Mobile body control system and information processing method

Abstract

The present invention suppresses the frequency of occurrence of movement path interference. This mobile body control system comprises: a storage unit that associates and stores a plurality of path sections, through which a mobile body passes, and weight values indicating movement costs of the path sections; a weight setting unit that, for at least some of the plurality of path sections, separately sets weight values for the directions-of-passage of the path sections; and a path setting unit that sets a movement path from a movement start position of the mobile body to a destination, on the basis of the weight values of the directions-of-passage of the path sections.

Description

Mobile control system and information processing method

[0001] The present disclosure relates to a mobile object control system and an information processing method.

[0002] A control method is known in which a movement path of a moving object is set and the moving object is moved along the movement path. For example, Patent Document 1 discloses a technology in which a movement path of a transport vehicle (moving object) is generated by searching for the shortest path and the transport vehicle is moved along the movement path. Patent Document 1 also discloses an interference avoidance process in which, when there is a risk of interference between transport vehicles, a transport vehicle with a higher priority is given priority and a transport vehicle with a lower priority is put on standby.

[0003] JP 2016-170580 A

[0004] If the shortest route to the destination is always adopted as the travel route, as in Patent Document 1, two-way travel occurs on overlapping routes, increasing the frequency of interference. When interference occurs, the mobile object may need to wait in front of the interference point or temporarily retreat off the route, which may reduce the efficiency of work processing by the mobile object. In this specification, interference means that the travel routes of different mobile objects partially intersect or overlap, creating the possibility of a collision, etc.

[0005] The present disclosure has been made in view of the above, and aims to provide a mobile object control system and an information processing method that can reduce the frequency of interference between travel paths.

[0006] The mobile body control system according to the present disclosure includes a memory unit that stores a plurality of route sections traveled by a mobile body in association with weight values ​​indicating the movement costs of the route sections; a weight setting unit that sets the weight values ​​separately for each direction of passage of the route sections for at least some of the plurality of route sections; and a route setting unit that sets a movement route from the movement start position of the mobile body to a destination based on the weight values ​​for each direction of passage of the plurality of route sections.

[0007] The mobile body control system according to the present disclosure includes a memory unit that stores a plurality of route segments traveled by a mobile body in association with weight values ​​indicating the travel cost of the route segments, a route setting unit that sets a travel route from the start position of the mobile body to a destination based on the weight values ​​of the plurality of route segments, and a weight setting unit that sets the weight value of the route segment based on the travel route that was set in the past.

[0008] The information processing method according to the present disclosure includes the steps of: acquiring weight values ​​set separately for each direction of passage of at least a portion of a plurality of route sections traveled by a moving body; and setting a travel route from a start position of the moving body to a destination based on the weight values ​​for each direction of passage of the plurality of route sections.

[0009] The information processing method according to the present disclosure includes the steps of acquiring a plurality of route segments traveled by a moving body and weight values ​​indicating the movement costs of the route segments, setting a movement route from the movement start position of the moving body to a destination based on the weight values ​​of the plurality of route segments, and setting the weight values ​​of the route segments based on the movement route set in the past.

[0010] According to the present disclosure, it is possible to reduce the frequency of interference between travel paths.

[0011] FIG. 1 is a schematic diagram of a mobile object control system according to a first embodiment. FIG. 2 is a schematic diagram of the system configuration of a mobile object control system. FIG. 3 is a schematic diagram of the configuration of a mobile object. FIG. 4 is a schematic block diagram of a mobile object control device. FIG. 5 is a schematic block diagram of a management device. FIG. 6 is a schematic block diagram of an information processing device. FIG. 7 is a diagram illustrating an example of order information. FIG. 8 is a schematic diagram illustrating an example of weighting for multiple route segments. FIG. 9 is a flowchart illustrating an example of a weighting operation for each route segment by the weight setting unit according to the first embodiment. FIG. 10 is a flowchart illustrating an example of a travel route setting operation by the route setting unit according to the present embodiment. FIG. 11 is a schematic diagram illustrating an example of route setting according to a comparative example. FIG. 12 is a schematic diagram illustrating an example of route setting according to the first embodiment. FIG. 13 is a diagram illustrating an example of operation record data and an example of weight setting information based on the operation record data according to a second embodiment. FIG. 14 is a flowchart illustrating a weighting operation (first example) by the weight setting unit according to the second embodiment. FIG. 15 is a diagram illustrating a weight value setting method according to a second example of the second embodiment. Fig. 16 is a diagram showing an example of a movement route Fig. 17 is a flowchart showing an example of a weighting operation (second example) by the weight setting unit according to the second embodiment.

[0012] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the present disclosure is not limited to these embodiments, and when there are multiple embodiments, the present disclosure also includes configurations in which the respective embodiments are combined.

[0013] [First Embodiment] (Mobility Control System) FIG. 1 is a schematic diagram of a mobile object control system according to a first embodiment. As shown in FIG. 1, the mobile object control system 1 according to the first embodiment is a system that controls a mobile object 10. The mobile object control system 1 includes a management device 12 and an information processing device 14. The mobile object control system 1 is installed in a facility 200 and controls the movement of the mobile object 10 belonging to the facility 200. The facility 200 is a facility that is subjected to logistics management, such as a warehouse, but may be any facility that operates the mobile object 10. In the mobile object control system 1, the mobile object 10 is an automated guided vehicle that transports an object P placed in a work area of ​​the facility 200. The work area is an area where the object P is placed and where the mobile object 10 moves, such as the floor of the facility 200. In the first embodiment, the object P transported by the mobile object 10 is a transport target object in the form of luggage loaded on a pallet. However, the object P is not limited to a pallet with cargo loaded on it, and may be in any form, for example, it may be cargo only without a pallet. Furthermore, the moving body 10 is not limited to a device that transports the object P, and may be a device that moves within the facility 200 for any purpose.

[0014] (Working Area) A working area is set in the facility 200. The working area is an area where the mobile body 10 performs predetermined work such as loading and unloading work. The working area includes a first area AR1 and a second area AR2.

[0015] Hereinafter, one direction along the floor surface of the work area will be referred to as the X direction, and the direction along the floor surface that intersects with the X direction will be referred to as the Y direction. The Y direction is a direction perpendicular to the X direction. The X and Y directions may also be referred to as directions along a horizontal plane. In the X and Y directions, the direction of the arrow will be referred to as the + direction (or + side), and the direction opposite to the + direction will be referred to as the - direction (or - side). Furthermore, the direction perpendicular to the X and Y directions, more specifically the direction pointing vertically upward, will be referred to as the Z direction. Furthermore, unless otherwise specified, "position" refers to a position (coordinate) in a coordinate system on a two-dimensional surface on the work area.

[0016] The first area AR1 is an area where, for example, objects P to be loaded onto a transport vehicle or objects P unloaded from a transport vehicle are placed. A plurality of placement positions for placing the objects P are set in the first area AR1. FIG. 1 illustrates 15 placement positions, e17 to e31. Depending on the status of the equipment 200, objects P may or may not be placed at the placement positions e17 to e31. In the example of FIG. 1, the placement positions e17 to e31 are set as a row of five placement positions along the Y direction, and three rows in the X direction. The arrangement and number of the placement positions may be arbitrary.

[0017] In addition, in the first area AR1, a charging position c1 for charging the mobile body 10, standby positions h1 and h2 for the mobile body 10, etc. are set.

[0018] The second area AR2 is a storage area for storing the object P. In the second area AR2, shelves 5 on which the object P can be placed are arranged, and placement positions e1 to e16 are set for each shelf 5. In the example of FIG. 1 , the shelves 5 extending along the X direction are lined up in four rows in the Y direction, two rows in each X direction. Two placement positions are set for each shelf 5.

[0019] In the work area, a path R through which the mobile object 10 can travel is defined in advance. The path R is a route virtually set in the XY coordinate space for controlling the mobile object 10. The path R may be marked with a mark (such as a travel line or an address marker) that the mobile object 10 can detect, or the mobile object 10 may be controlled to travel along the path R without a mark. The path R is set to connect at least the placement positions e1 to e31, the charging position c1, and the waiting positions h1 and h2. The path R is set to avoid obstacles and installed objects such as shelves 5 in the work area. The path R may be set not only as a route that linearly connects the placement positions, but also as a route that bypasses installed objects such as shelves 5 (such as a route that passes on the +Y direction side of the placement positions e1 to e4).

[0020] The path R is divided into a plurality of path segments Rp along which the mobile object 10 travels. The method of setting the path segments Rp, such as the number of path segments Rp (the number of path segments Rp) and the shape of the path segments Rp, is arbitrary. In the first embodiment, the path segments Rp are defined as segments obtained by dividing the path R into roughly fixed distances. That is, the path R is divided into straight line segments connecting branch points, corners, and each work position (placement position, charging position, waiting position), and each line segment is defined as a path segment Rp. The path segments Rp may also be defined as paths connecting waypoints set at multiple positions (coordinates) in the work area. The waypoints do not necessarily have to be set at fixed distances.

[0021] (System Configuration) FIG. 2 is a schematic diagram of the system configuration of the mobile object control system 1. FIG. 2 shows an example in which two information processing devices 14 are provided. The management device 12 is communicatively connected to each information processing device 14. The management device 12 issues order information 70 (see FIG. 7 ) including multiple work orders to each information processing device 14. The work orders are information that specify the content of transportation work for each mobile object 10. Each information processing device 14 is communicatively connected to multiple mobile objects 10 under its management. Each information processing device 14 performs operation scheduling so that a group of work orders specified in the order information 70 can be efficiently executed. The operation scheduling includes planning the movement route MV (MV1, MV2, see FIG. 12 ) of the mobile object 10 from the movement start position specified in the work order to the destination. The operation scheduling includes determining the scheduled start time of each work based on the priority of the work order and the scheduled required time for the work. The work order includes a travel operation and a cargo handling operation as a task unit, and the cargo handling operation includes loading and unloading. Each mobile object 10 performs the work specified in the work order based on the travel route MV and work instructions received from the information processing device 14 that manages the mobile object 10.

[0022] (Mobile body) FIG. 3 is a schematic diagram of the configuration of the mobile body 10. The mobile body 10 is a device that can move automatically and transport an object P. Furthermore, in the first embodiment, the mobile body 10 is a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift). The mobile body 10 shown in FIG. 3 is an AGF, i.e., a forklift that transports the object P. However, the mobile body 10 is not limited to being a forklift that transports the object P, and may be any device that can move automatically.

[0023] As shown in FIG. 3 , the mobile body 10 includes a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, a fork 24, a sensor 26A, and a control device 28. The straddle legs 21 are a pair of shaft-shaped members provided at one end of the vehicle body 20 in the longitudinal direction and protruding from the vehicle body 20. The wheels 20A are provided at the tip of each straddle leg 21 and on the vehicle body 20. That is, a total of three wheels 20A are provided, but the positions and number of the wheels 20A may be arbitrary. The mast 22 is movably attached to the straddle legs 21 and moves in the longitudinal direction of the vehicle body 20. The mast 22 extends in an up-down direction (here, the Z direction) perpendicular to the longitudinal direction. The fork 24 is attached to the mast 22 movably in the Z direction. The fork 24 may also be movable in the lateral direction of the vehicle body 20 (a direction intersecting the up-down direction and the fore-and-aft direction) relative to the mast 22. The fork 24 has a pair of claws 24A, 24B. The claws 24A, 24B extend from the mast 22 toward the front of the vehicle body 20. The claws 24A and 24B are arranged apart from each other in the lateral direction of the mast 22. Hereinafter, in the fore-and-aft direction, the direction toward the side of the vehicle 10 where the fork 24 is provided is referred to as the forward direction, and the direction toward the side where the fork 24 is not provided is referred to as the rearward direction.

[0024] The sensor 26A detects at least one of the position and posture of an object present around the vehicle body 20. It can also be said that the sensor 26A detects at least one of the position of the object relative to the mobile body 10 and the posture of the object relative to the mobile body 10. In the first embodiment, the sensor 26A is provided at the front end of each straddle leg 21 and on the rear side of the vehicle body 20. However, the positions at which the sensor 26A is provided are not limited thereto, and the sensor 26A may be provided at any position, and the number of sensors provided may also be arbitrary.

[0025] The sensor 26A is, for example, a sensor that emits laser light. The sensor 26A emits laser light while scanning in one direction (here, the horizontal direction), and detects the position and orientation of the target object from the reflected light of the emitted laser light. In other words, the sensor 26A can also be said to be a so-called two-dimensional (2D)-LiDAR (Light Detection and Ranging). However, the sensor 26A is not limited to the above and may be a sensor that detects the target object P by any method, for example, it may be a so-called three-dimensional (3D)-LiDAR that scans in multiple directions, a so-called one-dimensional (1D)-LiDAR that does not scan, or a camera.

[0026] The control device 28 is a device that controls the mobile body 10. FIG. 4 is a schematic block diagram of the control device 28 of the mobile body 10. The control device 28 is a computer, and as shown in FIG. 4, includes a communication unit 100, a storage unit 102, and a control unit 104. The communication unit 100 is a module used by the control unit 104 to communicate with external devices such as the information processing device 14, and may include, for example, an antenna. In the first embodiment, the communication method used by the communication unit 100 is wireless communication, but any communication method may be used. The storage unit 102 is a memory that stores various information such as the calculation contents and programs of the control unit 104, and includes, for example, at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD.

[0027] The control unit 104 is a computing device and includes a computing circuit such as a CPU. The control unit 104 includes a route acquisition unit 110, a movement control unit 112, and an information transmission unit 114. The control unit 104 reads and executes a program (software) from the storage unit 102, thereby realizing the route acquisition unit 110, the movement control unit 112, and the information transmission unit 114 and performing their processing. The control unit 104 may perform these processes using a single CPU, or may be equipped with multiple CPUs and perform the processes using the multiple CPUs. Furthermore, at least a portion of the route acquisition unit 110, the movement control unit 112, and the information transmission unit 114 may be realized by hardware circuits. Furthermore, the program for the control unit 104 stored in the storage unit 102 may be stored on a recording medium readable by the control device 28.

[0028] The route acquisition unit 110 acquires information about the route (travel route MV) along which the mobile body 10 moves, the movement control unit 112 controls the movement mechanisms of the mobile body 10, such as the drive unit and steering, to control the movement of the mobile body 10, and the information transmission unit 114 transmits mobile body information indicating the position of the mobile body 10 to an external device such as an information processing device 14.

[0029] (Management Device) FIG. 5 is a schematic block diagram of the management device 12. The management device 12 is a system that manages logistics in the facility 200. In the first embodiment, the management device 12 is a WCS (warehouse control system) or a WMS (warehouse management system). However, the management device 12 is not limited to a WCS or a WMS and may be any system, such as a back-end system such as a production management system. The management device 12 may be installed in any location, such as within the facility 200, or may be installed at a location remote from the facility 200 to manage the facility 200 from that location. The management device 12 is a computer, and as shown in FIG. 5, includes a communication unit 30, a memory unit 32, and a control unit 34.

[0030] The communication unit 30 is a module used by the control unit 34 to communicate with an external device such as the information processing device 14, and may include, for example, an antenna. The communication method used by the communication unit 30 is wireless communication in the first embodiment, but the communication method may be any.

[0031] The storage unit 32 is a memory that stores various information such as the calculation contents and programs of the control unit 34, and includes at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD. The storage unit 32 stores a plurality of route segments Rp traveled by the mobile object 10 and a weight value W indicating the movement cost of the route segment Rp, in association with each other.

[0032] The control unit 34 is a calculation device and includes a calculation circuit such as a CPU. The control unit 34 includes a work order setting unit 40 and a weight setting unit 42. The control unit 34 implements the work order setting unit 40 and executes its processing by reading and executing a program (software) from the storage unit 32. The control unit 34 may execute the processing using a single CPU, or may be equipped with multiple CPUs and execute the processing using these multiple CPUs. At least a portion of the work order setting unit 40 may be implemented using a hardware circuit. The program for the control unit 34 stored in the storage unit 32 may be stored on a recording medium readable by the management device 12.

[0033] The work order setting unit 40 sets a work order for the mobile body 10 for each object P. The work order setting unit 40 causes the set work order to be transmitted from the communication unit 30. The contents of the work order will be described later.

[0034] The weight setting unit 42 sets a weight value W (see FIG. 8) for each of the plurality of path segments Rp stored in the storage unit 32. The setting of the weight value W will be described later.

[0035] The management device 12 may also perform processing other than setting the destination position and weighting. For example, the management device 12 may also set information for controlling mechanisms (e.g., elevators, doors, etc.) other than the mobile object 10 provided in the facility 200.

[0036] (Information Processing Device) FIG. 6 is a schematic block diagram of the information processing device 14. The information processing device 14 is a device that processes information related to the movement of the mobile object 10. The information processing device 14 is, for example, a Fleet Control System (FCS), but is not limited thereto and may be any device that processes information related to the movement of the mobile object 10. The information processing device 14 is a computer and, as shown in FIG. 6, includes a communication unit 50, a storage unit 52, and a control unit 54. The communication unit 50 is used by the control unit 54 and is a module that communicates with external devices such as the management device 12 and the mobile object 10, and may include, for example, an antenna. In the first embodiment, the communication method used by the communication unit 50 is wireless communication, but any communication method may be used.

[0037] The storage unit 52 is a memory that stores various information such as the calculation contents and programs of the control unit 54, and includes at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD. The storage unit 52 stores weight setting information that is set by the management device 12 and associates a plurality of route segments Rp with weight values ​​W.

[0038] The control unit 54 is a computing device and includes a computing circuit such as a CPU. The control unit 54 includes an acquisition unit 60, a path setting unit 62, and a processing unit 64. The control unit 54 implements the acquisition unit 60 and the path setting unit 62 and performs their processing by reading and executing a program (software) from the storage unit 52. The control unit 54 may implement these processes using a single CPU, or may be equipped with multiple CPUs and execute the processes using the multiple CPUs. At least a portion of the acquisition unit 60 and the path setting unit 62 may be implemented using hardware circuits. The program for the control unit 54 stored in the storage unit 52 may be stored in a recording medium readable by the information processing device 14.

[0039] The acquisition unit 60 acquires work orders transmitted from the management device 12. The acquisition unit 60 acquires weight setting information transmitted from the management device 12. The acquisition unit 60 acquires mobile body information transmitted from the mobile body 10. The route setting unit 62 generates transport instruction information for the mobile body 10 based on the work orders. The transport instruction information includes a movement route MV from the movement start position of the mobile body 10 to the destination and the movement start timing. The route setting unit 62 sets a movement route MV corresponding to each work order based on the work orders and the weight setting information. The processing unit 64 transmits work instructions to each mobile body 10 under its management via the communication unit 50 based on the transport instruction information set by the route setting unit 62.

[0040] In the first embodiment, the management device 12 and the information processing device 14 are separate devices, but they may be integrated devices. That is, the management device 12 may have at least some of the functions of the information processing device 14, and the information processing device 14 may have at least some of the functions of the management device 12.

[0041] 7 is a diagram showing an example of order information 70. Each work order defined in the order information 70 is set for each object P.

[0042] As shown in FIG. 7 , a work order includes an order ID, information on the loading and unloading locations, the priority of the work, and the mobile unit ID of the mobile unit 10 to which the work is assigned. The loading location is the location where the work is loaded onto the mobile unit 10. The unloading location is the location where the work is unloaded from the mobile unit 10. For example, the work with order ID = 101 specifies that the mobile unit 10 with mobile unit ID = 1 will load the work at placement location e17 and unload the work at placement location e14. The work order setting unit 40 groups multiple work orders by mobile unit ID managed by the information processing device 14, and creates order information 70 including a group of work orders. The work order setting unit 40 causes the communication unit 30 to transmit the order information 70 to the corresponding information processing device 14.

[0043] (Weighting) FIG. 8 is a schematic diagram showing an example of weighting a plurality of route segments Rp. For ease of explanation, an example is shown in which two weight values ​​W are set: a "low weight" and a "high weight." In the example of FIG. 8, the weight values ​​W of the route segments Rp are represented by two types of arrows shown in the legend. The weight values ​​W are not limited to two types and can take any value. In reality, each weight value W is numerical information that is set individually, and in reality, the specific numerical values ​​that are set may differ even for the same "low weight."

[0044] In the example of FIG. 8 , the passage R of the work area is divided into a total of 59 route segments Rp. In the first embodiment, the weight setting unit 42 sets a weight value W separately for each passing direction of the route segments Rp for at least some of the multiple route segments Rp. FIG. 8 shows an example in which a weight value W is set separately for each passing direction for all 59 route segments Rp. To indicate the weight value W for each passing direction, an arrow (weight value W) in one direction and an arrow (weight value W) in the other direction opposite to the one direction are separately illustrated for each route segment Rp. For portions of each route segment Rp where the weight value W in one direction and the weight value W in the other direction are equal, it is not necessary to set a weight value W for each passing direction.

[0045] The method for setting the weight value W by the weight setting unit 42 is not limited to a specific method. For example, the weight setting unit 42 sets the weight value W for each path portion Rp through an optimization simulation using typical (virtual) order information 70 for the equipment 200 or order information 70 executed in the past. The weight setting unit 42 may optimize the weight value W using machine learning or reinforcement learning based on, for example, the setting history of the weight value W and the history information on past interference occurrences (implementation of interference avoidance). The weight setting unit 42 can calculate the weight value W according to a preset calculation algorithm or may set the weight value W in response to an operator's operation input. As shown in FIG. 8 , the weight setting unit 42 records a set of weight values ​​W set for all path portions Rp as weight setting information in the storage unit 32.

[0046] (Generation of Transport Instruction Information) As shown in Fig. 6 , in the information processing device 14, the communication unit 50 receives the order information 70 and weight setting information transmitted from the management device 12. The acquisition unit 60 acquires the received order information 70 and weight setting information. For each work order included in the order information 70 (see Fig. 7 ), the route setting unit 62 generates transport instruction information for work of the mobile object 10 based on the content of the work order and the weight value W corresponding to each route segment Rp.

[0047] The route setting unit 62 sets a travel route MV (see FIG. 12 ) from the loading position to the unloading position of the mobile body 10 based on a weight value W (see FIG. 8 ) for each direction of passage of multiple route segments Rp. The travel route MV is information indicating the route segments Rp that the mobile body 10 passes through from the travel start position to the destination. When the mobile body 10 executes the first work order, the travel start position is the initial position of the mobile body 10. When the mobile body 10 executes the second or subsequent work order, the travel start position is the unloading position of the previous work order. The route setting unit 62 performs a route plan using the loading position or the unloading position as the destination. The route setting unit 62 sets the travel route MV, for example, by shortest route search. The shortest route search is a route setting method that finds a route from the travel start position to the destination that has the lowest travel cost. In the first embodiment, the travel cost is represented by the weight value W. Therefore, the route setting unit 62 adopts, as the travel route MV, the route that has the smallest total weight value W of the route portions Rp that are passed through from the travel start position to the destination.

[0048] Next, the route setting unit 62 determines the scheduled start time for each work order based on the priority of each work order and the scheduled duration of the loading and unloading operations at the loading and unloading locations. The route setting unit 62 then generates transport instruction information for each work order, including the travel route MV and the scheduled start time. The collection of transport instruction information for each work order constitutes the operation schedule for each mobile object 10 in the facility 200.

[0049] If the mobile body 10 with the ID specified in the work order satisfies the work start conditions and the scheduled start time of the work has passed, the processing unit 64 instructs the mobile body 10 to perform the work. The work start conditions refer to, for example, that the mobile body 10 is operating normally and has successfully completed the previously (immediately before) instructed work order.

[0050] (Operation of Mobile Body) The mobile body 10 performs work in accordance with the set transport instruction information. As shown in Fig. 4, the movement control unit 112 of the mobile body 10 controls the movement of the mobile body 10 based on the transport instruction information.

[0051] Furthermore, when the mobile unit 10 reaches the loading position, the movement control unit 112 causes the sensor 26A to detect the position and posture of the object P, and based on the detection result, sets a route for approaching the object P. As a result, the mobile unit 10 loads (picks up) the object P according to the set route, and holds the pallet of the object P with a pair of claws 24A, 24B (see FIG. 3).

[0052] After picking up the object P, the movement control unit 112 controls the movement of the mobile object 10 so that it moves toward the unloading position. The route acquisition unit 110 preferably sets a second route (global path) based on a first route (layout path), which is the movement route MV of the transport instruction information transmitted from the information processing device 14. In this case, the route acquisition unit 110 sets the route based on the first route and information on the vehicle specifications of the mobile object 10. The information on the vehicle specifications is, for example, specifications that affect the route that the mobile object 10 can travel, such as the size and minimum turning radius of the mobile object 10.

[0053] The movement control unit 112 sequentially grasps the position information of the moving body 10, and moves the moving body 10 so as to follow the set route (second route). The method of acquiring the position information of the moving body 10 is arbitrary, but for example, in the first embodiment, a detection object (not shown) is provided in the facility 200, and the movement control unit 112 acquires information on the position and attitude of the moving body 10 based on the detection of the detection object. Specifically, the moving body 10 irradiates a laser light toward the detection object and receives the laser light reflected by the detection object, thereby detecting its own position and attitude in the facility 200. The method of acquiring information on the position and attitude of the moving body 10 is not limited to using a detection object, and for example, SLAM (Simultaneous Localization and Mapping) may be used.

[0054] (Operation of the Mobility Control System) FIG. 9 is a flowchart illustrating an example of a weighting operation for each route segment Rp performed by the weight setting unit 42 according to the first embodiment. As illustrated in FIG. 9 , in the management device 12 (see FIG. 5 ), the weight setting unit 42 acquires information on each route segment Rp constituting the passage R from the storage unit 32 (step S10). The weight setting unit 42 assigns a weight value W to each acquired route segment Rp (step S11). At this time, the weight setting unit 42 assigns a weight value W separately for each direction of travel of at least some of the multiple route segments Rp (see FIG. 8 ). The weight setting unit 42 stores weight setting information associating the route segments Rp with the weight values ​​W of the route segments Rp in the storage unit 32 and transmits the weight setting information to the information processing device 14 via the communication unit 30 (step S12).

[0055] FIG. 10 is a flowchart illustrating an example of the operation of setting a travel route MV by the route setting unit 62 according to the first embodiment. As illustrated in FIG. 10 , in the information processing device 14 (see FIG. 6 ), the acquisition unit 60 acquires order information 70 from the management device 12 via the communication unit 50 (step S20). The acquisition unit 60 acquires information about the route segments Rp and weight setting information from the management device 12 via the communication unit 50 (step S21). The acquisition unit 60 then acquires weight values ​​W (see FIG. 8 ) set separately for each direction of passage of the route segments Rp. Either step S20 or S21 can be executed first. The route setting unit 62 sets a travel route MV based on the order information 70, the information about the route segments Rp, and the weight setting information (step S22). That is, the route setting unit 62 sets a travel route MV from the start position of the moving object 10 to the destination, for example, by searching for the shortest route, in accordance with the weight values ​​W for each direction of passage of the multiple route segments Rp. The route setting unit 62 also generates transport instruction information including a travel route MV and a scheduled start time for each work order included in the order information 70. The processing unit 64 transmits a work start instruction to the corresponding mobile object 10 for each work order based on the transport instruction information via the communication unit 50 (step S23).

[0056] (Example of Weight Setting) Next, an example of weight setting in the first embodiment will be described. As described above, in the shortest route search, the smaller the weight value W set for a route portion Rp, the more likely that route portion Rp will be adopted as part of the movement route MV of the moving object 10. The larger the weight value W set for a route portion Rp, the less likely that route portion Rp will be adopted as part of the movement route MV of the moving object 10.

[0057] Therefore, in the first embodiment, by setting a weight value W for each passing direction for the route portion Rp, it is possible to set a preferred passing direction. That is, for each route portion Rp, the weight value W for the preferred passing direction (one direction) is set small, or the weight value W for the opposite direction (the other direction) is set large. As a result, it becomes easier to create a travel route MV that passes through the route portion Rp in one direction. In other words, by setting a weight value W for each passing direction, it is possible to freely adjust the frequency of each moving object 10 passing in one direction and the frequency of each moving object 10 passing in the other direction on a specific route portion Rp.

[0058] Setting of the weight value W for each passing direction will be described with reference to FIG. 8 . In the example of FIG. 8 , the weight setting unit 42 sets the weight value W for a series of consecutive route segments Rp so that passing through the segment Rp is easy in one direction and difficult in the opposite direction. Specifically, the weight setting unit 42 assigns such weights to a series of route segments Rp that extend across multiple work positions. Here, a work position refers to a position coordinate set as a loading or unloading position for a work order, and is a concept that includes placement positions e1 to e31, charging position c1, and waiting positions h1 and h2. The weight setting unit 42 assigns such weights to a series of route segments Rp located on the boundary between the first area AR1 and the second area AR2.

[0059] In FIG. 8, areas 72A, 72B, and 72C are shown as examples of a series (plurality) of route segments Rp.

[0060] Areas 72A and 72B are a group of continuous path segments Rp that pass in the X direction between shelves 5 facing each other in the Y direction. Therefore, areas 72A and 72B are areas that cross multiple work positions. Area 72A crosses placement positions e1 to e8. Area 72B crosses placement positions e9 to e16. Therefore, interference is likely to occur between areas 72A and 72B because mobile objects 10 frequently enter and exit these areas. In the example of FIG. 8 , the weight value W in the +X direction for areas 72A and 72B is smaller than the weight value W in the −X direction. Therefore, in path setting, a path that passes through areas 72A and 72B in the +X direction (one direction) is likely to be adopted, while a path that passes through areas 72A and 72B in the −X direction (the other direction) is unlikely to be adopted.

[0061] Area 72C is located at the boundary between the first area AR1, where the object P departs and arrives (and where it is charged and waits), and the second area AR2, where the object P is stored, and is a group of route segments Rp that are continuous in the X direction. Area 72C corresponds to a connecting path between the first area AR1 and the second area AR2. The majority of work orders involve movement between positions within the first area AR1 (placement positions e17-e31) and positions within the second area AR2 (placement positions e1-e16). Therefore, interference is likely to occur in area 72C because each mobile object 10 passes through it frequently. In area 72C, the weight value W in the -X direction is smaller than the weight value W in the +X direction. Therefore, in route planning, routes that pass through area 72C in the -X direction (one direction) are likely to be adopted, while routes that pass through area 72C in the +X direction (the other direction) are unlikely to be adopted.

[0062] The direction of easy passage through areas 72A and 72B (the direction likely to be adopted for the movement path MV) is opposite to the direction of easy passage through area 72C. Therefore, in the example of FIG. 8 , a single-directional circular path that moves in the +X direction through areas 72A and 72B and in the −X direction through area 72C is likely to be adopted as the movement path MV. As a result, each moving body 10 frequently moves in the +X direction through areas 72A and 72B when entering or exiting the placement positions e1 to e16 of each shelf 5. Each moving body 10 frequently moves in the −X direction through area 72C when moving from the second area AR2 to the first area AR1 or from the first area AR1 to the second area AR2.

[0063] Next, the effect of setting the weight value W will be explained by comparing it with a comparative example. Here, for the sake of convenience, the movement path from the movement start position to the loading position will be omitted, and only the movement path from the loading position to the unloading position will be explained. Consider a case in which two work orders are executed by two mobile units 10-1 and 10-2. The first work order has a loading position at location e14 and an unloading position at location e17, and mobile unit 10-1 is specified. The second work order has a loading position at location e22 and an unloading position at location e13, and mobile unit 10-2 is specified.

[0064] (Route Setting by Comparative Example) FIG. 11 is a schematic diagram showing an example of route setting by comparative example. The comparative example shows an example of route setting when weighting for each passing direction is not performed. When weighting for each passing direction is not performed, the length of the route segment Rp, i.e., the travel distance, basically becomes the weight value W. As a result of the shortest route search, the travel route that connects the loading location and the unloading location in the shortest distance is adopted. Therefore, for the first work order, a travel route MVA is set in the -X direction from the placement location e14, passing through the route segments Rp1, Rp2, Rp3, Rp4, and Rp5. For the second work order, a travel route MVB is set in the -X direction from the placement location e22, passing through the route segments Rp7, Rp6, Rp4, Rp3, and Rp2. Since the movement routes MVA and MVB are bidirectional routes in the route portions Rp2, Rp3, and Rp4, the moving bodies 10-1 and 10-2 interfere with each other.

[0065] In this case, interference avoidance control is executed, giving priority to a work order with a higher priority (e.g., the first work order) and causing a work order with a lower priority (e.g., the second work order) to avoid interference. For example, interference avoidance control involves having the mobile unit 10-2 wait at the route portion Rp6 just before the interference point until the mobile unit 10-1 passes, or temporarily evacuating the mobile unit 10-2 to a refuge position outside the interference point. When interference avoidance control is executed, even if the shortest route is set, the time loss associated with interference avoidance may actually reduce the processing efficiency of the mobile units 10-1 and 10-2. In this specification, a reduction in processing efficiency refers to a reduction in the number of work orders processed per given time.

[0066] (Route Setting According to the First Embodiment) FIG. 12 is a schematic diagram illustrating an example of route setting according to the first embodiment. In the first embodiment, for the case of a work order similar to that of the comparative example, the route setting unit 62 performs a shortest route search using the weight setting information for each passing direction shown in FIG. 8 . As a result, the movement routes MV1 and MV2 shown in FIG. 12 are set. That is, for the first work order, a movement route MV1 is set on the +X direction side from the placement position e14, passing through the route segments Rp11, Rp12, Rp13, Rp14, Rp15, Rp16, Rp6, and Rp5, reflecting the weight setting for areas 72B and 72C. For the second work order, a movement route MV2 is set on the −X direction side from the placement position e22, passing through the route segments Rp7, Rp6, Rp4, Rp3, and Rp2. In this example, the movement route MV2 is the same as the movement route MVB in FIG. 11 . In the example shown in FIG. 12, the movement routes MV1 and MV2 only overlap at the route portion Rp6. When the moving units 10-1 and 10-2 pass through the route portion Rp6 at different times, interference avoidance is unnecessary. Even if the passing times overlap, the overlapping portion is small, so the time loss associated with interference avoidance is small. Therefore, the frequency of interference occurrence is reduced. As a result, even if the individual movement route MV (movement route MV1) is not the shortest distance in terms of travel distance, it is possible to improve the overall processing efficiency of work orders.

[0067] It should be noted that in the first embodiment, a weight value W is set for each passing direction for the route segment Rp, but the route segment Rp is not made one-way. If a route segment Rp is set to one-way traffic, if any other route segment Rp becomes impassable and the only available route is one that travels in the opposite direction through the one-way route segment Rp, generation of the travel route MV becomes impossible. In contrast, in the first embodiment, a weight value W is set for each passing direction. Therefore, even in cases where route generation is impossible without traveling in the opposite direction through the route segment Rp (i.e., passing in the direction with a higher weight value W), the travel route MV can be generated simply by increasing the sum of the weight values ​​W. In other words, the first embodiment achieves high redundancy, which allows for a reduced frequency of interference while enabling route configuration that allows for interference when no other options are available.

[0068] (Modification) In the first embodiment, the description was given assuming that all the moving bodies 10 were the same type. When different types of moving bodies 10 are mixed, the weight value W may be set for each type of moving body 10. The type of moving body 10 is based, for example, on the external dimensions of the moving bodies 10, particularly on the differences in the width dimensions of the moving bodies 10. For example, suppose that two first-type moving bodies 10 with small widths can pass each other within the width of the passage R, but two second-type moving bodies 10 with large widths cannot pass each other. In this case, weighting for each passing direction may be applied only to the second-type moving bodies 10.

[0069] Second Embodiment Next, a second embodiment will be described. In the second embodiment, a method for setting a weight value W that is different from setting a weight value W for each passing direction will be described. In the second embodiment, a description of parts that are common to the first embodiment will be omitted.

[0070] In the second embodiment, the mobile object control system 1 includes a storage unit 32 (see FIG. 5) that stores a plurality of route segments Rp traveled by the mobile object 10 in association with weight values ​​W indicating the travel cost of the route segments Rp, a route setting unit 62 (see FIG. 6) that sets a travel route MV from the movement start position of the mobile object 10 to the destination based on the weight values ​​W of the plurality of route segments Rp, and a weight setting unit 42 (see FIG. 5) that sets the weight value W of the route segment Rp. Note that in the second embodiment, a single weight value W may be set for each travel route MV regardless of the direction of travel.

[0071] In the second embodiment, the weight setting unit 42 sets the weight value W of the route portion Rp based on the previously set travel route MV. As examples of the method of setting the weight value W by the weight setting unit 42, a first example and a second example will be described.

[0072] (First Example) In a first example, the weight setting unit 42 sets the weight value W so that the more frequently a route section Rp is passed through, the more difficult it is to pass through. That is, the management device 12 stores past operation history data 80 (see FIG. 13 ) in the storage unit 32. The operation history data 80 includes the number of times the mobile object 10 has passed through each route section Rp. The number of times the mobile object 10 has passed through each route section Rp corresponds to the number of times the route section Rp has been used as a travel route MV in the past in the route setting unit 62. That is, the operation history data 80 is statistical information on travel routes MV that have been set in the past.

[0073] FIG. 13 is a diagram showing an example of operation history data 80 according to the second embodiment and an example of weight setting information 82 based on the operation history data 80. For convenience, FIG. 13 illustrates the operation history data 80 and the weight setting information 82 in the form of a bar graph. In the operation history data 80, the horizontal axis represents the route portion Rp, and the vertical axis represents the number of times the mobile object 10 has passed through the route portion Rp. In the weight setting information 82, the horizontal axis represents the route portion Rp, and the vertical axis represents the weight value W. The horizontal axis shows the arrangement of the route portions Rp in order of their identification numbers, with individual identification numbers assigned to the multiple route portions Rp included in the path R. For example, the leftmost item on the horizontal axis indicates the number of times the route portion Rp with identification number i=1 has passed through the path portion Rp and the corresponding weight value W. While FIG. 8 illustrates an example in which the path R is divided into 59 route portions Rp, FIG. 13 illustrates 10 of these route portions Rp, i=1 to 10.

[0074] The weight setting unit 42 increases the weight value W the more times the route is passed, and decreases the weight value W the fewer times the route is passed. In the example of Fig. 13, the route portions Rp with identification numbers i = 4, 5, 6, and 7 have a large number of passes, so the weight setting unit 42 sets the weight values ​​W of these route portions Rp relatively high. The route portions Rp with identification numbers i = 1, 2, 3, 8, 9, and 10 have a small number of passes, so the weight setting unit 42 sets the weight values ​​W of these route portions Rp low. The route portion Rp with i = 9, which has the smallest number of passes, has the smallest weight value W set.

[0075] As a result, a relatively large weight value W is set for a route portion Rp that is frequently passed through in past operation records. As a result, in the shortest route search by the route setting unit 62, a route portion Rp with a high weight value W is less likely to be adopted as the movement route MV of the mobile body 10. Conversely, a relatively small weight value W is set for a route portion Rp that is less frequently passed through, and as a result, a route portion Rp with a low weight value W is more likely to be adopted as the movement route MV of the mobile body 10.

[0076] Therefore, if there is a route that can reach the destination (loading location or unloading location) without passing through the route portion Rp that is frequently passed through, a route that bypasses the route portion Rp that is frequently passed through will be more likely to be adopted as the movement route MV of the moving body 10, thereby leveling out the frequency of passing through each route portion Rp and reducing the frequency of interference on the movement route MV.

[0077] 14 is a flowchart showing a weighting operation (first example) by the weight setting unit 42 according to the second embodiment. In this first example, it is assumed that a travel route MV is set using preset weight setting information 82 and work is performed by the mobile object 10 based on the set travel route MV for a certain period of time, resulting in operation record data 80 being accumulated and recorded in the storage unit 32. When recording the operation record data 80, the mobile object control system 1 executes the following processes, as shown in FIG. 10 : step S20 of acquiring order information 70; step S21 of acquiring information on the route portion Rp and a weight value W; step S22 of setting the travel route MV based on the weight value W; and step S23 of instructing the mobile object 10 to start work.

[0078] 14 , in the management device 12, the weight setting unit 42 acquires information on each route segment Rp that constitutes the passage R from the storage unit 32 (step S30). The weight setting unit 42 acquires operation performance data 80 for each route segment Rp from the storage unit 32 (step S31). Either step S30 or S31 may be executed first.

[0079] The weight setting unit 42 sets a weight value W for each acquired route portion Rp based on the operation performance data 80 (step S32). At this time, the weight setting unit 42 sets the weight value W so that the more frequently passed route portions Rp are passed through, the more difficult it is to pass through them (so that the weight value W is higher). The weight setting unit 42 records weight setting information 82 that associates the route portions Rp with the weight values ​​W of the route portions Rp in the storage unit 32. The weight setting unit 42 transmits the weight setting information 82 to the information processing device 14 via the communication unit 30. As a result, the acquisition unit 60 of the information processing device 14 acquires the weight setting information 82 and records it in the storage unit 52.

[0080] Thereafter, as shown in FIG. 10, the route setting unit 62 sets the travel route MV based on the newly set weight setting information 82 .

[0081] In a first example, the weight setting unit 42 may periodically update the weight setting information 82 stored in the storage unit 32. That is, after a certain period of time has passed since the weight value W was set and the operation performance data 80 based on the set weight value W has been accumulated, the weight setting unit 42 may update the weight setting information 82 by executing steps S30 to S32 again.

[0082] (Second Example) The second example is a method of setting a weight value W so that a route portion Rp that is passed through by an already set movement route MV becomes difficult to pass through in order information 70 consisting of a group of work orders.

[0083] FIG. 15 is a diagram illustrating a method for setting the weight value W according to the second example of the second embodiment.

[0084] In the second example, the path setting unit 62 sets the movement path MV in descending order of priority in the order information 70. In FIG. 15, the work orders included in the order information 70 are shown arranged in order of priority. Here, the priority is expressed as a natural number greater than or equal to 1, with the smaller the value, the higher the priority. In other words, "priority = 1" has the highest priority. Therefore, the path setting unit 62 sets the movement path MV in descending order of priority for the work orders.

[0085] Then, the weight setting unit 42 sets the weight value W in the order information 70 so as to make it difficult to pass through the route portion Rp passed through by the set movement route MV. In other words, the weight setting unit 42 increases the weight value W of the route portion Rp passed through by the set movement route MV from the current value, or decreases the weight value W of the route portion Rp other than the route portion Rp passed through by the set movement route MV from the current value.

[0086] As a result, when the route setting unit 62 sets the travel route MV for the next work order, which has a lower priority, it will search for the shortest route based on the new weight setting information adjusted by the weight setting unit 42.

[0087] For example, assume that the movement route MV3 shown in FIG. 16 is set for a work order with priority 1 in FIG. 15 . FIG. 16 is a diagram illustrating an example of a movement route. The movement route MV3 passes through the route segments Rp11, Rp12, Rp13, Rp14, Rp15, Rp16, Rp6, and Rp5 from the placement position e14. In this case, the weight setting unit 42 creates weight setting information 82 that increases the weight values ​​W of each of the route segments Rp, Rp11, Rp12, Rp13, Rp14, Rp15, Rp16, Rp6, and Rp5, relative to the other route segments Rp. For the work order with priority 2 in FIG. 15 , the route setting unit 62 creates a movement route MV based on new weight setting information 82 (weight setting information 82 set based on the previous movement route MV3 (with priority 1)).

[0088] Similarly, when a movement route MV is set for a work order with priority level 2, the weight setting unit 42 creates (updates) weight setting information 82 that relatively increases the weight value W of the route portion Rp that passes through the movement route MV. The route setting unit 62 creates a movement route MV for a work order with priority level 3 based on the updated weight setting information 82.

[0089] As a result, in the second example, the weight value W of each route segment Rp is updated and set in accordance with the performance of the movement route MV set for each work order constituting one piece of order information 70. A route segment Rp that has already been adopted as a movement route MV is less likely to be adopted as a movement route MV for a subsequent work order, so the frequency of passing through each route segment Rp is leveled out and interference between movement routes MV is suppressed.

[0090] In a second example, the weight setting unit 42 may reset (return) the weight value W, which was adjusted based on a previously set travel route MV, to its initial value after a certain period of time has elapsed. The weight setting unit 42 may reset the adjustment amount of the weight value W based on the travel route MV, for example, when the mobile object 10 passes through the travel route MV used to adjust the weight value W, or when a work order corresponding to that travel route MV is completed. Furthermore, for example, the weight setting unit 42 may reset the weight values ​​W of all route segments Rp set (adjusted) in the order information 70 to their initial values ​​when all of a group of work orders included in the order information 70 are completed. The initial value of the weight value W may be a fixed value or may be a value determined based on past operation records as in the first example above. This prevents the frequency of passing through the route segment Rp from becoming fixed.

[0091] FIG. 17 is a flowchart illustrating an example of a weighting operation (second example) performed by the weight setting unit 42 according to the second embodiment. As shown in FIG. 17 , in the information processing device 14, the acquisition unit 60 acquires order information 70, including a group of work orders, from the management device 12 (step S40). The acquisition unit 60 acquires information on the route segment Rp and the current weight value W (weight setting information 82) from the management device 12 (step S41). The route setting unit 62 selects the highest-priority unassigned order from the order information 70 (step S42). Note that an unassigned order refers to a work order for which no movement route MV has been assigned. Next, the route setting unit 62 sets a movement route MV for the selected unassigned order, for example, by searching for the shortest route, based on the weight value W in the weight setting information 82 (step S43), and generates transport instruction information. The route setting unit 62 transmits information on the set movement route MV to the management device 12 via the communication unit 50. As a result, the weight setting unit 42 acquires information on the travel route MV transmitted from the information processing device 14 via the communication unit 30 .

[0092] Based on the information on the acquired travel route MV, the weight setting unit 42 sets (adjusts) the weight value W so as to relatively increase the weight value W of the route portion Rp passed through by the travel route MV, and creates (updates) the weight setting information 82 (step S44).

[0093] The route setting unit 62 determines whether all unset orders in the order information 70 have been set (step S45). If unset orders exist, the process returns to step S41, the latest weight value W (weight setting information 82) is obtained, and steps S42 to S44 are executed. Therefore, each time a movement route MV for an unset order is set, the weight setting information 82 is updated. If no unset orders exist, the processing unit 64 transmits a work start instruction to the mobile object 10 via the communication unit 50 based on the transport instruction information (step S46).

[0094] In adjusting the weight value W according to the second example, only some of the movement routes MV of the order information 70 may be considered. For example, only the movement routes MV of work orders with odd or even priorities may be considered.

[0095] As described above, according to the first aspect of the present disclosure, a mobile body control system 1 is provided, which includes a memory unit 32 that stores a plurality of route sections Rp traversed by a mobile body 10 in association with weight values ​​W indicating the movement costs of the route sections Rp, a weight setting unit 42 that sets weight values ​​W separately for at least some of the plurality of route sections Rp for each direction of passage of the route sections Rp, and a route setting unit 62 that sets a movement route MV (MV1, MV2) from the movement start position of the mobile body 10 to the destination based on the weight values ​​W for each direction of passage of the plurality of route sections Rp.

[0096] According to this configuration, by setting a weight value W for each passing direction for the route portion Rp, it is possible to set a preferred passing direction. As a result, it becomes relatively easy to create a travel route MV that passes through the route portion Rp in a specific direction. This reduces the frequency of setting travel routes MV that pass through the same route portion Rp in both directions, even when the route setting unit 62 searches for the shortest route. As a result, it is possible to suppress the frequency of interference between travel routes MV.

[0097] According to a second aspect of the present disclosure, in the mobile object control system 1 according to the first aspect, the weight setting unit 42 sets a weight value W for a series of consecutive route segments Rp so that it is easy to pass through in one direction and difficult to pass through in the opposite direction. As a result, for a work position located midway through the series of route segments Rp, a route that travels in one direction to reach the work position is preferentially set, and the frequency of setting a route that travels in the other direction to reach the work position is reduced. As a result, interference of travel routes MV can be effectively suppressed.

[0098] According to a third aspect of the present disclosure, a mobile body control system 1 is provided, which includes a memory unit 32 that stores a plurality of route sections Rp traversed by a mobile body 10 in association with a weight value W indicating the movement cost of the route section Rp, a route setting unit 62 that sets a movement route MV from the movement start position of the mobile body 10 to the destination based on the weight values ​​W of the plurality of route sections Rp, and a weight setting unit 42 that sets the weight value W of the route section Rp based on a movement route MV that was set in the past.

[0099] According to this configuration, the weight value W for each route segment Rp, i.e., the likelihood of it being adopted for the travel route MV, can be set based on the adoption record of previously set travel route MV. Therefore, for example, if there is a route segment Rp that is likely to cause interference from a previously set travel route MV, by setting the weight value W so that the route segment Rp is relatively less likely to be adopted, the frequency of passing through the route segment Rp that is likely to cause interference (i.e., the frequency of adoption for the travel route MV) can be reduced, and other route segments Rp can be more likely to be adopted. This can reduce the frequency of interference on the travel route MV.

[0100] According to a fourth aspect of the present disclosure, in the mobile object control system 1 according to the third aspect, the weight setting unit 42 sets the weight value W so that the more frequently a route portion Rp is passed through, the more unlikely it is to be passed through. As a result, if there is a route portion Rp that is frequently passed through by the mobile object 10 based on past passage records and is likely to cause interference, the route portion Rp can be made less likely to be used as part of the travel route MV. As a result, the frequency of passage through each route portion Rp is equalized, thereby reducing the frequency of interference on the travel route MV.

[0101] According to a fifth aspect of the present disclosure, in the mobile object control system 1 according to the third or fourth aspect, the memory unit 32 stores order information 70 consisting of a group of work orders each specifying a loading location and an unloading location for the mobile object 10 and a priority. The route setting unit 62 prioritizes the travel route MV in the order information 70 in descending order of priority. The weight setting unit 42 sets a weight value W in the order information 70 so as to make it difficult to pass a route segment Rp that passes through a previously set travel route MV. As a result, depending on the performance of the travel route MV set for each work order constituting one order information 70, a route segment Rp that has already been adopted as a travel route MV is less likely to be adopted as a travel route MV for a subsequent work order. As a result, the frequency of passing through each route segment Rp is equalized during the execution of each work order constituting the order information 70, thereby reducing the frequency of interference between travel route MVs.

[0102] According to a sixth aspect of the present disclosure, an information processing method is provided, comprising: a step S21 of acquiring weight values ​​W set separately for each direction of passage of the route portions Rp for at least a portion of the multiple route portions Rp traveled by the moving body 10; and a step S22 of setting a movement route MV from the movement start position of the moving body 10 to the destination based on the weight values ​​W for each direction of passage of the multiple route portions Rp.

[0103] According to this configuration, by setting a weight value W for each passing direction for the route portion Rp, it is possible to set a preferred passing direction. As a result, it becomes relatively easy to create a travel route MV that passes through the route portion Rp in a specific direction. This reduces the frequency of setting travel routes MV that pass through the same route portion Rp in both directions, even when the route setting unit 62 searches for the shortest route. As a result, it is possible to reduce the frequency of interference between travel routes MV (MV1, MV2).

[0104] According to a seventh aspect of the present disclosure, there is provided an information processing method comprising steps (S21, S41) of acquiring a plurality of route sections Rp traversed by a moving body 10 and a weight value W indicating the movement cost of the route section Rp, steps (S22, S43) of setting a movement route MV from the movement start position of the moving body 10 to the destination based on the weight values ​​W of the plurality of route sections Rp, and steps (S32, S44) of setting a weight value W of the route section Rp based on a movement route MV set in the past.

[0105] According to this configuration, the weight value W for each route segment Rp, i.e., the likelihood of adoption into the travel route MV, can be set based on the adoption record of previously set travel route MV. Therefore, for example, if there is a route segment Rp that is likely to cause interference from a previously set travel route MV, by setting the weight value W so that the route segment Rp is relatively less likely to be adopted, the frequency of passing through the route segment Rp that is likely to cause interference (the frequency of adoption into the travel route MV) can be reduced, and other route segments Rp can be more likely to be adopted. This can reduce the frequency of interference occurring in the travel route MV.

[0106] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of these embodiments. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the above-described embodiments.

[0107] REFERENCE SIGNS LIST 1 Mobile object control system 5 Shelf 10 Mobile object 12 Management device 14 Information processing device 20 Vehicle body 20A Wheel 21 Straddle leg 22 Mast 24A, 24B Claw 24 Fork 26A Sensor 28 Control device 30, 50, 100 Communication unit 32, 52, 102 Memory unit 34, 54, 104 Control unit 40 Work order setting unit 42 Weight setting unit 60 Acquisition unit 62 Route setting unit 64 Processing unit 70 Order information 72A, 72B, 72C Area 80 Operation record data 82 Weight setting information 200 Equipment AR1 First area AR2 Second area c1 Charging position h1, h2 Standby position MV, MV1, MV2, MV3, MVA, MVB Movement path P Object R Passage Rp, Rp1 to Rp7, Rp11 to Rp16 Path portion e1 to e31 Placement position W Weight value

Claims

1. A mobile object control system comprising: a memory unit that stores a plurality of route sections traveled by a mobile object in association with weight values ​​indicating the movement costs of the route sections; a weight setting unit that sets the weight values ​​separately for each direction of passage of at least some of the plurality of route sections, and a route setting unit that sets a movement route from a movement start position of the mobile object to a destination based on the weight values ​​for each direction of passage of the plurality of route sections.

2. The mobile control system according to claim 1, wherein the weight setting unit sets the weight values ​​for a series of consecutive route portions so as to make it easier to pass through in one direction and harder to pass through in the other direction opposite to the one direction.

3. A mobile body control system comprising: a memory unit that stores a plurality of route sections traveled by a mobile body in association with weight values ​​indicating the movement costs of the route sections; a route setting unit that sets a movement route from a movement start position of the mobile body to a destination based on the weight values ​​of the plurality of route sections; and a weight setting unit that sets the weight value of the route sections based on the movement route that was set in the past.

4. The mobile object control system according to claim 3, wherein the weight setting unit sets the weight value so that the more frequently a portion of the route is passed through, the more difficult it is to pass through that portion.

5. The mobile body control system of claim 3, wherein the memory unit stores order information consisting of a group of work orders that specify the loading and unloading positions of the mobile body and priorities, the route setting unit preferentially sets the travel route in the order information in order of the highest priority, and the weight setting unit sets the weight value in the order information so that the route portion passed through by the set travel route becomes difficult to pass through.

6. An information processing method comprising: a step of acquiring weight values ​​set separately for each direction of passage of at least a portion of a plurality of route portions traveled by a moving body; and a step of setting a movement route from a movement start position of the moving body to a destination based on the weight values ​​for each direction of passage of the plurality of route portions.

7. An information processing method comprising the steps of: acquiring a plurality of route sections traveled by a moving body and weight values ​​indicating the movement costs of the route sections; setting a movement route from a movement start position of the moving body to a destination based on the weight values ​​of the plurality of route sections; and setting the weight values ​​of the route sections based on the movement route set in the past.

Images