Route generation system, route generation method, and program for a mobile object

Abstract

A path generation system, a path generation method, and a program for a moving object capable of generating an optimal movement path according to the external shape of the moving object. [Solution] A path generation system for a moving body according to the present disclosure includes a control unit that executes a movement path generation process that generates a movement path for the moving body to a target position based on cost map information in which a cost based on the distance from an obstacle is set on map data corresponding to real space, current presence area information of the moving body on the map data, and information on the target position, wherein the moving body includes a transport vehicle capable of coupling and transporting an object to be transported, and the control unit executes an existence area estimation process that estimates the existence area information based on the current position, attitude, and external shape information of the moving body, and whether the object to be transported is coupled to the transport vehicle.

Description

[Technical field]

[0001] The present disclosure relates to a route generation system, a route generation method, and a program for a moving object. [Background technology]

[0002] In recent years, the use of automated guided vehicles to transport various objects within facilities such as manufacturing plants has been considered. When an automated guided vehicle transports an object, it may generate a travel route from a current location to a destination, and travel autonomously to the target point along the generated travel route. Patent Document 1 discloses a method for generating a travel route that avoids obstacles. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-144771 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the method of generating a travel route described in Patent Document 1 generates a route on the assumption that the shape of a moving body such as an automated guided vehicle is constant. Therefore, it does not respond to changes in the external shape of the moving body, and there is room for improvement in terms of efficiency and safety.

[0005] Therefore, the present disclosure has been made in consideration of the above-mentioned problems, and its purpose is to provide a path generation system, a path generation method, and a program for a moving body that are capable of generating an optimal movement path according to the external shape of the moving body. [Means for solving the problem]

[0006] According to the present disclosure, a control unit is provided that executes a movement path generation process that generates a movement path of a moving object to a target position based on cost map information in which a cost based on a distance from an obstacle is set on map data corresponding to a real space, current existence area information of the moving object on the map data, and information of a target position, The moving body includes a transport vehicle capable of connecting and transporting an object to be transported, A path generation system for a moving body is provided, in which the control unit executes an existence area estimation process to estimate the existence area information based on the current position, posture, and external shape information of the moving body, and whether the object to be transported is connected to the transport vehicle.

[0007] According to the present disclosure, a control unit executes a movement path generation process for generating a movement path of the moving object to a target position based on cost map information in which a cost based on a distance from an obstacle is set on map data corresponding to a real space, current existence area information of the moving object on the map data, and information on a target position; The moving body includes a transport vehicle capable of connecting and transporting an object to be transported, A method for generating a path for a moving body is provided in which the control unit executes an existence area estimation process to estimate the existence area information based on the current position, posture, and external shape information of the moving body, and whether the object to be transported is connected to the transport vehicle.

[0008] According to the present disclosure, a control unit is caused to execute a movement path generation process for generating a movement path of the moving object to a target position based on cost map information in which a cost based on a distance from an obstacle is set on map data corresponding to a real space, current existence area information of the moving object on the map data, and information on a target position; The moving body includes a transport vehicle capable of connecting and transporting an object to be transported, A program is provided in which the control unit executes an existence area estimation process to estimate the existence area information based on the current position, posture, and external shape information of the moving body, and whether the object to be transported is attached to the transport vehicle. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide a route generation system, a route generation method, and a program for a moving object that are capable of generating an optimal travel route according to the external shape of the moving object. [Brief description of the drawings]

[0010] [Figure 1] 1A and 1B are diagrams illustrating an example of a cost map and a transport vehicle according to the embodiment; [Diagram 2] FIG. 2 is a plan view illustrating an example of a moving body according to the present embodiment. [Diagram 3] FIG. 11 is a plan view showing another example of the moving body according to the present embodiment. [Figure 4] FIG. 11 is a plan view showing another example of the moving body according to the present embodiment. [Diagram 5] FIG. 2 is a diagram showing an example of the flow of a travel route generation method according to the present embodiment. [Figure 6] FIG. 2 is a diagram showing an example of a travel route generated by the system according to the present embodiment. [Figure 7] 1 is a plan view showing a state in which an object to be transported according to the present embodiment is rotated relative to the transport vehicle; [Figure 8] 4 is a plan view showing an example of a presence area of ​​a moving object according to the embodiment; FIG. [Figure 9] FIG. 2 is a perspective view showing an example of a transport vehicle according to the present embodiment. [Figure 10] FIG. 11 is a perspective view showing another example of the transport vehicle according to the present embodiment. [Figure 11] FIG. 2 is a bottom view illustrating an example of a transport vehicle according to the present embodiment. [Figure 12] FIG. 1 is a diagram showing an example of an overall configuration diagram of a conveying system according to an embodiment of the present invention; [Figure 13] FIG. 2 is a configuration diagram of an overall control device according to the present embodiment. [Figure 14] FIG. 2 is a diagram showing a functional configuration of a transport vehicle according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and redundant description will be omitted.

[0012] The route generation system of this embodiment is used, for example, to generate movement routes for moving bodies including automated guided vehicles (hereinafter simply referred to as "carriage vehicles") used to transport various manufactured parts, luggage, and other transport items in manufacturing plants, logistics warehouses, etc.

[0013] FIG. 1 shows an example of a moving route R of a moving object 1 generated based on a cost map in this embodiment. The cost map information is map data corresponding to a real space such as a facility where the moving object 1 travels, with costs based on the distance from an obstacle set. The cost map is set with data of obstacles corresponding to walls, pillars, objects, people, other carriers, etc. in the real space. The data of the obstacles may be stored in advance together with the cost map, or may be generated or updated based on sensor data acquired by the carrier. It is preferable that the control unit repeatedly updates the cost map information at predetermined intervals.

[0014] As shown in Fig. 1, the entire area of ​​the map data is divided into many sections (small areas), and a cost can be set for each section. Each section can be, for example, all of the same shape, a square, but is not limited to this. The storage unit stores the above-mentioned cost map information.

[0015] In the cost map in FIG. 1, a cost is set based on the distance from an obstacle A such as a wall. The cost is a numerical value used when generating a travel route for the transport vehicle, and a larger numerical value is set for an area that is more difficult to travel in. For example, the cost of section A (the darkest area) where the obstacle exists in FIG. 1 may be set to "100", the cost of section B (the second darkest area) adjacent to the obstacle section A may be set to "10", and the cost of the other section C (the lightest area) may be set to "0", etc., so that the cost value increases with the section closer to the obstacle. Alternatively, the cost of the section next to section B may be set to "5", etc., to make four stages, or two stages, five stages or more, or other methods may be used.

[0016] Also, an area with a cost of a certain number or more may be stored as a traffic avoidance area (inflation area). For example, when an area with a cost of 1 or more is set as a traffic avoidance area, an area with a cost of 5 and an area with a cost of 100 become traffic avoidance areas. The cost conditions of such traffic avoidance areas can be appropriately set or changed (updated) by a system administrator or a user. Information on the traffic avoidance area can be referred to when the control unit generates a movement route. The control unit can generate a movement route so that the existence area of ​​the moving body does not interfere with the traffic avoidance area. The movement route can be a continuous line including straight lines or curves, and the travel of the transport vehicle is controlled so that a predetermined position such as the center or turning center of the transport vehicle or the line detection unit passes on the linear movement route in a planar view.

[0017] The map data in Fig. 1 shows the current location area of ​​the moving body 1. The moving body 1 may be a transport device in which an object to be transported 30 (such as a dolly) is coupled to a transport vehicle 10 by a coupling device 20 as shown in Fig. 2, or may be a transport vehicle 10 to which a coupling device 20 is attached as shown in Fig. 3, or may be the transport vehicle 10 alone.

[0018] The existence area of ​​the moving body 1 can be an area surrounded by an outline (outer frame) that represents the outer shape of the moving body 1 at least in a planar view. The existence area can be a convex hull of the transport vehicle and the connecting object (the connecting device and the object to be transported) connected to the transport vehicle. For example, in the examples of Figs. 2 and 3, the existence area can be an area inside the outline including the virtual line L. Also, as shown in Fig. 4, when the transport vehicle 10 transports the object 30 while being under the object 30, the existence area can be an area surrounded by the outline of the object 30 (a rectangle in the example of Fig. 4).

[0019] The storage unit stores in advance information on the cost map, and information including the outer shape and various dimensions of the moving body such as the transport vehicle 10, the coupling device 20, and the transport object 30. The outer shape information may include two-dimensional data or three-dimensional data of the moving body in a plan view. Also, for example, as shown in FIG. 2, the information may include the distance d1 from the center (axis) of the shaft portion 11 to the rear end of the transport object, the distance d6 from the axis to the front end of the transport object, the width w1 of the transport object, the distance d2 from the axis to the rear end of the coupling device 20 shown in FIG. 3, the width w2 of the coupling device 20, the width w3 of the transport object shown in FIG. 3, the length (depth) d3, the length d4 from the center of the transport vehicle to the front in the depth direction, the length d5 ​​behind, and the relative angle θ. Also, any of these pieces of information may be estimated from information acquired by a detection unit provided in the transport vehicle. For example, the distance d6 from the axis to the front end of the transport object can be detected by a distance measuring sensor provided on the transport vehicle, or the width w1 of the transport object can be obtained from information from a LiDAR sensor or the like. The control unit estimates the existence area of ​​the moving object 1 according to the state of the moving object 1. The state of the moving object 1 includes information on whether the coupling device 20 and the transport object 30 are respectively coupled to the transport vehicle 10, and, if coupled, information on the attitude (relative angle) with respect to the transport vehicle 10.

[0020] The control unit executes a movement path generation process for generating a movement path of the moving object to the target position based on the cost map information, information on a current existence area of ​​the moving object, and information on a predetermined target position.

[0021] In addition, when multiple target positions are set, the control unit can generate multiple movement routes according to the target positions. For example, when information on two points (coordinates) of a final destination and a waypoint on the way is input as the target position, a first movement route to the destination and a second movement route to the waypoint can be generated. The control unit can determine the movement route based on a predetermined priority among the multiple movement routes. For example, in the above example, the second movement route to the waypoint located before the destination may be prioritized over the first movement route to the destination, or vice versa. When the second movement route to the waypoint located before the destination is prioritized over the first movement route to the destination, the control unit controls the travel of the transport vehicle to pass through the second movement route, and when the waypoint is reached, the control unit may generate a movement route to the destination again or generate a movement route to the next waypoint (a position before the destination).

[0022] The control unit executes a presence area estimation process to estimate presence area information based on the current position, posture, and external shape information of the moving body, and whether or not the object to be transported is connected to the transport vehicle. The information on the current position and posture of the moving body can be acquired or estimated by the position estimation unit 265, the posture detection unit 235, etc., which will be described later. The external shape information can be, for example, the external shape of the transport vehicle 10 alone, the external shape of the transport vehicle 10 with the coupling device 20 attached and the object to be transported 30 not coupled thereto, and the external shape of the transport vehicle 10 with the coupling device 20 coupled thereto, which can be stored in advance in a storage unit and referred to. In addition, when there are a plurality of types of objects to be transported 30 with different shapes, the external shapes according to the types of objects to be transported 30 can be stored. The control unit can estimate the external shape of the current moving body based on information acquired by a detection unit (camera or sensor, etc.) of the transport vehicle, input information from a user, and information transmitted from an external device or a camera, sensor, etc. in a facility. For example, by detecting whether the object to be transported or the coupling device is coupled with a sensor provided in the transport vehicle, the control unit can estimate whether the object to be transported or the coupling device is coupled to the transport vehicle based on the detection information. The control unit can also estimate the relative angle of the coupling device or the object to be transported relative to the current transporter based on information acquired by a detection unit (camera, sensor, etc.) of the transport vehicle, input information from a user, and information transmitted from an external device or a camera, sensor, etc. within the facility. For example, the relative angle of the object to be transported can be detected by a sensor provided in the transport vehicle.

[0023] As shown in Fig. 5, in the system of this embodiment, first, route generation condition information is stored (S101). The route generation condition information includes, for example, two-dimensional or three-dimensional map information corresponding to the real space of the travel area, cost-related information relating to the setting conditions of the cost, traffic avoidance area information relating to the setting conditions of the traffic avoidance area, mobile object-related information relating to the type and external shape of the mobile object, etc. It can be stored in advance in the storage unit based on the user's input information, etc.

[0024] Next, the current existence area of ​​the moving object is estimated (S102). For example, based on the information acquired by the detection unit, the position, attitude (direction), whether the coupling device and the object to be transported are connected, and the relative angle are estimated, and from this information, the current existence area of ​​the moving object on a cost map such as that shown in Fig. 1 can be estimated. Note that the information previously stored in the storage unit, the estimated information, the generated movement route information, etc. can be transmitted to an external device or displayed on the display unit. This allows the user to check the current existence area and movement route of the moving object on the cost map shown in Fig. 1, for example.

[0025] Then, the control unit generates the shortest moving route that minimizes the total cost and the moving distance based on the cost map, the current existence area of ​​the moving body, and the information of the target position (S103). The information of the target position may be stored in advance in the storage unit based on, for example, the input information of the user, and updated as needed based on the input information from the user or the target position update information transmitted from an external device.

[0026] Then, the driving unit is controlled based on the generated moving path, and the transport vehicle moves to the target position along the moving path (S104). When the transport vehicle reaches the target position, it stops, and when a new target position is set, it estimates the current existence area again and generates the moving path. In addition, the estimation process of the current existence area and the generation process of the moving path may be repeatedly executed before reaching the target position. For example, when an obstacle such as an object or a person is detected in the process of moving along the moving path, the movement may be temporarily stopped, or the moving body may move away from the moving path to avoid the obstacle. In that case, the estimation process of the existence area of ​​the moving body at the time of stopping or leaving and the generation process of the moving path are executed, so that the optimal moving path can always be selected. In addition, such generation of the moving path may be repeated at a certain period (can be set arbitrarily, such as every second, every 10 seconds, every minute, etc.), or may be repeated based on the moving distance (can be set arbitrarily, such as every 1 m, every 10 m, every 100 m, etc.), or may be performed regardless of the period and the moving distance based on other predetermined conditions. Other conditions may be, for example, any one of the following, or a combination of multiple: an obstacle is detected, contact is made, an evasive action is taken, an object to be transported is connected, or disconnected, a specified input is received from a user, specified information is received from an external device, the cost map is updated, a rotation exceeds a specified angle (the change in direction of the transport vehicle in a specified period of time is greater than or equal to a specified value), an acceleration greater than or equal to a specified value is detected (the change in speed in a specified period of time is greater than or equal to a specified value), etc.

[0027] As described above, in this embodiment, the current existence area can be estimated based on whether or not the transport object is connected to the transport vehicle, and a movement path can be generated. Therefore, for example, when the transport vehicle alone or only the coupling device is attached, the existence area is smaller than when the transport object is coupled. As a result, for example, as shown in FIG. 6, when the transport object is not coupled, a movement path R2 that is more efficient than the movement path R1 when the transport object is coupled can be generated. In addition, when the transport object is coupled, a movement path R1 that is sufficiently far from obstacles is generated compared to when the transport object is not coupled, so that contact with obstacles can be prevented and safety can be improved. In this way, according to this embodiment, both improvement of movement efficiency and improvement of safety can be achieved.

[0028] In this embodiment, when an object to be transported is connected to the transport vehicle, the control unit may estimate a convex hull including the transport vehicle and the object to be transported as the existence area of ​​the moving body. In this case, the shape of the existence area is simple rather than complex, so that the load of the generation process of the moving path is reduced and contact with obstacles can be further suppressed.

[0029] In the present embodiment, the control unit may estimate the existence area of ​​the moving object based on the relative angle of the object to be transported with respect to the transport vehicle, which increases the accuracy of estimating the existence area of ​​the current moving object, thereby enabling a more efficient and safer moving route to be generated.

[0030] In this embodiment, the control unit may estimate the existence area of ​​the moving body based on the relative angle of the coupling device that couples the object to be transported to the transport vehicle with respect to the transport vehicle. This further improves the accuracy of estimating the existence area of ​​the current moving body, and a more efficient and safer moving path can be generated. For example, as shown in FIG. 7, when the coupling device and the object to be transported rotate around the axis of the shaft part 11 with respect to the transport vehicle, the relative angle α is detected. When estimating the existence area of ​​the moving body, the control unit may estimate, as shown in FIG. 8, a circular range C1 including only the transport vehicle 10 constituting the moving body, a circular range C2 including the transport vehicle 10 and the coupling device 20, and a circular range C3 including the transport vehicle 10, the coupling device 20, and the object to be transported 30 as the existence area. The size and center position of each circle are stored in the storage unit in advance. The shape is not limited to a circle, but may be a triangle, a rectangle, or another polygon, and can be stored in the storage unit in advance.

[0031] In this embodiment, the control unit may estimate the relative angle of the transport object based on information from the detection unit provided in the transport vehicle. In this way, the estimation accuracy of the existence area of ​​the moving body can be improved by using the sensor information of the transport vehicle. In this embodiment, the detection unit may include a sensor such as a distance sensor that detects the position or angle of a predetermined specific point on the coupling device that couples the transport object to the transport vehicle or the transport object, or may include a rotation state detection unit that detects the rotation angle of the coupling device relative to the transport vehicle. The rotation state detection unit may be configured, for example, as an encoder that converts the rotational displacement of the coupling device 20 around the shaft portion 11 shown in FIG. 7 into an electric signal and detects it, or may be configured with other sensors (angle sensors, etc.). By providing the rotation state detection unit, the position and orientation of the transport object relative to the transport vehicle can be detected. Note that the transport object 30 may be fixed to the coupling device 20, but the transport object 30 may be rotated relative to the coupling device 20, in which case a detection unit that detects the rotation state of the transport object 30 relative to the coupling device 20 may be provided.

[0032] In this embodiment, the system may include a detection unit such as a sensor or camera that detects the positions of multiple wheels of the transported object, and the control unit may estimate the positions of the multiple wheels and the relative angle of the transported object based on the detection information.

[0033] For example, as shown in FIG. 4, when the transport vehicle 10 and the object 30 are coupled in a state where the transport vehicle 10 is under the object 30 such as a cart, the position of the four wheels 31 is detected by a sensor such as LiDAR provided on the transport vehicle 10 for detecting the distance to the object. This detects the relative position of the wheels with respect to the transport vehicle 10. Based on the position information of the wheels, information on the width w3, length (depth) d3, length d4 in front of the center of the transport vehicle in the depth direction, length d5 ​​behind, and relative angle θ of the object can be estimated, and the existence area can be estimated based on the information. In addition, based on information on the external shape (e.g., rectangle) of the object 30 with respect to the four wheels that is stored in advance, the relative position of the object 30 with respect to the transport vehicle 10 (the relative position between the center of the transport vehicle and the center of the object) can be estimated. In addition, even if the external shape is not stored in advance, the existence area can be estimated based on the position information of the four wheels 31. For example, a rectangle connecting the center points of the four wheels may be estimated as the presence area, or a rectangle connecting four points located a predetermined distance (e.g., 100 mm, 300 mm, 500 mm) outward from the center points of the wheels on an extension of a diagonal line connecting the center points of the wheels may be estimated as the presence area. A range obtained by expanding the rectangle connecting the center points of the four wheels outward by a predetermined factor (e.g., 1.2 times, 1.5 times, etc.) may be estimated as the presence area.

[0034] Also, a sensor may be used to detect the thickness (width) of the four wheels 31. By previously storing information on the wheel thickness, the type of the transport object (cart, cart, other device), width, depth, etc. in association with each other, it is possible to acquire the associated information from the detected wheel thickness. Also, the wheel thickness, the wheel position, and information on the type or size of the transport object may be stored in association with each other.

[0035] 9 shows a transport device including a coupling device 20 attached to the transport vehicle 10. The coupling device 20 includes a transport vehicle side coupling part 21 that is rotatably coupled to the transport vehicle 10, and a gripping part 22 that releasably grips the lower frame of the transport object. The transport vehicle 10 may be an AGV that moves along a guideline, an AMR that runs autonomously regardless of the guideline, or a combination of these that can perform both.

[0036] The vehicle-side joint 21 is located at the top of the vehicle 10 and is supported from below by the vehicle 10. The vehicle-side joint 21 in this example is connected to the vehicle 10 so as to be rotatable around the shaft 11 extending in the vertical direction (up-down direction) provided at the top of the vehicle 10. Here, "rotation" does not necessarily mean 360° rotation, but also includes displacement within a predetermined range, such as 180°, 90° or less. The carrier-side joint 21 may be fixed to the vehicle 10 so as not to be rotatable. The vehicle-side joint 21 does not displace in the vertical direction relative to the vehicle 10, but may be displaceable. The relative position (angle) of the vehicle-side joint 21 (with respect to the vehicle 10) around the shaft 11 is controlled by a driving device such as an internal motor or actuator. The vehicle-side joint 21 is basically installed with respect to the vehicle 10 so that the gripper 22 is located on the rear side of the vehicle 10. The transport vehicle side coupling portion 21 may be detachable from the transport vehicle 10 .

[0037] The gripping portion 22 is displaced between a release position and a gripping position, and in the gripping position, the frame or the like of the object to be transported is gripped, thereby connecting the object to the transport vehicle. With the transport vehicle 10 and the object to be transported 50 connected by the coupling device 20, the transport vehicle moves to an arbitrary destination, whereby the object to be transported 50 (the cart and the article to be transported, luggage, etc.) can be transported to the destination position.

[0038] The auxiliary fixed wheels 34 provided on the connecting device 20 can be brought into contact with the ground by lowering them by a driving mechanism such as an actuator, and can be lifted off the ground. For example, when the two wheels 52 of the transport object 50 located on the connecting device 20 side are fixed wheels, the transport object 50 may be transported in a state where it is lifted off the ground, and when the wheels 52 of the transport object 50 are all swivel wheels, the transport object 50 may be transported in a state where the auxiliary fixed wheels 34 are in contact with the ground as shown in FIG. 7. Also, when the two wheels located far from the connecting device 20 are fixed wheels, the transport object 50 may be transported in a state where it is lifted off the ground. Depending on the type, number, and position information of the wheels of the transport object 50, the auxiliary fixed wheels 34 may be selected to be in contact with the ground or not in contact with the ground during transport. Such wheel information and information on the condition of the auxiliary fixed wheels 34 being in contact with the ground or not in contact with the ground may be stored in a storage unit in advance, or may be input by a user at any time to be controlled or stored. The auxiliary fixed wheels 34 are coupled to the transport vehicle side coupling unit 21, and are displaced between a contact state and a non-contact state by moving up and down by a driving device such as an actuator. The up and down movement may be by swinging about a horizontally extending shaft as a fulcrum, or by sliding up and down along a rail or the like.

[0039] In this embodiment, connectors for power supply and communication are provided at the connection between the transport vehicle side connection unit 21 and the transport vehicle 10, enabling power supply and signal communication (transmission and reception) between the transport vehicle 10 and the coupling device 20. Specifically, the operation of the gripper 22 and the auxiliary fixed wheel 34 of the coupling device 20, such as vertical movement, can be controlled by the power supply and control signals from the transport vehicle 10. Note that the coupling device 20 itself may be provided with a control unit, memory unit, communication unit, power source, etc., which will be described later, or may be configured to operate without the power supply or control signals from the transport vehicle.

[0040] In this embodiment, the connecting device 20 is provided with an imaging unit 36. The imaging unit 36 ​​is located on the upper side of the gripping unit 20. In addition, it is preferable that the mounting position of the imaging unit 36 ​​in the width direction (left-right direction) of the connecting device 20 is provided so as to overlap the gripping unit 20 and the auxiliary fixed wheel 34. In other words, it is preferable that the shooting direction of the imaging unit 36 ​​coincides with the extension direction of the gripping unit 20, and the center of the imaging unit 36 ​​coincides with the center of the gripping unit 20 in the left-right direction. The imaging unit 36 ​​can be a sensor having an imaging function and a distance measurement function (depth detection function). Specifically, for example, it is composed of a Depth Camera of RealSense (registered trademark) of Intel Corporation. The control unit can estimate the position of the transport object 50 and its relative angle (posture) with respect to the connecting device based on the information acquired by the imaging unit 36. The control unit can also detect the presence of an obstacle (presence or absence of an obstacle), its posture (e.g., touching the basket cart), distance (distance from the imaging unit 36), and state (whether a person is working, walking, sitting, or lying down) by analyzing the image captured by the imaging unit 36. The control unit may select one of a plurality of options stored in advance in the storage unit by image analysis. Based on such information, for example, when an obstacle (including an object or a person) is detected in the traveling direction, the traveling may be stopped. Alternatively, when it is detected that a worker is putting an object in or taking out an object from the basket cart, the coupling operation or the release operation may be stopped. Conversely, when it is determined that there is no obstacle or that the worker is not working (or has finished working), the coupling operation or the release operation may be started. In this way, the control unit can control the transport vehicle and the coupling device based on the information acquired from the imaging unit 36. The imaging unit 36 ​​may also be provided on the upper part of the support arm 35 that supports the auxiliary fixed wheel 34 as shown in FIG. 4. Providing the imaging units 36 on both the upper and lower sides of the gripping unit 20 not only expands the imaging range, but also improves the detection accuracy (position and orientation estimation accuracy) of the transport object, etc., thereby improving the efficiency and safety of the connecting operation. Note that the imaging units 36 are not essential components.

[0041] It is also possible to provide a rotatable plate-shaped turntable on the top of the transport vehicle, and to install the transport vehicle side coupling unit 21 thereon. In this case, the turntable rotates together with the coupling device, and the rotation of the turntable can be restricted by using a disk brake or the like to restrict the rotation of the coupling device.

[0042] Furthermore, when the rotation angle of the coupling device relative to the transport vehicle 10 is controlled by a motor, the motor is basically relaxed and rotates freely, but only when necessary (when a predetermined angle is required for locking, or when the angle of the transported object relative to the transporter is to be adjusted), the motor may be driven to rotate and the rotation angle (direction) of the coupling device may be changed arbitrarily. The motor may be a dedicated motor provided for rotating the coupling device, or may be a motor for controlling the drive wheels of the transport vehicle, etc.

[0043] Here, the object 50 to be transported may be, for example, a cart, a cart, a cabinet, a pallet, a conveyor, or other various devices, but is not limited thereto. The object 50 to be transported has wheels 52, and is towed while connected to the transport vehicle 10, so that it moves following the transport vehicle. That is, the object 50 to be transported is basically located behind the transport vehicle 10 (when the traveling direction of the transport vehicle 10 is the forward direction), but may be located on the traveling direction side of the transport vehicle 10, for example, when the transport vehicle 10 moves backward. The transport form may be a towing transport in which the transport vehicle located in front pulls the object to be transported behind, or a transport form in which the transport vehicle moves while pushing the object to be transported located in front from the rear. A plurality of wheels 52 (for example, four, six, etc.) are provided on the bottom surface of the basket part of the basket cart on which the object to be transported is loaded, and may be all composed of swivel wheels, or may be composed of fixed wheels and swivel wheels. When the object to be transported has fixed wheels and swivel wheels, the transport vehicle may be connected to the object to be transported so that the transport vehicle is located on the fixed wheel side, or vice versa. That is, the control unit may determine the gripping position (direction) of the coupling device relative to the object to be transported based on the information on the wheels of the object to be transported (presence or absence of fixed wheels and their positions). Furthermore, when the heavy object exceeds a predetermined weight (1 kg, 10 kg, 50 kg, 100 kg, etc.), the transport vehicle may be coupled to the side opposite to the fixed wheels. That is, it is also possible to determine the gripping position (direction) of the coupling device relative to the object to be transported based on the weight information of the object to be transported in addition to the wheel information of the object to be transported. Such condition information regarding the determination of the gripping position of the coupling device may be stored in the storage unit in advance, or may be stored or updated based on the input information from the user. Furthermore, the wheel information and weight information may be acquired from the input information from the user, or may be received from the information transmitted from the object to be transported, or may be estimated from the analysis of the camera image of the transport vehicle or the communication device or the sensor detection information.

[0044] <Construction of the transport vehicle> FIG. 10 is a perspective view showing an example of the configuration of a transport vehicle 10. The transport vehicle 10 in this example is an unmanned transport vehicle, but can also be applied to various vehicles on which people can ride. An arrow 15 in FIG. 10 indicates the traveling direction of the transport vehicle. The traveling direction is basically the front of the transport vehicle, but it can also be the rear depending on the situation. As shown in FIG. 10, the transport vehicle 10 includes an axle portion 11 for connecting a coupling device 20, an object position detection portion 12 for detecting objects around the transport vehicle, drive wheels 13, and non-drive wheels 14.

[0045] For example, the transport vehicle is equipped with an object position detection unit 12. The object position detection unit 12 is a device that detects the relative distance and angle from the transport vehicle to an object (including a transport target, a person, etc.). Examples of the object position detection unit 12 and the imaging unit 36 ​​include a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by irradiating a laser light and measuring the time it takes for the laser light to hit the object and bounce back, a millimeter wave radar that detects the distance to an object based on a millimeter wave transmission signal and a received signal that is reflected by the object and returns, and a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the photographed image. In this embodiment, an example has been shown in which the object position detection unit 12 is disposed on the top surface of the transport vehicle in the forward direction of the travel direction, but instead of this, it may be disposed on the front side in the travel direction. Also, it may be disposed not only on the front but also on the rear side or both left and right sides in the travel direction.

[0046] The object position detection unit 12 may detect an object in a 360-degree range around the transport vehicle, but is configured to detect an object at least in the traveling direction 15 of the transport vehicle. The traveling direction 15 may be either in front of or behind the transport vehicle.

[0047] FIG. 11 is a bottom view showing an example of the hardware configuration of the transport vehicle according to this embodiment. Drive wheels 13 are provided on the bottom of the transport vehicle at both the left and right sides with respect to the travel direction 15 of the transport vehicle, and non-driven wheels 14 are provided in front of and behind each of the drive wheels 13. The drive wheels 13 are wheels that are connected to the rotating shaft of a motor and driven, and the right drive wheel and the left drive wheel are controlled individually. The control unit can control the speed of the transport vehicle by controlling the rotation speed of the drive wheels. In addition, the control unit can control the speed of the transport vehicle by making a curve and running the transport vehicle, rotating the transport vehicle on the spot to change direction, stopping, and moving backward by individually controlling the rotation speed and rotation direction of each drive wheel. The non-driven wheels 14 are wheels that are not driven and passively rotate as the transport vehicle moves due to the drive wheels 13. The non-driven wheels 14 have, for example, a fork that fixes the wheel and the axle, and the fork is made up of a rotating caster that is rotatably connected to the bottom member of the transport vehicle. Therefore, the wheel rotation direction of the non-driven wheels 14 changes passively according to the traveling direction and rotational operation of the transport vehicle. Although Fig. 11 illustrates a hardware configuration of a transport vehicle having two driven wheels and four non-driven wheels at the four corners, the present invention is not limited to this hardware configuration, and it is also possible to adopt a configuration with a total of four wheels, two driven wheels and two non-driven wheels, and it is also possible to adopt a configuration in which the front wheels are steerable in the four-wheel configuration.

[0048] The guide line detector 16 is provided on the bottom of the transport vehicle to detect the guide line (guide line). The guide line detector 16 is preferably provided ahead of the drive wheels 13 in the travel direction of the transport vehicle. This makes it easier for the transport vehicle to travel along the guide line when traveling at a curved guide line, and also allows the transport vehicle and the towing cart to receive information from the guide line as soon as possible when traveling, thereby enabling them to quickly execute processing such as stopping. The guide line detector uses a sensor according to the type of guidance method as described above. When the electromagnetic induction method is used as the guidance method, a pickup coil is used as the sensor for the guide line detector. When the magnetic induction method is used, a magnetic sensor is used. When the image recognition method is used, a camera is used. The guide line detector may be provided not only on the floor surface but also on the side wall surface or ceiling surface of a building, and the sensor (including a camera) of the transport vehicle may be installed at a position where the guide line can be recognized (the bottom surface, side surface, top surface, etc. of the transport vehicle). The guide line may also be a track virtually provided on two-dimensional or three-dimensional map data. The control unit of the transport vehicle may control the travel of the transport vehicle along virtual guidelines based on map information and trajectory information (travel route information) stored in advance in the memory unit, and current self-position information estimated based on information from cameras, sensors, etc.

[0049] When a guided vehicle traveling in an autonomous driving mode detects a guided line at a preset driving mode switching position, the driving control mode is switched from the autonomous driving mode to the guided driving mode. Conversely, when a guided vehicle traveling on a guided line in the guided driving mode enters a preset driving mode switching position, the driving control mode is switched from the guided driving mode to the autonomous driving mode. In order to guide the guided vehicle to a position close to a shelf or a belt conveyor where luggage is stored, or a work position of a worker, a track consisting of guided lines is laid at a position close to the shelf or work position via multiple branch points.

[0050] The guided vehicle 10 traveling in an autonomous travel area where no guide line is laid in the autonomous travel mode changes its travel mode to the guided travel mode that follows the guide line on the condition that it enters the travel mode switching position and detects the guide line. On the other hand, when the guided vehicle traveling on the guided line in the guided travel mode enters the travel mode switching position, the travel control mode is switched from the guided travel mode to the autonomous travel mode, and the guided vehicle leaves the guide line and starts autonomous travel.

[0051] <Conveyor system configuration> Next, the configuration of the transport system of this embodiment will be described. Fig. 12 is a diagram showing an example of the overall configuration of the transport system according to this embodiment. The transport system 1000 includes a plurality of transport vehicles (10a, 10b), a dolly 2000 which is a transported object, a control device 3000 which can display the state of the transport vehicles or input commands to the transport vehicles, a general control device 4000 which manages information required for the operation of the transport vehicles, an input / output device 5000 which displays information of the general control device and inputs information to the general control device, and a communication network 6000 which communicably connects the plurality of transport vehicles (10a, 10b), the control device 3000, and the general control device 4000.

[0052] The transport system 1000 can also be connected to an external system 7000 via a communication network 6000. When the transport system 1000 is introduced into a manufacturing factory to transport parts required for manufacturing from a storage facility to a manufacturing line, the transport system 1000 performs inter-system cooperation with a manufacturing management system as the external system 7000. In this case, by acquiring information on the operational progress of the manufacturing work from the manufacturing management system, the transport volume and transport route by the transport vehicle can be dynamically adjusted according to the progress of the manufacturing work.

[0053] As another example, in the case where the conveyance system 1000 is introduced into a logistics warehouse and conveys the incoming goods from an entrance to a storage warehouse when the goods are brought into the warehouse by truck or the like, and conveys the goods to be shipped from the storage warehouse to an exit when the goods are shipped from the warehouse, the conveyance system 1000 performs inter-system cooperation with a logistics management system as an external system 7000. In this case, by acquiring information related to the incoming goods and the outgoing goods from the logistics management system, the transportation amount and transportation route by the conveyance vehicle can be changed.

[0054] In a facility where a transport system is installed, a plurality of transport vehicles (10a, 10b) are generally in operation, and each transport vehicle is communicatively connected to other transport vehicles and other components via a communication network 6000. For example, the transport vehicle transmits various detection information detected by its own detection unit and other control information to the control device 3000, the overall control device 4000, and the other transport vehicles 10. The transport vehicle 10 is also electrically connected to the cart 2000 or communicatively connected via short-range communication means, and is configured to be able to receive information on the connection state and identification information of the cart from the cart.

[0055] The control device 3000 has a function of displaying the status information of each transport vehicle and a function of inputting commands to a specified transport vehicle. For example, the status information of the transport vehicle displayed on the control device can display all information acquired or stored by this system, such as the identification information of each transport vehicle, its position (coordinates, position on a map), speed, direction, running history, transport history of the transport object (including identification information of the transport object transported, transport start position, transport end position, transport time, coupling time, release time, etc.), information on the charge amount of the battery mounted on the transport vehicle and serving as the power source for the transport vehicle, sensor information acquired by the transport vehicle, photographed images, identification information of the transport object (transport object) such as a cart transported by the transport vehicle, information on the coupling device, whether it is in a gripping position or a release position, information on the lock of the coupling device (whether it is in a locked state or not), and rotation angle. The commands to be input to the transport vehicle include, for example, command information regarding the destination (target position) of the transport vehicle, operational commands to couple and uncouple from the trolley, commands to start the transport vehicle, commands to stop the transport vehicle, commands to return to the charging station, instructions for the object to be transported by the transport vehicle, coupling instructions, uncoupling instructions, rotation lock support, unlocking instructions, rotation angle instructions, instructions regarding locking conditions (lockable rotation angle), identification information for the object to be transported, and time information such as the start position of the transport, the end position of the transport, the time of transport, the time of coupling, and the time of uncoupling.

[0056] 13 shows a configuration diagram of the overall control device 4000 in this embodiment. The overall control device 4000 has a status information recording unit 4010 that records status information of multiple transport vehicles operated in a facility area, an operation scenario management unit 4020 that manages operation scenarios of the multiple transport vehicles, a map management unit 4030 that generates and updates a map of the work area based on detection information of the transport vehicles including detection information of the guide lines acquired by the guide line detection unit of the transport vehicles, an abnormality determination unit 4040 that determines abnormalities of the guide lines and the transport vehicles based on the detection information of the transport vehicles, and a communication unit 4050 that communicates with an external input / output device 5000 and a communication network 6000.

[0057] The status information of the transport vehicles recorded by the status information recording unit 4010 includes, for example, obstacle detection positions detected by the multiple transport vehicles during operation, guide line detection positions, history information of the travel positions of the transport vehicles, and further, information on the battery charge amount, identification information of the dolly connected to the multiple transport vehicles, operation modes (guided travel mode or autonomous travel mode) of the multiple transport vehicles, various other detection information detected by the detection unit 230 of the transport vehicles, map information of the work area, etc. The operation scenario managed by the operation scenario management unit 4020 includes, for example, information on the destination of each of the multiple transport vehicles, the contents of multiple operations to be performed until reaching the destination, the operation sequence of the multiple operations, and switching conditions for the multiple operations.

[0058] The map management unit 4030 generates a map including the position information of obstacles and guide lines in the work area based on the obstacle detection position detected by the guided vehicle, the guide line detection position, and the history information of the travel position of the guided vehicle. Furthermore, the map management unit 4030 updates the information of the guide lines and the work area registered in the map based on the information of the detection position of the guide lines accumulated by one or more guided vehicles.

[0059] The abnormality determination unit 4040 determines abnormalities in the guide lines and the guided vehicle based on the position information of the guide lines registered in the map information and the detection information of the guided vehicle including the detection position information of the guide lines detected by the guided vehicle.

[0060] The input / output device 5000 displays information recorded in the state information recording unit 4010 of the overall control device 4000, map information (including map update information), and the determination result by the abnormality determination unit, and can add or update a new operation scenario by inputting an operation scenario managed by the operation scenario management unit 4020. Information input to the input / output device 5000 includes, for example, that the destination of a given transport vehicle is the working area A of the guided travel area 110, operation contents for entering the guided travel area 110 and reaching the working area A, operation switching conditions, and the like.

[0061] <Functions of the transport vehicle> The functions of the transport vehicle will be described with reference to Fig. 14. Fig. 14 is a diagram showing the functional configuration of the transport vehicle according to this embodiment. The transport vehicle 10 is equipped with a coupling device 20, a communication unit 210 that communicates with a dolly 2000 outside the transport vehicle and a communication network 6000, a recording unit 220 (including a storage unit), a detection unit 230 equipped with various sensors described later, a coupling device for coupling with the dolly, a wheel drive unit 280 that drives the wheels, an input unit 240, a display unit 250, a control unit 260 that controls the operations of the wheel drive unit 280, and the like.

[0062] The recording unit 220 has a function of recording information received from the outside by the communication unit 210, detection information detected by the detection unit 230, and information generated and output by the control unit. The recording unit 220 can store information such as the destination position, movement route, and movement history of the transport vehicle. The recording unit 220 can store speed information according to the distance to the destination position, calculation formula (program) information for calculating the speed information, and the like.

[0063] The detection unit 230 includes an object position detection unit 12, a guide line detection unit 16, a travel distance detection unit 233, a collision detection unit 234, a posture detection unit 235, and a charge amount detection unit 236. As described above, the object position detection unit 12 includes a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by irradiating a laser beam and measuring the time it takes for the laser beam to bounce back after hitting the object, a millimeter wave radar that detects the distance to an object based on a millimeter wave transmission signal and a received signal that is reflected by the object and returns, or a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the photographed image. The control unit can estimate information on the current position and current speed of the transport vehicle based on information from the detection unit. The detection unit 230 includes a position sensor including a GNSS or the like that detects the current position of the transport vehicle, and a speed sensor that detects the speed of the transport vehicle.

[0064] As described above, the guide line detection unit 16 uses a sensor according to the type of guide method. When the electromagnetic induction method is used, a pickup coil is used as the guide line detection unit sensor, when the magnetic induction method is used, a magnetic sensor is used, and when the image recognition method is used, a camera is used. When the guide line detection unit is located directly above the guide line, it detects the guide line and outputs a detection signal. In addition to the detection signal of the guide line, in the case of an image recognition method in which a camera reads a guide line using a two-dimensional code or a barcode, position information is generated based on the information of the detected code, and further, by analyzing the image information of the code, relative angle information between the guide line and the carrier can be generated.

[0065] The travel distance detection unit 233 detects the number of rotations of the non-driven wheels 14 or the driven wheels 13, and can measure the travel distance and travel speed of the transport vehicle based on the detection information of the number of rotations and the information of the diameter (or circumference) of the non-driven wheels or the driven wheels (in this case, the travel distance detection unit 233 can function as a speed sensor). As an alternative, it is also possible to apply a means for detecting the travel speed of the transport vehicle using a millimeter wave sensor that irradiates millimeter waves in any horizontal direction (may be a wall or floor surface) and detects reflected waves, and integrating the travel speed to estimate the travel distance. Also, any method for measuring the travel distance or acquiring the travel speed other than the above-mentioned methods can be applied.

[0066] The collision detection unit 234 has a function of detecting that the transport vehicle collides with an object or a person. Specifically, it is possible to detect acceleration using a gyro sensor or the like, and determine that a collision has occurred when a sudden change in acceleration is detected. As an alternative, it is also possible to apply a means of providing a physical switch together with a bumper at the front of the transport vehicle in the traveling direction, and determining that a collision has occurred when the physical switch is pressed. In addition, a collision detection method other than the above can be applied. When the collision detection unit 234 detects a collision, it stops the transport vehicle, records at least one of the collision occurrence information and the collision occurrence position information in the recording unit, and notifies the information to the general control device 4000 and the control device 3000. The attitude detection unit 235 detects the direction (attitude) of the vehicle based on a magnetic compass, information on the rotation speed of the left and right drive wheels, or steering information of the wheels.

[0067] The charge amount detection unit 236 detects the charge amount of the battery, which is the power source of the transport vehicle. When the charge amount detected by the charge amount detection unit 236 becomes equal to or less than a predetermined value, it determines that charging is necessary, records the detection information of the decrease in charge amount in the recording unit, and notifies the information to the general control device 4000 and the control device 3000. Furthermore, when it is detected that the charge amount is equal to or less than a predetermined value, in addition to the above processing, it may be configured to automatically move to a charging spot and charge. The predetermined value for the charge amount detection unit 236 to determine that charging is necessary may be a value set in advance based on at least one of the distance to the destination set for the transport vehicle and the weight of the transported object coupled to the transport vehicle.

[0068] The input unit 240 is composed of a physical switch or a touch panel mounted on the transport vehicle, and allows the user to directly input operation commands, etc. to the transport vehicle. The display unit 250 is composed of, for example, a liquid crystal panel mounted on the transport vehicle, and can display status information of the transport vehicle (various types of detection information by the detection unit 230, the type of driving mode, the currently running operation scenario, etc.).

[0069] The control unit 260 includes an operation determination unit 261, a mode switching unit 262, a connection control unit 263, a display control unit 264, a position estimation unit 265, and a travel control unit 266. The operation determination unit 261 determines the operation of the guided vehicle based on the operation scenario of the self-guided vehicle acquired from the operation scenario management unit 4020.

[0070] The mode switching unit 262 switches the travel mode of the transport vehicle between a guided travel mode and an autonomous travel mode based on conditions predetermined by an operation scenario or the like, or a command input by the input unit 240. The connection control unit 263 controls the operation of the coupling device to control connection / disconnection with a transported object such as a cart based on conditions predetermined by an operation scenario or the like, or a command input by the input unit 240. The display control unit 264 controls the input IF of the input unit 240 and the display unit 250 described above.

[0071] The position estimation unit 265 can estimate the position at a predetermined time including the current position of the vehicle in the entire travel area based on the travel distance detected by the travel distance detection unit 233, the information on the direction of the vehicle detected by the attitude detection unit 235, and the map information of the entire area recorded in the recording unit 220. Alternatively, it is also possible to estimate the position of the vehicle in the entire travel area based on the information on the distance and direction from the vehicle to an object measured by the object position detection unit 12 and the map information of the entire area recorded in the recording unit 220. Alternatively, when the vehicle is traveling on a guide line formed by a two-dimensional code, it is also possible to estimate the position of the vehicle in the entire travel area based on the identification information of the two-dimensional code and the map information. The position estimation unit 265 can also acquire position information by a GNSS or the like provided in the carrier vehicle.

[0072] The position estimation unit 265 can estimate the position where the object exists based on the estimated vehicle position information and the distance information from the vehicle to the object detected by the object position detection unit 12. In addition, based on the vehicle position information when the guide line detection unit 16 detects the guide line, it estimates the installation position of the guide line.

[0073] The travel control unit 266 controls the travel of the transport vehicle based on at least one of the determination information by the operation determination unit 261 and the mode switching unit 262. The travel control unit 266 can control the forward movement, backward movement, stopping, turning, and the moving speed and turning speed of the transport vehicle. Specifically, the travel control unit 266 individually controls the right wheel driving unit 281 and the left wheel driving unit 282 of the wheel driving unit 280. The right wheel driving unit 281 and the left wheel driving unit 282 are composed of, for example, a motor, and by individually controlling the rotation speed and rotation direction of each drive wheel, it becomes possible to make the transport vehicle travel in a curve with an arbitrary trajectory radius or to rotate the transport vehicle to change its direction.

[0074] The direction of the vehicle may be controlled based on the angle and relative position of the vehicle, and the following may be performed: an angle estimation process for estimating the angle of the vehicle relative to the extension direction of the guideline based on information from a sensor installed in the vehicle; a relative position estimation process for estimating the relative position of the guideline and the vehicle in a direction perpendicular to the extension direction of the guideline based on information from a sensor installed in the vehicle; and the direction of the vehicle may be controlled based on the angle and relative position of the vehicle. For example, in the case of an image recognition method in which a camera reads a guideline using a two-dimensional code or a barcode, position information may be generated based on information on the detected code in addition to the detection signal of the guide line, and further image information of the code may be used to generate relative angle information between the guide line and the vehicle.

[0075] Although the preferred embodiment of the present disclosure has been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person having ordinary knowledge in the technical field of the present disclosure can conceive of various modified or amended examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure.

[0076] The devices described in this specification may be realized as a single device, or may be realized by a plurality of devices (e.g., cloud servers) partially or entirely connected via a network. For example, the control unit 260 and the recording unit 220 of the transport vehicle may be realized by different servers connected to each other via a network. In addition, in the transport system described in this specification, an example has been described in which the controller 3000, the overall control device 4000, and the input / output device 5000 are configured as separate hardware connected via a network, but some or all of the functions of the controller 3000, the overall control device 4000, and the input / output device 5000 may be implemented in the transport vehicle 10.

[0077] The series of processes performed by the device described in this specification may be realized using any of software, hardware, and a combination of software and hardware. A computer program for realizing each function of the control unit 260 according to this embodiment may be created and implemented in a PC or the like. A computer-readable recording medium in which such a computer program is stored may also be provided. The recording medium may be, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. The above computer program may also be distributed, for example, via a network, without using a recording medium.

[0078] In addition, the processes described herein using flowchart diagrams do not necessarily have to be performed in the order shown. Some process steps may be performed in parallel. Additional process steps may be employed, and some process steps may be omitted.

[0079] In addition, the effects described in this specification are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that are apparent to a person skilled in the art from the description of this specification, in addition to or in place of the above effects.

[0080] Note that the following configurations also fall within the technical scope of the present disclosure. (Item 1) a control unit that executes a movement path generation process that generates a movement path of the moving object to a target position based on cost map information in which a cost based on a distance from an obstacle is set on map data corresponding to a real space, current existence area information of the moving object on the map data, and information of a target position, The moving body includes a transport vehicle capable of connecting and transporting an object to be transported, The control unit of the moving body path generation system executes an existence area estimation process to estimate the existence area information based on the current position, posture, and external shape information of the moving body, as well as whether the object to be transported is attached to the transport vehicle. (Item 2) 2. The path generation system according to item 1, wherein, when the object to be transported is connected to the transport vehicle, the control unit estimates a convex hull including the transport vehicle and the object to be transported as the existence area of ​​the moving body. (Item 3) 3. The path generation system according to item 1 or 2, wherein the control unit estimates a presence area of ​​the moving object based on a relative angle of the object to be transported with respect to the transport vehicle. (Item 4) 3. The path generation system according to claim 1, wherein the control unit estimates a presence area of ​​the moving object based on a relative angle of a coupling device that couples the object to the transport vehicle with respect to the transport vehicle. (Item 5) 3. The path generation system according to item 1 or 2, wherein the control unit estimates a relative angle of the object to be transported based on information from a detection unit provided in the transport vehicle. (Item 6) 3. The path generation system according to claim 1 or 2, wherein the detection unit includes a coupling device that couples the object to be transported to the transport vehicle or a sensor that detects a position or angle of a predetermined specific point on the object to be transported. (Item 7) the detection unit includes a sensor that detects positions of a plurality of wheels of the transport object, 3. The path generation system according to item 1 or 2, wherein the control unit estimates a relative angle of the object to be transported based on positions of the plurality of wheels. (Item 8) a control unit executes a movement path generation process for generating a movement path of the moving object to a target position based on cost map information in which a cost based on a distance from an obstacle is set on a map data corresponding to a real space, current existence area information of the moving object on the map data, and information on a target position; The moving body includes a transport vehicle capable of connecting and transporting an object to be transported, A path generation method for a moving body, in which the control unit executes an existence area estimation process to estimate the existence area information based on the current position, posture, and external shape information of the moving body, and whether the object to be transported is attached to the transport vehicle. (Item 9) causing a control unit to execute a movement path generation process for generating a movement path of the moving object to a target position based on cost map information in which a cost based on a distance from an obstacle is set on map data corresponding to a real space, current existence area information of the moving object on the map data, and information on a target position; The moving body includes a transport vehicle capable of connecting and transporting an object to be transported, The control unit executes an existence area estimation process to estimate the existence area information based on the current position, posture, and external shape information of the moving body, and whether or not the object to be transported is connected to the transport vehicle, in accordance with a program. [Explanation of symbols]

[0081] 10: Transport vehicle, 20: Connection device, 22: Grip unit, 23: Lower support unit, 24: Protrusion unit, 25: Displacement unit, 50: Transport object, 51: Lower frame of transport object, 130 Operation area, 131 Guide line, 132 Travel mode switching position, 210 Communication unit, 220 Recording unit, 230 Detection unit, 240 Input unit, 250 Display unit, 260 Control unit, 280 Wheel drive unit, 2000 Cart, 2010 Connection receiving unit, 3000 Control unit, 4000 Overall control unit, 5000 Input / output device, 6000 Communication network, 7000 External system

Claims

1. a control unit that executes a movement path generation process that generates a movement path of the moving object to a target position based on cost map information in which a cost based on a distance from an obstacle is set on map data corresponding to a real space, current existence area information of the moving object on the map data, and information of a target position, The moving body includes a transport vehicle that is rotatably connected to an object to be transported and can transport the object, the control unit executes an existence area estimation process to estimate the existence area information based on current position, posture, and external shape information of the moving body, and based on whether the transport object is coupled to the transport vehicle; When the object to be transported is coupled to the transport vehicle, the control unit estimates, based on a relative angle of the object to be transported with respect to the transport vehicle, a convex hull including an outer shape of the transport vehicle in a planar view at a current position and an outer shape of the object to be transported at a position according to the relative angle, as a presence area of ​​the moving body; A path generation system for a moving body, wherein the shape of the existence area of ​​the moving body changes according to a change in a relative angle of the object to be transported with respect to the transport vehicle.

2. the movable body includes a coupling device that is rotatably provided with respect to the transport vehicle and is detachably coupled to the object to be transported, 2. The path generation system according to claim 1, wherein, when the object to be transported is not connected to the transport vehicle, the control unit estimates, as the existence area of ​​the moving body, a convex hull including the outer shape of the transport vehicle in a planar view and the outer shape of the coupling device at a position corresponding to the relative angle of the coupling device with respect to the transport vehicle.

3. The path generation system according to claim 1 , wherein the control unit estimates a presence area of ​​the moving object based on a relative angle of a coupling device that couples the object to the transport vehicle with respect to the transport vehicle.

4. The path generation system according to claim 1 , wherein the control unit estimates a relative angle of the object based on information from a detection unit provided in the transport vehicle.

5. The transport vehicle has a detection unit, 3. The path generation system according to claim 1, wherein the detection unit includes a sensor that detects a coupling device that couples the object to the transport vehicle or a position or angle of a predetermined specific point on the object.

6. The transport vehicle has a detection unit, the detection unit includes a sensor that detects positions of a plurality of wheels of the transport object, The path generation system according to claim 1 or 2, wherein the control unit estimates a relative angle of the object to be transported based on the positions of the plurality of wheels, and estimates presence area information of the moving body based on a relative angle of the object to be transported with respect to the transport vehicle.

7. a control unit executes a movement path generation process for generating a movement path of the moving object to a target position based on cost map information in which a cost based on a distance from an obstacle is set on map data corresponding to a real space, current existence area information of the moving object on the map data, and information on a target position; The moving body includes a transport vehicle that is rotatably connected to an object to be transported and can transport the object, the control unit executes an existence area estimation process to estimate the existence area information based on current position, posture, and external shape information of the moving body, and based on whether the transport object is coupled to the transport vehicle; When the object to be transported is coupled to the transport vehicle, the control unit estimates, based on a relative angle of the object to be transported with respect to the transport vehicle, a convex hull including an outer shape of the transport vehicle in a planar view at a current position and an outer shape of the object to be transported at a position according to the relative angle, as a presence area of ​​the moving body; A method for generating a path for a moving body, wherein a shape of a presence area of ​​the moving body changes according to a change in a relative angle of the object to be transported with respect to the transport vehicle.

8. causing a control unit to execute a movement path generation process for generating a movement path of the moving object to a target position based on cost map information in which a cost based on a distance from an obstacle is set on map data corresponding to a real space, current existence area information of the moving object on the map data, and information on a target position; The moving body includes a transport vehicle that is rotatably connected to an object to be transported and can transport the object, the control unit executes an existence area estimation process to estimate the existence area information based on current position, posture, and external shape information of the moving body, and based on whether the transport object is coupled to the transport vehicle; When the object to be transported is coupled to the transport vehicle, the control unit estimates, based on a relative angle of the object to be transported with respect to the transport vehicle, a convex hull including an outer shape of the transport vehicle in a planar view at a current position and an outer shape of the object to be transported at a position according to the relative angle, as a presence area of ​​the moving body; The shape of the existence area of ​​the moving object changes according to a change in a relative angle of the object to be transported with respect to the transport vehicle.