prompting the driver U to reset the first scheduled information, appropriate information can be presented to the driver U so that it is easier for the driver U to avoid the second scheduled information of the second mobile unit 10B.

[0071] According to the fifth aspect of this disclosure, in the information processing device 14 according to the second aspect, if the processing unit 64 determines that the first mobile body 10A is performing a task with higher priority than the second mobile body 10B, it changes the second scheduled information of the second mobile body 10B based on the analysis results so as not to interfere with the first mobile body 10A which is performing a task according to the first scheduled information. Therefore, the second scheduled information of the second mobile body 10B can be automatically changed to match the first mobile body 10A which is performing a task with higher priority.

[0072] According to the sixth aspect of this disclosure, the information processing device 14 according to the first aspect further includes a setting unit 62 that sets second scheduled information for the second mobile body 10B in such a way as not to interfere with the first mobile body 10A which performs work according to the first scheduled information, based on the results of the analysis. Therefore, the second scheduled information can be set efficiently.

[0073] According to the seventh aspect of this disclosure, in the information processing device 14 according to the sixth aspect, the processing unit 64 sets multiple candidates for the first scheduled information and presents the multiple candidates to the first mobile body 10A, the acquisition unit 60 acquires the selection result of the first mobile body 10A selecting one of the multiple candidates, and the processing unit 64 sets the first scheduled information based on the acquired selection result. Therefore, it becomes possible to broaden the range of choices for the driver U's work schedule.

[0074] According to the eighth aspect of this disclosure, in the information processing device 14 according to the sixth aspect, the processing unit 64 calculates the workable area in which the first mobile body 10A can work based on the analysis results, and the setting unit 62 sets the second scheduled information according to the calculated workable area. Therefore, interference between the first mobile body 10A and the second mobile body 10B can be appropriately avoided.

[0075] According to the ninth aspect of this disclosure, in the information processing device 14 according to the sixth aspect, the processing unit 64 changes the second scheduled information according to the manner of work of the first mobile body 10A when the first mobile body 10A performs work in a manner different from the first scheduled information. Therefore, the work schedule of the second mobile body 10B can be flexibly changed according to the work status of the first mobile body 10A. As a result, interference between the first mobile body 10A and the second mobile body 10B can be suppressed.

[0076] According to the tenth aspect of this disclosure, in the information processing device 14 according to the sixth aspect, the setting unit 62 sets the second scheduled information each time the first scheduled information is acquired. Therefore, when the first mobile body 10A performs a new operation, the second mobile body 10B performs the operation based on the second scheduled information that has been appropriately set each time. As a result, interference between the first mobile body 10A and the second mobile body 10B can be appropriately avoided.

[0077] According to an eleventh aspect of this disclosure, a method for controlling a mobile body is provided, which includes at least the steps of acquiring first scheduled information, including the target location and scheduled time of work for a first mobile body 10A, which is a manned vehicle, and performing an analysis of work interference between the first mobile body 10A and a second mobile body 10B, which is an unmanned vehicle, based on the acquired first scheduled information.

[0078] With this configuration, by performing an analysis of the interference of operations between the first mobile body 10A and the second mobile body 10B, information regarding the interference of operations between the first mobile body 10A and the second mobile body 10B can be obtained. By appropriately using this information, it becomes possible to suppress the interference of operations between the first mobile body 10A and the second mobile body 10B.

[0079] In accordance with the twelfth aspect of this disclosure, a mobile body control program is provided in the information processing device 14 according to the first aspect, which causes a computer to perform at least the following: a process of acquiring first scheduled information including the target location and scheduled time period of work of the first mobile body 10A, which is a manned vehicle; and a process of performing an analysis of work interference between the first mobile body 10A and the second mobile body 10B, which is an unmanned vehicle, based on the acquired first scheduled information.

[0080] With this configuration, by performing an analysis of the interference of operations between the first mobile body 10A and the second mobile body 10B, information regarding the interference of operations between the first mobile body 10A and the second mobile body 10B can be obtained. By appropriately using this information, it becomes possible to suppress the interference of operations between the first mobile body 10A and the second mobile body 10B.

[0081] Although embodiments of the present disclosure have been described above, the embodiments are not limited to those described herein. Furthermore, the aforementioned components include those that can be easily conceived by those skilled in the art, those that are substantially the same, and those that fall within the so-called equivalent range. Moreover, the aforementioned components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the gist of the embodiments described above. [Explanation of Symbols]

[0082] 1. Mobility control system 10 Mobile Units 10A First Mobile Unit 10B 2nd mobile object 12 Management device 14 Information Processing Devices 20 car bodies 20A Wheel 21 Straddle Legs 22 Mast 24 Forks 24A, 24B claws 26A Sensor 28,80 Control device 30, 50, 82, 100 Communications Department 32,52,84,102 Storage section 34,54,86,104 Control Unit 40 Work Order Setting Section 60 Acquisition Department 62 Setting section 64 Processing Unit 70 Operation section 72 Drive Unit 74 Photography Department 76 Input section 78 Display section 78a Indicator 88 Position estimation part 90,114 Information Transmission Department 92,112 Movement Control Unit 110 Route acquisition unit A placement area B Storage area P Object P0 Fixed object Route R1 R2 Travel Path U Driver V Transport Vehicles ID Order W Equipment X,Z direction AR workspace AR1 1st area AR2 2nd area AR3 Workable Area WP Waypoint

Claims

1. An acquisition unit that acquires at least first scheduled information including the target location and scheduled time period for work performed by the first mobile vehicle, which is a manned vehicle, Based on the acquired first scheduled information, a processing unit performs an analysis of interference between the work between the first mobile body and the second mobile body, which is an unmanned vehicle. Equipped with, The acquisition unit acquires second scheduled information, including the target location and scheduled time period for the work of the second mobile body. The first scheduled information and the second scheduled information each include information regarding priority, The processing unit determines which of the first and second mobile bodies is performing the higher-priority task. Information processing device.

2. If the processing unit determines that the second mobile unit is performing the task with higher priority than the first mobile unit, it transmits the results of the analysis to the first mobile unit. The information processing apparatus according to claim 1.

3. The processing unit transmits to the first mobile unit information that associates the results of the analysis with the second scheduled information by time. The information processing apparatus according to claim 2.

4. If the processing unit determines that the first mobile body is performing the task with higher priority than the second mobile body, it modifies the second scheduled information of the second mobile body based on the results of the analysis so as not to interfere with the first mobile body performing the task according to the first scheduled information. The information processing apparatus according to claim 1.

5. The system further includes a setting unit that sets the second scheduled information for the second mobile body in such a way as not to interfere with the first mobile body performing work according to the first scheduled information, based on the results of the analysis. The information processing apparatus according to claim 1.

6. The processing unit sets a plurality of candidates for the first scheduled information and presents the plurality of candidates to the first mobile body. The acquisition unit acquires the selection result in which the first moving body has selected one of the multiple candidates. The processing unit sets the first scheduled information based on the acquired selection result. The information processing apparatus according to claim 5.

7. Based on the analysis results, the processing unit calculates the workable area in which the first mobile body can perform tasks. The setting unit sets the second scheduled information according to the calculated workable area. The information processing apparatus according to claim 5.

8. The processing unit changes the second scheduled information according to the manner of work performed by the first mobile body when the first mobile body performs work in a manner different from the first scheduled information. The information processing apparatus according to claim 5.

9. The setting unit sets the second schedule information each time the first schedule information is acquired. The information processing apparatus according to claim 5.

10. An acquisition step of acquiring at least first scheduled information including the target location and scheduled time period of work for the first mobile unit, which is a manned vehicle, Based on the acquired first scheduled information, an analysis step is performed to analyze the interference of operations between the first mobile body and the second mobile body, which is an unmanned vehicle. Includes, In the acquisition step, second scheduled information is acquired, including the target location and scheduled time period for the work of the second mobile body. The first scheduled information and the second scheduled information each include information regarding priority, In the analysis step, it is determined which of the first and second mobile bodies is performing the higher-priority task. A method for controlling a moving object.

11. An acquisition process that acquires at least first scheduled information, including the target location and scheduled time period for the work of the first mobile vehicle, which is a manned vehicle, Based on the acquired first scheduled information, an analysis process is performed to analyze the interference of operations between the first mobile body and the second mobile body, which is an unmanned vehicle. Have the computer run it, In the acquisition process described above, second scheduled information is acquired, including the target location and scheduled time period for the work of the second mobile body. The first scheduled information and the second scheduled information each include information regarding priority, The analysis process determines which of the first and second mobile bodies is performing the higher-priority task. Control program for a mobile object.

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