Control system, control device, and control method

Abstract

The purpose of the present disclosure is to provide a control system capable of supplying the power source of a mobile body at an appropriate timing. A control system according to the present disclosure comprises: an allocation unit that allocates work to a work mobile body; a setting unit that sets a threshold value used for determining replenishment of a power source to the work mobile body in accordance with the priority of work assigned to the work mobile body; and a control unit that controls the work mobile body so as to move to the supply location of the power source in accordance with the threshold value and the remaining amount of the power source of the work mobile body. The setting unit sets the threshold to a first value when the work priority is low, and sets the threshold to a second value lower than the first value when the work priority is high.

Description

Control system, control device, and control method

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

[0002] In recent years, technologies for making moving objects such as vehicles and forklifts perform work have become known. Work performed by moving objects includes, for example, transporting goods and handling cargo. Electricity and fuel are used as the power source for such moving objects. When the remaining power of the moving object falls below a certain value, the moving object needs to move to a power source replenishment location to replenish the power source.

[0003] As a related technology, Patent Document 1 discloses a parking management system that determines that the battery needs to be charged immediately when the remaining battery charge falls below a threshold predetermined for each type of battery installed in the vehicle, and then causes the vehicle to charge.

[0004] Japanese Patent Application Laid-Open No. 2019-102055

[0005] If the need for replenishment of the power source of a mobile object is determined based on a specific threshold value and the mobile object is controlled to move to a replenishment location depending on the determination result, the efficiency of the work performed by the mobile object may decrease.

[0006] In view of the above-mentioned problems, an object of the present disclosure is to provide a control system, a control device, and a control method that are capable of replenishment of the power source of a moving body at an appropriate timing.

[0007] The control system according to the present disclosure comprises an allocation means for assigning work to a work mobile unit; a setting means for setting a threshold used to determine whether to replenish the work mobile unit with a power source in accordance with the priority of the work assigned to the work mobile unit; and a control means for controlling the work mobile unit to move to a power source replenishment location in accordance with the threshold and the remaining amount of the power source of the work mobile unit, wherein the setting means sets the threshold to a first value when the priority of the work is low, and sets the threshold to a second value lower than the first value when the priority of the work is high.

[0008] The control device according to the present disclosure comprises: an allocation means for assigning work to a work mobile; a setting means for setting a threshold used to determine whether to replenish the work mobile with a power source in accordance with the priority of the work assigned to the work mobile; and a control means for controlling the work mobile to move to a power source replenishment location in accordance with the threshold and the remaining amount of the power source of the work mobile, wherein the setting means sets the threshold to a first value when the priority of the work is low, and sets the threshold to a second value lower than the first value when the priority of the work is high.

[0009] The control method according to the present disclosure includes a computer: assigning work to a work mobile; setting a threshold used to determine whether to replenish the work mobile with a power source according to the priority of the work assigned to the work mobile; controlling the work mobile to move to a power source replenishment location according to the threshold and the remaining amount of the work mobile's power source; and setting the threshold by setting the threshold to a first value when the priority of the work is low, and setting the threshold to a second value lower than the first value when the priority of the work is high.

[0010] The present disclosure can provide a control system, a control device, and a control method that can replenish the power source of a moving body at an appropriate timing.

[0011] 1 is a block diagram showing the functional configuration of a control system according to the present disclosure. FIG. 2 is a flowchart showing processing performed by a control system according to the present disclosure. FIG. 3 is a diagram schematically showing the configuration of a control system according to the present disclosure. FIG. 4 is a block diagram showing the functional configuration of a control device according to the present disclosure. FIG. 5 is a diagram showing the relationship between the priority of work and a threshold set by a setting unit according to the present disclosure. FIG. 6 is a diagram showing an example of a replenishment machine map showing the location of replenishment machines installed at a replenishment location according to the present disclosure. FIG. 7 is a diagram showing an example of power consumption information according to the present disclosure. FIG. 8 is a flowchart showing threshold setting processing performed by a control device according to the present disclosure. FIG. 9 is a flowchart showing control processing performed by a control device according to the present disclosure with respect to a work mobile object. FIG. 10 is a block diagram showing the functional configuration of a control device according to the present disclosure. FIG. 11 is a diagram showing a work mobile object and a replenishment mobile object in a replenishment machine map according to the present disclosure. FIG. 12 is a flowchart showing threshold setting processing performed by a control device according to the present disclosure. FIG. 13 is a flowchart showing control processing performed by a control device according to the present disclosure with respect to a work mobile object and a replenishment mobile object. FIG. 14 is a block diagram showing an example of a computer hardware configuration for realizing a control system, etc. according to the present disclosure.

[0012] The problem to be solved by the present disclosure will be specifically described. Assume that a determination is made based on a specific threshold as to whether a power source of a mobile object needs to be replenished, and that control is performed to move the mobile object to a replenishment location based on the determination result. For example, assume that the threshold is set to a remaining amount of power source that far exceeds the amount of power source required for the mobile object to move to the nearest replenishment location. In such a case, even though there is a surplus in the power source, the mobile object will stop working and move to the replenishment location. This may result in a decrease in the efficiency of the work performed by the mobile object. The present disclosure solves such a problem.

[0013] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each drawing, the same or corresponding elements are designated by the same reference numerals. For clarity of explanation, duplicated explanations will be omitted as necessary.

[0014] First Embodiment (Configuration of Control System 100) A control system 100 according to the present disclosure will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the functional configuration of the control system 100 according to the present disclosure.

[0015] The control system 100 is a system that controls a mobile object that performs work. The mobile object moves in an environment where an object to be worked on is present, and performs work on the object. The mobile object is, for example, a remotely controlled robot, a vehicle, a forklift, or a drone. These mobile objects may be capable of moving autonomously. The mobile object is, for example, an autonomous mobile robot (AMR), an automated guided vehicle (AGV), an automated guided forklift (AGF), or a drone. The control system 100 may control one mobile object or multiple mobile objects.

[0016] Examples of objects that are the targets of work include luggage and merchandise. Objects may also include carts carrying these objects. Work performed by a moving body includes, for example, transporting objects and loading and unloading objects. In the case of a forklift, for example, a pallet carrying an object may be loaded or transported. In the case of an AGV, for example, a shelf, a cart, or a cart may be loaded or transported. In the following description, a moving body that performs work will be referred to as a "working moving body."

[0017] As shown in FIG. 1 , the control system 100 includes an allocation unit 110, a setting unit 120, and a control unit 130. The control system 100 also includes a processor, a memory, and a storage device, which are not shown in the figure. The storage device stores a computer program that implements the processing according to this embodiment. The processor can load the computer program from the storage device into the memory and execute the computer program. In this way, the processor realizes the functions of the allocation unit 110, the setting unit 120, and the control unit 130.

[0018] The allocation unit 110, the setting unit 120, and the control unit 130 may each be realized by dedicated hardware. Furthermore, some or all of the components of each device may be realized by general-purpose or dedicated circuits, processors, etc., or a combination of these. These may be configured by a single chip, or by multiple chips connected via a bus. Some or all of the components of each device may be realized by a combination of the above-mentioned circuits, etc., and a program.

[0019] The allocation unit 110 allocates work to the work mobile body. For example, the allocation unit 110 acquires work information from a predetermined work management system and allocates work to the work mobile body based on the acquired work information. The work information includes, for example, the content of the work and priority information indicating the priority of the work. The priority information is information indicating the level of the priority of the work. For example, the priority information represents the level of the priority of the work as a level. The priority information includes, for example, information indicating whether the priority of the work is "high" or "low". The priority information may be represented in three or more levels. The priority information may also represent the level of the priority of the work as a numerical value.

[0020] The setting unit 120 sets a threshold value used to determine whether to supply a power source to the work mobile object, depending on the priority of the work assigned to the work mobile object by the allocation unit 110. The power source may be, for example, electricity, gasoline, or hydrogen, but is not limited to these.

[0021] The setting unit 120 sets the threshold to a first value when the priority of the job is low, and sets the threshold to a second value lower than the first value when the priority of the job is high. For example, the setting unit 120 determines whether the priority of the job is high based on priority information included in the job information.

[0022] The control unit 130 controls the work vehicle to move to a power source replenishment location based on the threshold set by the setting unit 120 and the remaining amount of the power source of the work vehicle. For example, the control system 100 acquires the remaining amount of the power source from the work vehicle at predetermined time intervals. The control system 100 may calculate the remaining amount of the power source using a predetermined calculation formula or a trained model.

[0023] The control unit 130 determines whether the remaining amount of the power source is less than a threshold. If the remaining amount of the power source is less than the threshold, the control unit 130 controls the work mobile object to move to a power source replenishment location. For example, the control unit 130 generates a control signal for autonomously moving the work mobile object. The control unit 130 transmits the generated control signal to the work mobile object via a network (not shown). As a result, the work mobile object moves to the replenishment location. The work mobile object also replenishes the power source.

[0024] The control unit 130 may control the work mobile object by receiving an operation from an operator of the control system 100. The control unit 130 may also control the work mobile object by sending a control instruction message to the operator of the control system 100. The control unit 130 moves the work mobile object to a replenishment location in response to an operation from the operator. The control unit 130 sends a message to the work mobile object to move the work mobile object in accordance with the operation from the operator. This allows the operator to manually remotely control the work mobile object and move it to the replenishment location.

[0025] (Processing of Control System 100) Processing performed by the control system 100 will be described with reference to Fig. 2. Fig. 2 is a flowchart showing processing performed by the control system 100.

[0026] First, the allocation unit 110 allocates a task to a work mobile unit (S1). Next, the setting unit 120 sets a threshold value used to determine whether to replenish the work mobile unit with a power source, depending on the priority of the task assigned to the work mobile unit (S2). The setting unit 120 sets the threshold value to a first value when the task has a low priority, and sets the threshold value to a second value lower than the first value when the task has a high priority. Next, the control unit 130 controls the work mobile unit to move to a power source replenishment location, depending on the threshold value and the remaining power of the work mobile unit's power source (S3).

[0027] As described above, the control system 100 according to the present disclosure sets a threshold value according to the priority of a job assigned to the work vehicle. The control system 100 controls the work vehicle to move to a power source replenishment location according to the set threshold value and the remaining power source. By setting the threshold value according to the job priority, the control system 100 can replenish the power source of the work vehicle at an appropriate time.

[0028] <Embodiment 2> Embodiment 2 is a specific example of the above-described embodiment 1. FIG. 3 is a diagram schematically illustrating the configuration of a mobile body system 1 according to the present disclosure. The mobile body system 1 includes a plurality of work mobile bodies 5, a work management device 2, and a control device 10. The work mobile bodies 5, the work management device 2, and the control device 10 are each connected via a network (not shown). The network is a wired or wireless communication line. Note that the unidirectional arrows shown in the figure simply indicate the flow of information (data, signals, etc.) and do not exclude the bidirectionality of information.

[0029] The work mobile object 5 is an example of the work mobile object described above. The work mobile object 5 moves in an environment where an object to be worked on is present, and performs work on the object. The environment is, for example, a warehouse, a logistics center, a factory, or a store where luggage or goods are stored. The environment may be indoors or outdoors. The work performed by the work mobile object 5 is, for example, transporting an object or loading and unloading an object. However, the work mobile object 5 may perform any work on an object. Note that, although four work mobile objects 5 are shown in the figure, the number of work mobile objects 5 is arbitrary. There may be only one work mobile object 5.

[0030] In this embodiment, an example will be described in which the work vehicle 5 is an AGF equipped with the functions of a forklift. The work vehicle 5 uses electricity as a power source. The work vehicle 5 is equipped with a storage battery (not shown). The work vehicle 5 consumes the power of the storage battery depending on the movement and work. Note that the vehicle system 1 may also be equipped with a work vehicle 5 that uses gasoline, hydrogen, or the like as a power source.

[0031] The work mobile object 5 moves to a predetermined replenishment location and charges the storage battery under the control of the control device 10. Specifically, the work mobile object 5 charges when the remaining amount of stored power falls below a threshold. The threshold will be described later. If the remaining amount of stored power falls below the threshold while the work mobile object 5 is performing work, the work mobile object 5 stops working, moves from the work location to the replenishment location, and charges. Once charging is complete, the work mobile object 5 returns to the work location and resumes work.

[0032] The work management device 2 is a device that manages work. The work management device 2 manages the content, process, progress, etc. of a work. The work management device 2 transmits work information including information on a work to be assigned to a work mobile object 5 to the control device 10. The work information includes the content of the work and priority information indicating the priority of the work. As described above, the priority information is information indicating the level of priority of the work. The work information may include object information and work mobile object information, which will be described later.

[0033] The priority information may indicate, for example, the relative priority among multiple jobs, or the absolute priority of each job. Here, as an example, the priority information indicates whether a job has a "high" or "low" priority. The priority information may be expressed in three or more levels, or the level of priority may be expressed numerically.

[0034] For example, the work management device 2 sets the priority of a work according to the urgency of the work. The higher the urgency of the work, the higher the priority of the work. The work management device 2 may set the priority of a work based on the order of the work. The work management device 2 may determine that the urgency of a work is high when there is a possibility that subsequent work will stagnate. For example, in a work process including work a1, a2, a3, ..., it is assumed that subsequent work a2, a3, ... cannot start until work a1 is completed. In such a case, a delay in the execution of work a1 causes a delay in the overall flow. Therefore, the work management device 2 sets the priority of work a1 higher than the other work a2, a3, .... This allows the work management device 2 to set a higher priority for work that has a large impact on other work.

[0035] The work management device 2 may also set the priority of a work based on a predetermined time schedule. The predetermined time schedule may be set in advance to manage the delivery date of a work. For example, the work management device 2 sets the priority of a work based on a time schedule for managing the shipment of an item. The time schedule includes date and time information of the shipping deadline of the item. The shipping deadline indicates the deadline for sending the item to a customer or sales destination. The work management device 2 calculates the scheduled shipping date and time of the item based on the progress of the work. The scheduled shipping date and time indicates the date and time when the item is scheduled to be shipped. If the scheduled shipping date and time is later than the shipping deadline, the work management device 2 sets a high priority for the work of the item scheduled to be shipped. This allows the work management device 2 to set a high priority for work that is expected to be delayed in delivery.

[0036] The control device 10 is an example of the control system 100 described above. The control device 10 controls the work mobile object 5. As shown in Fig. 3 , the control device 10 includes an allocation unit 11, a setting unit 12, and a control unit 13. Here, an overview will be given using only the main components of the control device 10, and the detailed configuration of the control device 10 will be described later.

[0037] The allocation unit 11 acquires job information from the job management device 2. Based on the acquired job information, the allocation unit 11 assigns a job to the work mobile object 5. Here, the allocation unit 11 assigns the job of transporting the transport target object 3 to the work mobile object 5.

[0038] The transport object 3 is an example of the object to be worked on. The transport object 3 is, for example, luggage or merchandise packed in cardboard boxes or the like. The transport object 3 may also include a cart carrying such an object. Here, the work moving object 5 transports the transport object 3 by moving while holding the transport object 3 on the upper surface of the forks.

[0039] The setting unit 12 acquires the work allocation result from the allocation unit 11. The setting unit 12 sets a threshold value used to determine whether to supply a power source to the work mobile object 5, depending on the priority of the work allocated to the work mobile object 5. Here, the setting unit 12 sets a threshold value used to determine whether to supply power to the work mobile object 5, depending on the priority of the work. A method for setting the threshold value will be described in detail later.

[0040] The control unit 13 acquires the threshold value set by the setting unit 12. The control unit 13 also acquires the remaining amount of power source of the work mobile object 5 acquired by the acquisition unit 14 described below. The remaining amount of power source is the remaining amount of stored power in the storage battery provided in the work mobile object 5. Note that, although an example in which the control device 10 acquires the remaining amount of stored power is shown here, this is not limiting. For example, the work mobile object 5 may transmit the remaining amount of stored power to the work management device 2 at predetermined time intervals, and the control device 10 may acquire the remaining amount of stored power from the work management device 2.

[0041] The control unit 13 controls the work mobile object 5 to move to a power replenishment location when the remaining amount of stored power is less than a threshold. A power replenishment device is installed at the power replenishment location. The work mobile object 5 moves to the power replenishment location and charges using the replenishment device. Once charging is complete, the work mobile object 5 returns to the work location. By controlling the work mobile object 5 to move to the power replenishment location when the remaining amount of stored power is less than a threshold, the mobile object system 1 can charge the work mobile object 5.

[0042] Although an example in which the work mobile body 5 has the function of a forklift has been described here, the work mobile body 5 may have other functions. For example, the work mobile body 5 may have a placement section for placing an item, and may hold the object 3 by placing the object 3 on the placement section. However, the work mobile body 5 may be free to transport the object 3 by any method.

[0043] In addition, although an example in which the work moving body 5 transports the transport object 3 alone has been described here, this is not limiting. Multiple work moving bodies 5 may transport one transport object 3. For example, two paired work moving bodies 5 may sandwich the transport object 3 from the left and right and transport the transport object 3. Alternatively, three or more work moving bodies 5 may transport one transport object 3. Conversely, one work moving body 5 may transport multiple transport objects 3.

[0044] (Configuration of control device 10) The configuration of the control device 10 will be described in detail with reference to Fig. 4. Fig. 4 is a block diagram showing the functional configuration of the control device 10 according to the present disclosure. The control device 10 includes an allocation unit 11, a setting unit 12, a control unit 13, an acquisition unit 14, a communication unit 17, and a storage unit 19. The allocation unit 11, the setting unit 12, and the control unit 13 correspond to those shown in Fig. 3, respectively.

[0045] The allocation unit 11 is an example of the allocation unit 110 described above. The allocation unit 11 acquires work information from the work management device 2, and assigns work indicated by the acquired work information to the work mobile bodies 5. When the mobile body system 1 includes a plurality of work mobile bodies 5, the allocation unit 11 assigns work to each of the plurality of work mobile bodies 5. The allocation unit 11 may assign work in the order in which the work information is acquired, or may assign work based on information acquired by the acquisition unit 14. The allocation unit 11 outputs the results of the work assignment to the setting unit 12.

[0046] For example, the allocation unit 11 allocates work based on object information related to the transport object 3 that is the target of the work. The object information may be, for example, the storage form or storage location of the transport object 3. The allocation unit 11 may acquire the object information from the work information, or may acquire the object information from a source other than the work information. Based on the object information, the allocation unit 11 selects a work mobile object 5 that is suitable for performing the work, and allocates the work to the selected work mobile object 5.

[0047] The storage form of the transport object 3 indicates the form in which the transport object 3 is stored. The storage form of the transport object 3 may be related to a method for performing a job by the work mobile object 5. Here, the storage form of the transport object 3 may be related to a transport method of the work mobile object 5. The allocation unit 11 allocates work to a work mobile object 5 that can transport the transport object 3 based on the storage form of the transport object 3. For example, if the transport object 3 is placed on a pallet, the allocation unit 11 allocates work to a work mobile object 5 that has the function of a forklift. Also, for example, if the transport object 3 is placed on a cart such as a basket cart or dolly, the allocation unit 11 allocates work to an AGF, AMR, AVG, or drone as the work mobile object 5.

[0048] The storage location of the transport object 3 indicates where the transport object 3 is stored. The allocation unit 11 may allocate work to a work mobile unit 5 that can transport the transport object 3 based on the storage location of the transport object 3. For example, the work mobile unit 5 that can perform work may differ between when the transport object 3 is stored on a pallet rack and when it is stored on a medium-weight shelf. For example, when the transport object 3 is stored in an area where an AGF cannot enter, the allocation unit 11 allocates work to a work mobile unit 5 other than an AGF. When the transport object 3 is stored on a pallet rack, the allocation unit 11 allocates work to, for example, an AGF. When the transport object 3 is stored on a medium-weight shelf, the allocation unit 11 allocates work to, for example, an AVG. Furthermore, when the transport object 3 is stored in a low-temperature room, the allocation unit 11 may allocate work to a work mobile unit 5 that is compatible with low-temperature environments.

[0049] The allocation unit 11 may also allocate work based on work mobile object information regarding the work mobile object 5. The work mobile object information is, for example, the location, waiting time, or status of the work mobile object 5.

[0050] The position of the work mobile object 5 indicates the current position of the work mobile object 5. The allocation unit 11 allocates work based on the position information of the work mobile object 5 acquired by the acquisition unit 14. For example, the allocation unit 11 allocates work according to the distance between the position of the work mobile object 5 and the storage location of the transport object 3. The allocation unit 11 may preferentially allocate work to work mobile objects 5 located close to the storage location. This can shorten the travel distance to the transport object 3.

[0051] The allocation unit 11 may also calculate the number of work mobile objects 5 around a storage location based on the location information of each of the multiple work mobile objects 5, and allocate work based on the calculation result. The area around the storage location is an area within a predetermined distance from the storage location. If multiple work mobile objects 5 are concentrated around the storage location, the work efficiency of the work mobile objects 5 may decrease. Therefore, the allocation unit 11 allocates work so that the work mobile objects 5 are dispersed. For example, the allocation unit 11 prioritizes allocating work to locations with a small number of work mobile objects 5. This makes it possible to prevent multiple work mobile objects 5 from congregating together.

[0052] The waiting time of a work mobile object 5 indicates the time it takes for the work mobile object 5 to start work. If the work mobile objects 5 are crowded around a storage location, the work mobile objects 5 may have to wait. Therefore, the allocation unit 11 allocates work so as to reduce the waiting time. For example, if waiting occurs, the allocation unit 11 allocates work to be performed in a location where there are fewer work mobile objects 5 performing the work.

[0053] The status of the work mobile object 5 indicates the current state of the work mobile object 5. The status of the work mobile object 5 indicates, for example, in operation, charging, standby, etc. The allocation unit 11 may allocate work preferentially to a work mobile object 5 that is on standby.

[0054] The setting unit 12 is an example of the setting unit 120 described above. The setting unit 12 sets a threshold value used to determine whether to replenish the power source to the work mobile unit 5, depending on the priority of the work assigned to the work mobile unit 5. The setting unit 12 outputs the set threshold value to the control unit 13. In this example, the power source is electricity. Fuels such as gasoline and hydrogen may also be used as the power source. The threshold value used to determine whether to replenish the power source is used by the control unit 13 to determine whether the work mobile unit 5 should start moving to a power source replenishment location. The setting unit 12 may set the threshold value depending on the consumption amount of the power source identified based on the distance between the assigned work location and the replenishment location.

[0055] The setting unit 12 sets the threshold to a first value when the priority of the job is low, and sets the threshold to a second value lower than the first value when the priority of the job is high. The setting unit 12 may set the first value according to the consumption of the power source specified based on the distance between the job location and a replenishment location where many replenishers are installed among replenishment locations installed within an area where the work mobile body 5 can move. The setting unit 12 may set the second value according to the consumption of the power source specified based on the distance between the assigned job location and a replenishment location within a predetermined distance from the job location.

[0056] 5 is a diagram showing the relationship between the priority of a job and the threshold set by the setting unit 12. The vertical axis indicates the remaining power source capacity, and the horizontal axis indicates the priority of the job. A shown on the left side indicates a first value V1 that is set as a threshold when the priority of the job is low. B shown on the right side indicates a second value V2 that is set as a threshold when the priority of the job is high. The first value V1 and the second value V2 are set between an upper limit value F and a lower limit value E of the remaining power source capacity.

[0057] Here, the remaining power source capacity is the remaining power storage capacity of the storage battery provided in the work vehicle 5. For example, assume that the upper limit value F of the remaining power storage capacity is 1000 [Wh] and the lower limit value E is 0 [Wh]. The first value V1 is, for example, 500 [Wh], and the second value is, for example, 100 [Wh]. In this example, when the setting unit 12 determines that the priority of the work is low, it sets the threshold to the first value V1, which is 500 [Wh]. Furthermore, when the setting unit 12 determines that the priority of the work is high, it sets the threshold to the second value V2, which is 100 [Wh].

[0058] The first value V1 and the second value V2 may be set in advance and stored in the memory unit 19, or may be set by the setting unit 12. An example in which the setting unit 12 sets the first value V1 and the second value V2 will be described below. The setting unit 12 sets the first value V1 and the second value V2 between an upper limit F and a lower limit E of the remaining amount of the power source. The setting unit 12 sets the first value V1 and the second value V2 depending on the work location where the work mobile object 5 performs work and the replenishment location where the work mobile object 5 replenishes power. This allows the setting unit 12 to dynamically change the first value V1 and the second value V2.

[0059] An example of a method for setting the first value V1 and the second value V2 will be described with reference to FIG. 6. FIG. 6 is a diagram showing an example of a supply machine map 191 indicating the locations of supply machines H1 to H4 installed at supply locations. The supply machine map 191 shows the environment in which the transport object 3 and the work mobile object 5 exist, divided into multiple sections. The areas of the sections may be equal or different. A work location W indicates the location where the work mobile object 5 is performing work. Supply locations L1 to L3 indicate the locations where the supply machines H1 to H4 are installed.

[0060] (Method 1 for Setting the First Value V1) The setting unit 12 sets the first value V1 according to the amount of power consumed when traveling to a replenishment location that is outside a predetermined distance from the work location W where the assigned work is performed. The replenishment location that is outside the predetermined distance may be a replenishment location that is installed within an area where the work mobile object 5 can move and may be the farthest from the work location W. Of the replenishment locations L1 to L3, the replenishment location L3 is the farthest from the work location W. Therefore, the setting unit 12 sets the first value V1 according to the amount of power consumed when traveling from the work location W to the replenishment location L3. The setting unit 12 can set the remaining amount of power that allows the work mobile object 5 to travel to the farthest replenishment location L3 as a threshold.

[0061] The setting unit 12 can calculate the amount of power used when traveling from the work location W to a replenishment location that is a predetermined distance away, based on the power consumption information 192 stored in the storage unit 19. The power consumption information 192 is information that records the past travel history of the work mobile object 5.

[0062] 7 is a diagram showing an example of the power consumption information 192. The power consumption information 192 includes date and time information, travel distance, and power consumption. The date and time information indicates the date and time when the information was recorded. The travel distance indicates the distance traveled by the work mobile object 5. The travel distance may be the total travel distance or the travel distance of a specified section. The power consumption indicates the amount of reduction in the remaining power storage capacity corresponding to the travel distance.

[0063] The setting unit 12 calculates the amount of power consumption when traveling from the work location W to the replenishment location L3 based on the relationship between the travel distance and the amount of power consumption corresponding to the travel distance. For example, the setting unit 12 statistically calculates the amount of power consumption by calculating the median or average of the amount of power consumption over a predetermined period. The setting unit 12 may also calculate the amount of power consumption using a trained model that has learned the relationship between the travel distance of the work mobile object 5 and the amount of power consumption. The trained model is trained to output the amount of power consumption corresponding to the travel distance when it receives input of the travel distance of the work mobile object 5. The trained model may be trained using, for example, any machine learning method. The trained model may be retrained as the power consumption information 192 is accumulated.

[0064] The setting unit 12 can calculate the amount of power consumption when traveling to the replenishment locations L1 and L2 described below from the work location W in the same manner. The setting unit 12 may calculate the amount of power consumption by taking into account the amount of work performed by the work mobile object 5 in addition to the travel distance.

[0065] (Method 2 for Setting the First Value V1) Returning to FIG. 6 , the setting unit 12 may set the first value V1 according to the consumption amount of the power source identified based on the distance between a replenishment location where many replenishment devices are installed among replenishment locations installed within the area where the work mobile object 5 can move and the work location. The setting unit 12 may determine that a replenishment location where a predetermined number or more replenishment devices are installed is a replenishment location where many replenishment devices are installed. Alternatively, the setting unit 12 may determine that a replenishment location where a relatively large number of replenishment devices are installed is a replenishment location where many replenishment devices are installed among multiple replenishment locations.

[0066] 6, among the supply locations L1 to L3, the supply location L2 has the most supply devices installed. Therefore, the setting unit 12 sets the first value V1 according to the amount of power consumed when moving from the work location W to the supply location L2. The setting unit 12 can set the remaining amount of stored power that allows the work mobile object 5 to move to the supply location L2, which has an excess number of supply devices, as the threshold value.

[0067] (Method of Setting Second Value V2) The setting unit 12 sets the second value V2 according to the consumption amount of the power source identified based on the distance between the assigned work location and a replenishment location within a predetermined distance from the work location. The replenishment location within the predetermined distance may be the nearest replenishment location to the transported object 3. Therefore, the setting unit 12 sets the second value V2 according to the amount of power consumed when moving from the work location W to the nearest replenishment location L1. The setting unit 12 can set the remaining amount of power stored that allows the work mobile object 5 to move to the nearest replenishment location L1 as a threshold.

[0068] The above-described method for setting the first value V1 and the second value V2 is an example. The setting unit 12 may set the first value V1 and the second value V2 using any other method.

[0069] Returning to Fig. 4, the control unit 13 is an example of the control unit 130 described above. The control unit 13 controls the work mobile object 5 to move to a power source replenishment location according to a threshold value and the remaining amount of the power source of the work mobile object 5. Specifically, the control unit 13 determines whether the remaining amount of stored power of the work mobile object 5 is less than the threshold value set by the setting unit 12. The control unit 13 may monitor the remaining amount of stored power of the work mobile object 5 by making the above determination at predetermined time intervals.

[0070] When the remaining power storage capacity of the work mobile object 5 is less than a threshold, the control unit 13 generates a control signal for autonomously moving the work mobile object 5. The control unit 13 transmits the generated control signal to the work mobile object 5. The work mobile object 5 starts moving to the replenishment location in accordance with the control signal. The work mobile object 5 also charges at the replenishment location. This allows the work mobile object 5 to replenish its power source, which is electricity. The control unit 13 may also move the work mobile object 5 to the replenishment location in response to an operation by an operator. For example, the control unit 13 transmits a message to the work mobile object 5 to move the work mobile object 5 in accordance with an operation by the operator. This allows the operator to manually remotely control the work mobile object 5 to move the work mobile object 5 to the replenishment location. The control unit 13 may also control the work mobile object 5 by transmitting a control instruction message to the operator of the mobile object system 1.

[0071] The acquisition unit 14 acquires information about the work mobile object 5. The acquisition unit 14 acquires position information of the work mobile object 5. The acquisition unit 14 acquires the position information of the work mobile object 5 based on, for example, a captured image of the work mobile object 5 obtained by a camera (not shown). The acquisition unit 14 can acquire the position information of the work mobile object 5 by analyzing the captured image using any image analysis technology and identifying the position of the work mobile object 5. The acquisition unit 14 may acquire the position information of the work mobile object 5 using a ranging sensor instead of or in addition to a camera. The ranging sensor may be, for example, a light detection and ranging (LIDAR) sensor. The ranging sensor is not limited to a LIDAR sensor, and various sensors such as a stereo camera, a time-of-flight (ToF) camera, and a millimeter-wave radar may also be used.

[0072] The work mobile object 5 may also include a position detection unit (not shown). The position detection unit performs positioning using technology such as GNSS (Global Navigation Satellite System). The position detection unit may be configured with a GPS (Global Positioning System) receiver, for example. The position detection unit detects position information of the work mobile object 5 at predetermined time intervals and transmits the detection results to the control device 10. The acquisition unit 14 acquires the position information transmitted from the work mobile object 5.

[0073] The acquisition unit 14 also acquires the remaining power capacity of the power source of the work mobile object 5. Here, the acquisition unit 14 acquires the remaining power capacity of a storage battery provided in the work mobile object 5. The work mobile object 5 measures the remaining power capacity at predetermined time intervals using a remaining power capacity measurement unit (not shown) and transmits the measurement results to the control device 10. The acquisition unit 14 acquires the remaining power capacity transmitted from the work mobile object 5.

[0074] The communication unit 17 communicates between the work management device 2 and the work mobile object 5. The communication unit 17 may be a communication interface for performing wired or wireless communication.

[0075] The storage unit 19 stores various data and programs. At least a portion of the storage unit 19 is configured as a non-volatile memory so that data is retained even when the power to the control device 10 is turned off. For example, the storage unit 19 stores programs for realizing each function of the control device 10. The storage unit 19 also stores the above-mentioned replenishment machine map 191 and power consumption information 192.

[0076] The above describes the configuration of the mobile system 1. Note that the above-described configuration of the mobile system 1 is merely an example and may be modified as appropriate. For example, while FIG. 3 illustrates the work management device 2 and the control device 10 as separate devices, the functions of the work management device 2 and the control device 10 may be integrated into the same device. Furthermore, each functional unit in the control device 10 may be distributed using multiple devices. When some or all of the components of the control device 10 are implemented using multiple information processing devices, circuits, etc., the multiple information processing devices, circuits, etc. may be centrally or distributed. For example, the information processing devices, circuits, etc. may be implemented as a client-server system, a cloud computing system, or the like, connected via a communication network. Furthermore, the functions of the control device 10 may be provided in a SaaS (Software as a Service) format.

[0077] (Processing of Control Device 10) Next, the processing performed by the control device 10 will be described with reference to Fig. 8 and Fig. 9. Fig. 8 is a flowchart showing the threshold setting processing performed by the control device 10. Fig. 9 is a flowchart showing the control processing performed by the control device 10 with respect to the work mobile object 5.

[0078] (Threshold Setting Process) The threshold setting process will be described with reference to FIG. 8 . First, the allocation unit 11 acquires job information from the job management device 2 (S11). The job information includes job content and priority information indicating the priority of the job. Next, the setting unit 12 allocates jobs to the work mobile objects 5 (S12). For example, the allocation unit 11 allocates jobs based on object information related to the transport target object 3. The object information includes, for example, the storage form or storage location of the transport target object 3. The allocation unit 11 may allocate jobs based on work mobile object information related to the work mobile object 5. The work mobile object information includes, for example, the position, standby time, or status of the work mobile object 5.

[0079] Next, the setting unit 12 determines whether the priority of the work assigned to the work mobile object 5 is high (S13). If the priority of the work is low (NO in S13), the setting unit 12 sets a first value V1 (S14). The setting unit 12 may set the first value V1 using the above-described first value V1 setting method 1 or 2. For example, as described with reference to FIG. 6 , the setting unit 12 sets the first value V1 according to the amount of power consumption when traveling from the work location W to the replenishment location L3, which is the farthest. Alternatively, the setting unit 12 may set the first value V1 according to the amount of power consumption when traveling to the replenishment location L2, where many replenishment machines are installed.

[0080] If the priority of the job is high (YES in S13), the setting unit 12 sets the second value V2 (S15). The second value V2 is lower than the first value V1. The setting unit 12 may set the second value V2 using the method for setting the second value V2 described above. For example, as described with reference to FIG. 6 , the setting unit 12 sets the second value V2 according to the amount of power consumption when traveling from the job location W to the nearest replenishment location L1.

[0081] Next, the setting unit 12 sets a threshold value based on the set first value V1 or second value V2 (S16). If the priority of the job is low, the setting unit 12 sets the threshold value to the first value V1. If the priority of the job is high, the setting unit 12 sets the threshold value to the second value V2.

[0082] (Control Process for Work Mobile Object 5) The control process performed by the control device 10 for the work mobile object 5 will be described with reference to FIG. 9 . First, the acquisition unit 14 acquires the remaining amount of stored power of the work mobile object 5 (S21). Next, the control unit 13 determines whether the remaining amount of stored power of the work mobile object 5 is less than a threshold value (S22). If the remaining amount of stored power is equal to or greater than the threshold value (NO in S22), the control unit 13 repeats the process of step S22. In this way, the control unit 13 monitors the remaining amount of stored power of the work mobile object 5.

[0083] If the remaining amount of stored power is less than the threshold (YES in S22), the control unit 13 controls the work mobile object 5 to move to a power replenishment location (S23). The control unit 13 generates a control signal for moving the work mobile object 5 to the power replenishment location and transmits the control signal to the work mobile object 5.

[0084] As described above, in the mobile body system 1 according to this embodiment, the control device 10 sets different thresholds depending on the priority of the work assigned to the work mobile body 5. The control device 10 controls the work mobile body 5 to move to a power source replenishment location depending on the set thresholds and the remaining amount of the power source. The mobile body system 1 can replenish the power source of the work mobile body 5 at an appropriate time.

[0085] <Embodiment 3> Next, embodiment 3 will be described. Embodiment 3 differs from embodiment 2 in that the situation of not only the work vehicle that performs the work but also other vehicles that are replenishing their power source at the replenishing location is taken into consideration. In the following description, the other vehicles that are replenishing their power source at the replenishing location will be referred to as "replenishing vehicles." Like the work vehicle, the replenishing vehicle is a vehicle that performs an assigned work, but for the sake of explanation, the work vehicle and the replenishing vehicle will be distinguished from each other.

[0086] For the sake of explanation, the threshold value used to determine whether or not a work mobile object needs to be replenished with power will be referred to as the "work mobile object threshold value." The work mobile object threshold value corresponds to the "threshold value" in the first and second embodiments. The threshold value used to determine whether or not a supply mobile object needs to be replenished with power will be referred to as the "supply mobile object threshold value."

[0087] This embodiment will be described using a mobile body system 1a having a configuration corresponding to the mobile body system 1 shown in Fig. 3. The mobile body system 1a according to the present disclosure has a control device 10a instead of the control device 10. The configuration other than the control device 10a is the same as that of the mobile body system 1, so illustrations and detailed descriptions will be omitted.

[0088] The configuration of the control device 10a according to the present disclosure will be described in detail with reference to Fig. 10. Fig. 10 is a block diagram showing the functional configuration of the control device 10a according to the present disclosure. The control device 10a includes an allocation unit 11, a setting unit 12a, a control unit 13a, an acquisition unit 14a, a communication unit 17, and a storage unit 19. The setting unit 12a, the control unit 13a, and the acquisition unit 14a have different functions from the setting unit 12, the control unit 13, and the acquisition unit 14 included in the control device 10 described in embodiment 2, respectively. The following mainly describes the differences from the control device 10.

[0089] The setting unit 12a sets a work mobile object threshold value used to determine whether to replenish the power source of the work mobile object 5, further depending on the remaining amount of power source of the supply mobile object. Here, the setting unit 12a sets a work mobile object threshold value used to determine whether to replenish power to the work mobile object 5, depending on the remaining amount of stored power in the supply mobile object 6. The remaining amount of power source of the supply mobile object is acquired by the acquiring unit 14a.

[0090] 11 is a diagram showing the work vehicle 5 and the supply vehicle 6 in the supply vehicle map 191 shown in FIG. 6. In the example shown, the work vehicle 5 is working at a work location W. The supply vehicle 6 is charging using a supply vehicle H4 at a supply location L3.

[0091] For example, the setting unit 12a determines whether the remaining amount of stored power of the supply mobile unit 6 is less than the supply mobile unit threshold, and sets the first value V1 and the second value V2 according to the determination result. If the remaining amount of stored power of the supply mobile unit 6 is less than the supply mobile unit threshold, the setting unit 12a sets the second value V2 and sets the work mobile unit threshold to the second value V2. If the remaining amount of stored power of the supply mobile unit 6 is equal to or greater than the supply mobile unit threshold, the setting unit 12a sets the work mobile unit threshold according to the priority of the work assigned to the work mobile unit 5, as in the second embodiment.

[0092] By performing the above-described determination and setting the first value V1 and the second value V2 according to the determination result, the setting unit 12a can set the work mobile object threshold to the second value V2 when the remaining amount of stored power in the supply mobile object 6 is low, even if the priority of the work of the work mobile object 5 is low. As a result, the work mobile object 5 continues working until the remaining amount of stored power in the work mobile object 5 becomes less than the second value V2. This reduces the possibility that the timing of charging the work mobile object 5 and the timing of charging the supply mobile object 6 will overlap.

[0093] For example, in the example of FIG. 11 , assume that the remaining amount of stored power of the replenishment mobile unit 6 is less than the replenishment mobile unit threshold. The setting unit 12a sets the work mobile unit threshold to a second value V2 regardless of the priority of the work of the work mobile unit 5. The second value V2 is assumed to be a value corresponding to the amount of power consumed when traveling to the nearest replenishment location L1. The work mobile unit 5 can travel to the replenishment location L1 even if the remaining amount of stored power falls below the amount of power required to travel to the replenishment location L3. Therefore, the work mobile unit 5 can continue working while leaving enough power to travel for charging.

[0094] Returning to Fig. 10 , similar to the control unit 13 in the second embodiment, the control unit 13a controls the work mobile object 5 to move to a power replenishment location when the remaining amount of stored power of the work mobile object 5 is less than the threshold. In the present embodiment, the control unit 13a further controls the supply mobile object 6 in accordance with the work mobile object threshold, the remaining amount of the power source of the work mobile object 5, and the remaining amount of the power source of the supply mobile object 6.

[0095] For example, when the remaining amount of stored power of the work mobile unit 5 is less than the work mobile unit threshold, the control unit 13a determines whether the remaining amount of stored power of the supply mobile unit 6 is less than the supply mobile unit threshold. When the remaining amount of stored power of the supply mobile unit 6 is equal to or greater than the supply mobile unit threshold, the control unit 13a controls the supply mobile unit 6. For example, the control unit 13a controls the supply mobile unit 6 to move to another supply location. The control unit 13a moves the supply mobile unit 6 with sufficient remaining amount of stored power to another supply location, and allows the work mobile unit 5 to use the supply location that the supply mobile unit 6 was using.

[0096] If the remaining power storage capacity of the supply mobile unit 6 is less than the supply mobile unit threshold, the control unit 13a may determine whether the supply mobile unit 6 can move to another supply location and control the supply mobile unit 6 according to the determination result. For example, the control unit 13a may control the supply mobile unit 6 to move if the remaining power storage capacity of the supply mobile unit 6 is sufficient to enable the supply mobile unit 6 to perform work or to move to another supply location. This allows the control unit 13a to move the supply mobile unit 6 and charge the work mobile unit 5 according to the remaining power storage capacity of the supply mobile unit 6. The control unit 13a may also perform the above control taking into consideration the availability of supply locations.

[0097] For example, in the example of FIG. 11 , assume that the planned replenishment location of the work mobile unit 5 is replenishment location L1, and that the replenishment mobile unit 6 is currently replenishing at replenishment location L1. In this case, the control unit 13a moves the replenishment mobile unit 6, which is currently only replenishing, to a location farther away from the work location W. For example, if the remaining power of the replenishment mobile unit 6 is sufficient to allow it to move to replenishment locations L2 or L3, the control unit 13a controls the replenishment mobile unit 6 to move to replenishment locations L2 or L3. The control unit 13a also controls the work mobile unit 5 to replenish at the originally scheduled replenishment location L1. In other words, the control unit 13a controls the work mobile unit 5 and the replenishment mobile unit 6 so that the work mobile unit 5, which is currently working, can replenish at a nearby replenishment location. This shortens the travel time of the work mobile unit 5 from the work location W to the replenishment location. As a result, the time it takes for the work mobile unit 5 to return to work is shortened.

[0098] Returning to Fig. 10, the acquisition unit 14a acquires the remaining amount of power stored in the power source of the supply vehicle 6 that is being supplied at the supply location, in addition to the remaining amount of power stored in the work vehicle 5. Here, the acquisition unit 14a acquires the remaining amount of power stored in the storage battery provided in the supply vehicle 6. Like the work vehicle 5, the supply vehicle 6 measures the remaining amount of power stored at predetermined time intervals using a remaining amount of power measurement unit (not shown) and transmits the measurement results to the control device 10a. The acquisition unit 14a acquires the remaining amount of power transmitted from the supply vehicle 6.

[0099] (Processing of the control device 10a) Next, the processing performed by the control device 10a will be described with reference to Fig. 12 and Fig. 13. Fig. 12 is a flowchart showing the threshold setting processing performed by the control device 10a. Fig. 13 is a flowchart showing the control processing performed by the control device 10a on the work mobile body 5 and the supply mobile body 6.

[0100] (Threshold Setting Process) The threshold setting process will be described with reference to Fig. 12. Unlike the process of the second embodiment described with reference to Fig. 8, the threshold setting process of this embodiment includes steps S101 and S102 between steps S12 and S13.

[0101] As in the second embodiment, first, the allocation unit 11 acquires job information from the job management device 2 (S11). Next, the setting unit 12a assigns a job to the work mobile object 5 (S12). Next, the acquisition unit 14a acquires the remaining power storage capacity of the supply mobile object 6 (S101). The setting unit 12a determines whether the remaining power storage capacity of the supply mobile object 6 acquired by the acquisition unit 14a is less than the supply mobile object threshold value (S102).

[0102] If the remaining amount of power stored in the supply mobile object 6 is less than the supply mobile object threshold (YES in S102), the setting unit 12a sets the second value V2 (S15). If the remaining amount of power stored in the supply mobile object 6 is equal to or greater than the supply mobile object threshold (NO in S102), the setting unit 12a proceeds to step S13. The processes in steps S13 to S16 are the same as those in the second embodiment, and therefore will not be described here.

[0103] (Control Process for Work Mobile Body 5 and Supply Mobile Body 6) The control process performed by the control device 10a for the work mobile body 5 and the supply mobile body 6 will be described with reference to Fig. 13. Unlike the process of the second embodiment described with reference to Fig. 9, the control process of this embodiment includes steps S111 to S113 between steps S22a and S23. Note that step S22a corresponds to step S22.

[0104] First, the acquisition unit 14a acquires the remaining amount of stored power of the work mobile object 5 (S21). Next, the control unit 13a determines whether the remaining amount of stored power of the work mobile object 5 is less than the work mobile object threshold (S22a). If the remaining amount of stored power is equal to or greater than the work mobile object threshold (NO in S22a), the control unit 13a repeats the process of step S22a. In this way, the control unit 13a monitors the remaining amount of stored power of the work mobile object 5.

[0105] If the remaining amount of stored power is less than the threshold (YES in S22a), the control unit 13a determines whether the remaining amount of stored power of the supply mobile object 6 is less than the supply mobile object threshold (S111). If the remaining amount of stored power of the supply mobile object 6 is equal to or greater than the supply mobile object threshold (NO in S111), the control unit 13a controls the supply mobile object 6 (S113). For example, the control unit 13a moves the supply mobile object 6 to another supply location.

[0106] If the remaining amount of stored power of the supply mobile unit 6 is less than the supply mobile unit threshold (YES in S111), the control unit 13a determines whether or not the supply mobile unit 6 is movable (S112). For example, the control unit 13a determines whether or not the supply mobile unit 6 is movable based on the availability of a supply location other than the supply location used by the supply mobile unit 6. If there is availability at the supply location, the control unit 13a determines that the supply mobile unit 6 is movable.

[0107] The control unit 13a may calculate the amount of power consumption when the supply mobile unit 6 moves to an available supply location, and determine whether the supply mobile unit 6 is movable. The control unit 13a may calculate the amount of power consumption based on the relationship between the movement distance of the supply mobile unit 6 and the amount of power consumption corresponding to the movement distance, as in the second embodiment. The control unit 13a may also calculate the amount of power consumption using a trained model.

[0108] If it is determined that the supply mobile unit 6 is movable (YES in S112), the control unit 13a controls the supply mobile unit 6 (S113). If it is determined that the supply mobile unit 6 is not movable (NO in S112), the control unit 13a returns to step S111 and repeats the process. As a result, the control unit 13a waits until the supply mobile unit 6 becomes movable.

[0109] Next, similarly to the second embodiment, the control unit 13a controls the work mobile object 5 to move to the power supply location (S23). The control unit 13a generates a control signal for moving the work mobile object 5 to the power supply location and transmits the control signal to the work mobile object 5.

[0110] As described above, in the mobile body system 1a according to this embodiment, the control device 10a acquires the remaining amount of the power source of the supply mobile body 6 being supplied at a supply location. The control device 10a sets a work mobile body threshold used to determine whether to supply the power source to the work mobile body 5, further depending on the remaining amount of the power source of the supply mobile body 6. The control device 10a also controls the supply mobile body 6 depending on the work mobile body threshold, the remaining amount of the power source of the work mobile body 5, and the remaining amount of the power source of the supply mobile body 6.

[0111] The mobile body system 1a can control the work mobile body 5 and the supply mobile body 6, taking into consideration the status of not only the work mobile body 5 but also the supply mobile body 6 that has already been supplied with power. This allows the mobile body system 1a to supply the power source of the work mobile body 5 at an appropriate timing.

[0112] In the above description, the control unit 13a controls the supply mobile unit 6 in step S113 when the result of step S111 is NO or the result of step S112 is YES, but this is not limiting. The control unit 13a may determine whether the work mobile unit 5 is movable based on the availability of supply locations other than the supply location used by the supply mobile unit 6, and control the supply mobile unit 6 according to the determination result.

[0113] 11 , the control unit 13a determines whether the work mobile unit 5 can move to a supply location other than the supply location L3 and controls the supply mobile unit 6 according to the determination result. For example, if it is determined that the work mobile unit 5 can move to the supply location L2, the control unit 13a may control the work mobile unit 5 to move to the supply location L2 without controlling the supply mobile unit 6. Furthermore, if it is determined that the supply mobile unit 6 cannot move (NO in S112), and if the state in which the supply mobile unit 6 cannot move continues for a predetermined time or more, the control unit 13a may determine whether the work mobile unit 5 can move to a supply location other than the supply location L3. The control unit 13a can replenish the power source of the work mobile unit 5 even if it is difficult to move the supply mobile unit 6.

[0114] <Example of Hardware Configuration> Each functional component of the control system 100, the control device 10, the control device 10a, and the work management device (hereinafter referred to as "control system 100, etc.") may be realized by hardware (e.g., a hardwired electronic circuit, etc.) that realizes each functional component, or may be realized by a combination of hardware and software (e.g., a combination of an electronic circuit and a program that controls it). Below, a case where each functional component of the control system 100, etc. is realized by a combination of hardware and software will be further described.

[0115] 14 is a block diagram illustrating an example of the hardware configuration of a computer 900 that realizes the control system 100, etc. The computer 900 may be a dedicated computer designed to realize the control system 100, etc., or may be a general-purpose computer. The computer 900 may also be a portable computer such as a smartphone or a tablet terminal.

[0116] For example, by installing a predetermined application on the computer 900, the computer 900 realizes each function of the control system 100, etc. The application is configured by a program for realizing the functional components of the control system 100, etc.

[0117] The computer 900 has a bus 902, a processor 904, a memory 906, a storage device 908, an input / output interface 910, and a network interface 912. The bus 902 is a data transmission path for the processor 904, the memory 906, the storage device 908, the input / output interface 910, and the network interface 912 to transmit and receive data to and from each other. However, the method of connecting the processor 904 and other components to each other is not limited to a bus connection.

[0118] The processor 904 is a variety of processors, such as a central processing unit (CPU), a graphics processing unit (GPU), a field-programmable gate array (FPGA), or a quantum processor (quantum computer control chip). The memory 906 is a main storage device realized using a random access memory (RAM) or the like. The storage device 908 is an auxiliary storage device realized using a hard disk, a solid state drive (SSD), a memory card, a read only memory (ROM), or the like.

[0119] The input / output interface 910 is an interface for connecting the computer 900 with input / output devices. For example, the input / output interface 910 is connected to an input device such as a keyboard and an output device such as a display device.

[0120] The network interface 912 is an interface for connecting the computer 900 to a network. This network may be a LAN (Local Area Network) or a WAN (Wide Area Network).

[0121] The storage device 908 stores programs (programs that realize the above-mentioned applications) that realize the various functional components of the control system 100, etc. The processor 904 reads these programs into the memory 906 and executes them to realize the various functional components of the control system 100, etc.

[0122] Each processor executes one or more programs containing instructions for causing a computer to perform the algorithms described with reference to the figures. The programs contain instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The programs may be stored on various types of non-transitory computer-readable or tangible storage media. By way of example and not limitation, non-transitory computer-readable or tangible storage media include RAM, ROM, flash memory, SSD or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The programs may also be transmitted over various types of transitory computer-readable or communication media. By way of example and not limitation, transitory computer-readable or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0123] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be appropriately combined with other embodiments. For example, embodiment 2 and embodiment 3 may be combined to achieve the present disclosure.

[0124] Each drawing is merely an example for describing one or more embodiments. Each drawing may not relate to only one particular embodiment, but may also relate to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0125] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0126] (Supplementary Note 1) A control system comprising: an allocation means for assigning work to a work mobile body; a setting means for setting a threshold used to determine whether to replenish the work mobile body with a power source in accordance with the priority of the work assigned to the work mobile body; and a control means for controlling the work mobile body to move to a power source replenishment location in accordance with the threshold and the remaining amount of the power source of the work mobile body, wherein the setting means sets the threshold to a first value when the priority of the work is low, and sets the threshold to a second value lower than the first value when the priority of the work is high. (Supplementary Note 2) The control system described in Supplementary Note 1, wherein the setting means sets the threshold in accordance with a consumption amount of the power source specified based on a distance between the assigned work location and the replenishment location. (Supplementary Note 3) The control system described in Supplementary Note 1 or 2, wherein the setting means sets the second value in accordance with a consumption amount of the power source specified based on a distance between the assigned work location and the replenishment location that is within a predetermined distance from the work location. (Supplementary Note 4) The control system according to any one of Supplements 1 to 3, wherein the setting means sets the first value according to the consumption amount of the power source specified based on the distance between the work location and a replenishment location where many replenishers are installed among the replenishment locations installed within an area where the work vehicle can move. (Supplementary Note 5) The control system according to any one of Supplements 1 to 4, further comprising an acquisition means for acquiring a remaining amount of a power source of the replenishment vehicle being replenished at the replenishment location, wherein the setting means sets the threshold value further according to the remaining amount of the power source of the replenishment vehicle. (Supplementary Note 6) The control system according to Supplementary Note 5, wherein the control means controls the replenishment vehicle according to the threshold value, the remaining amount of the power source of the work vehicle, and the remaining amount of the power source of the replenishment vehicle. (Supplementary Note 7) The control system according to any one of Supplements 1 to 6, wherein the allocation means allocates the work based on object information related to an object that is a target of the work, wherein the object information includes at least one of a storage form and a storage location of the object.(Supplementary Note 8) The control system according to any one of Supplements 1 to 7, wherein the allocation means allocates the work based on work mobile information related to the work mobile, and the work mobile information includes at least one of the position, standby time, and status of the work mobile. (Supplementary Note 9) A control device comprising: allocation means for allocating work to a work mobile; setting means for setting a threshold used to determine whether to replenish the work mobile with a power source in accordance with the priority of the work assigned to the work mobile; and control means for controlling the work mobile to move to a power source replenishment location in accordance with the threshold and the remaining amount of the power source of the work mobile, wherein the setting means sets the threshold to a first value when the priority of the work is low, and sets the threshold to a second value lower than the first value when the priority of the work is high. (Supplementary Note 10) The control device according to Supplementary Note 9, wherein the setting means sets the threshold in accordance with the consumption amount of the power source specified based on the distance between the location of the assigned work and the replenishment location. (Supplementary Note 11) The control device according to Supplementary Note 9 or 10, wherein the setting means sets the second value according to the consumption of the power source specified based on the distance between the assigned work location and the replenishment location within a predetermined distance from the work location. (Supplementary Note 12) The control device according to any one of Supplements 9 to 11, wherein the setting means sets the first value according to the consumption of the power source specified based on the distance between the work location and a replenishment location where many replenishers are installed among the replenishment locations installed within an area where the work mobile unit can move. (Supplementary Note 13) The control device according to any one of Supplements 9 to 12, further comprising: acquisition means for acquiring a remaining amount of a power source of a replenishment mobile unit being replenished at the replenishment location, wherein the setting means sets the threshold value further according to the remaining amount of the power source of the replenishment mobile unit. (Supplementary Note 14) The control device according to Supplementary Note 13, wherein the control means controls the replenishment mobile unit according to the threshold value, the remaining amount of the power source of the work mobile unit, and the remaining amount of the power source of the replenishment mobile unit.(Supplementary Note 15) The control device according to any one of Supplements 9 to 14, wherein the allocation means allocates the job based on object information related to the object that is the target of the job, and the object information includes at least one of a storage form and a storage location of the object. (Supplementary Note 16) The control device according to any one of Supplementary Notes 9 to 15, wherein the allocation means allocates the job based on work mobile object information related to the work mobile object, and the work mobile object information includes at least one of a position, a standby time, and a status of the work mobile object. (Supplementary Note 17) A control method in which a computer allocates a job to a work mobile object, sets a threshold used to determine whether to replenish the work mobile object with a power source according to the priority of the job allocated to the work mobile object, and controls the work mobile object to move to a location where the power source is replenished according to the threshold and a remaining amount of the power source of the work mobile object, and in setting the threshold, sets the threshold to a first value when the priority of the job is low, and sets the threshold to a second value lower than the first value when the priority of the job is high. (Supplementary Note 18) The control method according to Supplementary Note 17, wherein the threshold is set according to the consumption of the power source specified based on the distance between the assigned work location and the replenishment location. (Supplementary Note 19) The control method according to Supplementary Note 17 or 18, wherein the threshold is set according to the consumption of the power source specified based on the distance between the assigned work location and the replenishment location within a predetermined distance from the work location. (Supplementary Note 20) The control method according to any one of Supplements 17 to 19, wherein the threshold is set according to the consumption of the power source specified based on the distance between the work location and a replenishment location where many replenishers are installed, among the replenishment locations installed within an area where the work mobile unit can move. (Supplementary Note 21) The control method according to any one of Supplements 17 to 20, wherein the remaining amount of the power source of the replenishment mobile unit being replenished at the replenishment location is acquired, and the threshold is set according to the remaining amount of the power source of the replenishment mobile unit.(Supplementary Note 22) The control method according to Supplementary Note 21, wherein the control of the work mobile body includes controlling the supply mobile body in accordance with the threshold value, the remaining amount of the power source of the work mobile body, and the remaining amount of the power source of the supply mobile body. (Supplementary Note 23) The control method according to any one of Supplements 17 to 22, wherein the allocation of the work includes allocating the work based on object information related to an object that is a target of the work, and the object information includes at least one of a storage form and a storage location of the object. (Supplementary Note 24) The control method according to any one of Supplements 17 to 23, wherein the allocation of the work includes allocating the work based on work mobile information related to the work mobile body, and the work mobile information includes at least one of a position, a standby time, and a status of the work mobile body. (Supplementary Note 25) A program causing a computer to execute the following steps: assigning a job to a work mobile body; setting a threshold used to determine whether to replenish the work mobile body with a power source according to the priority of the job assigned to the work mobile body; controlling the work mobile body to move to a power source replenishment location according to the threshold and the remaining amount of the power source of the work mobile body; and setting the threshold by setting the threshold to a first value if the job has a low priority and setting the threshold to a second value lower than the first value if the job has a high priority. (Supplementary Note 26) The program described in Supplementary Note 25, wherein the threshold is set according to a consumption amount of the power source specified based on a distance between the assigned job location and the replenishment location. (Supplementary Note 27) The program described in Supplementary Note 25 or 26, wherein the threshold is set to a second value according to a consumption amount of the power source specified based on a distance between the assigned job location and the replenishment location that is within a predetermined distance from the job location. (Appendix 28) The program described in Appendix 25 or 26, wherein in setting the threshold, the first value is set according to the consumption of the power source identified based on the distance between the work location and a replenishment location where a large number of replenishment machines are installed among the replenishment locations installed within the area where the work mobile body can move.(Supplementary Note 29) The program according to Supplementary Note 25 or 26, wherein a remaining amount of a power source of a supply mobile unit being replenished at the supply location is acquired, and wherein the setting of the threshold value sets the threshold value further depending on the remaining amount of the power source of the supply mobile unit. (Supplementary Note 30) The program according to Supplementary Note 29, wherein the control of the work mobile unit controls the supply mobile unit depending on the threshold value, the remaining amount of the power source of the work mobile unit, and the remaining amount of the power source of the supply mobile unit. (Supplementary Note 31) The program according to Supplementary Note 25 or 26, wherein the allocation of the work is based on object information regarding an object that is a target of the work, and the object information includes at least one of a storage form and a storage location of the object. (Supplementary Note 32) The program according to Supplementary Note 25 or 26, wherein the allocation of the work is based on work mobile unit information regarding the work mobile unit, and the work mobile unit information includes at least one of a position, a standby time, and a status of the work mobile unit.

[0127] REFERENCE SIGNS LIST 1, 1a Mobile system 2 Work management device 3 Transport object 5 Work mobile body 6 Supply mobile body 10, 10a Control device 11 Allocation unit 12, 12a Setting unit 13, 13a Control unit 14, 14a Acquisition unit 17 Communication unit 19 Memory unit 100 Control system 110 Allocation unit 120 Setting unit 130 Control unit 191 Supply machine map 192 Power consumption information 900 Computer 902 Bus 904 Processor 906 Memory 908 Storage device 910 Input / output interface 912 Network interface E Lower limit value F Upper limit value H1 to H4 Supply machine L1 to L3 Supply location V1 First value V2 Second value W Work location

Claims

1. A means of assigning work to a mobile work unit, A setting means for setting a threshold used to determine whether to supply a power source to the work mobile unit, according to the priority of the work assigned to the work mobile unit, Control means for controlling the work-moving body to move to a power source replenishment location according to the threshold and the remaining amount of the power source of the work-moving body, Equipped with, The setting means sets the threshold to a first value when the priority of the job is low, and sets the threshold to a second value lower than the first value when the priority of the job is high. Control system.

2. The setting means sets the threshold according to the amount of power source consumed, which is determined based on the distance between the assigned work location and the supply location. The control system according to claim 1.

3. The setting means sets the second value according to the amount of power source consumed, which is determined based on the distance between the assigned work location and the supply location located within a predetermined distance from the work location. The control system according to claim 1 or 2.

4. The setting means sets the first value according to the amount of power source consumption, which is determined based on the distance between the work location and the supply location where many supply machines are installed, among the supply locations installed within the area in which the work mobile body can move. The control system according to claim 1 or 2.

5. The system further includes means for acquiring the remaining amount of power from the power source of the mobile supply unit being supplied at the aforementioned supply location. The setting means further sets the threshold according to the remaining amount of power from the supply mobile unit. The control system according to claim 1 or 2.

6. The control means controls the supply mobile unit in accordance with the threshold value, the remaining power supply of the work mobile unit, and the remaining power supply of the supply mobile unit. The control system according to claim 5.

7. The assignment means assigns the work based on the work transfer information relating to the work transfer body. The aforementioned mobile work information includes at least one of the mobile work's location, waiting time, and status. The control system according to claim 1 or 2.

8. A means of assigning work to a mobile work unit, A setting means for setting a threshold used to determine whether to supply a power source to the work mobile unit, according to the priority of the work assigned to the work mobile unit, Control means for controlling the work-moving body to move to a power source replenishment location according to the threshold and the remaining amount of the power source of the work-moving body, Equipped with, The setting means sets the threshold to a first value when the priority of the job is low, and sets the threshold to a second value lower than the first value when the priority of the job is high. Control device.

9. The setting means sets the threshold according to the amount of power source consumed, which is determined based on the distance between the assigned work location and the supply location. The control device according to claim 8.

10. Computers Assign a job to a mobile work unit. A threshold is set used to determine whether to supply power to the mobile work unit, according to the priority of the work assigned to the mobile work unit. The work-moving body is controlled to move to a power supply replenishment location according to the threshold and the remaining amount of power from the work-moving body's power source. In setting the threshold, the threshold is set to a first value when the priority of the work is low, and the threshold is set to a second value lower than the first value when the priority of the work is high. Control method.