Mobile body control system, mobile body control method, mobile body control device, and control program

Abstract

A mobile body control system according to the present disclosure comprises: a defining means for defining a unit area in which stopping of a mobile body is prohibited as a non-stop area among a plurality of unit areas in a matrix defined in a predetermined area in which the mobile body moves; a reservation means for reserving one or more unit areas among the plurality of unit areas as a movement route for the mobile body; and a control means for transmitting an instruction for moving the mobile body along the reserved movement route. When reserving a movement route including the non-stop area for the mobile body, the reservation means reserves the movement route so as to include the unit area of the next destination after the non-stop area.

Description

Mobile object control system, mobile object control method, mobile object control device, and control program

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

[0002] In recent years, there has been a demand for efficient movement of multiple mobile objects moving within the same work area. Patent Document 1 discloses a traffic flow control system that controls traffic flow on a traffic route by communicating with a travel control device of a mobile object traveling on the traffic route. The system disclosed in Patent Document 1 includes an entry right management unit that manages entry rights for each area on a traffic route divided into virtual areas, manages a number of tokens corresponding to the area, and assigns the entry rights to the tokens to the travel control device, thereby guiding the entry of the mobile objects into the area, and a communication unit that communicates the entry rights and tokens with the travel control device.

[0003] Japanese Patent Application Laid-Open No. 2021-33582

[0004] In the system disclosed in Patent Document 1, when multiple mobile objects attempt to move through an intersection, etc., there is a possibility that the multiple mobile objects will continue to wait indefinitely for each other to move in order to secure each other's area, i.e., a deadlock may occur. Therefore, the system disclosed in Patent Document 1 still has the problem of being unable to move multiple mobile objects efficiently.

[0005] One object of the present disclosure is to provide a mobile object control system, a mobile object control method, and a mobile object control device that solve the above-mentioned problems.

[0006] A mobile body control system according to one aspect of the present disclosure comprises a definition means for defining, as a non-stop area, a unit area among a plurality of unit areas in a matrix defined in a predetermined area in which the mobile body moves, in which the stopping of the mobile body is prohibited; a reservation means for reserving, for the mobile body, one or more unit areas among the plurality of unit areas as a travel route; and a control means for transmitting instructions to move the mobile body along the reserved travel route, wherein, when reserving, for the mobile body, the travel route including the non-stop area, the reservation means reserves the travel route so as to include the unit area that is the next destination of the non-stop area.

[0007] A mobile body control method according to one aspect of the present disclosure is a mobile body control method in which a computer defines, as a non-stop area, a unit area in which the mobile body is prohibited from stopping, among a plurality of unit areas defined in a matrix in a predetermined area in which the mobile body moves, and reserves one or more of the plurality of unit areas as a movement route for the mobile body, and transmits instructions to move the mobile body along the reserved movement route, wherein, when reserving a movement route for the mobile body that includes the non-stop area, the movement route is reserved to include a unit area that is the next destination of the non-stop area.

[0008] A mobile body control device according to one aspect of the present disclosure comprises a definition means for defining, as a non-stop area, a unit area among a plurality of unit areas in a matrix defined in a predetermined area in which the mobile body moves, in which stopping of the mobile body is prohibited; a reservation means for reserving, for the mobile body, one or more unit areas among the plurality of unit areas as a travel route; and a control means for transmitting instructions to move the mobile body along the reserved travel route, wherein, when reserving, for the mobile body, the travel route including the non-stop area, the reservation means reserves the travel route so as to include the unit area that is the next destination of the non-stop area.

[0009] The present disclosure can provide a mobile object control system, a mobile object control method, and a mobile object control device that are capable of efficiently moving multiple mobile objects.

[0010] 1 is a block diagram showing an example configuration of a mobile body control system according to the present disclosure. FIG. 1 is a block diagram showing an example configuration of a mobile body control device according to the present disclosure. FIG. 2 is a flowchart showing the operation of a mobile body control system according to the present disclosure. FIG. 2 is a block diagram showing an example configuration of a mobile body control system according to the present disclosure. FIG. 3 is a flowchart showing the operation of a mobile body control device according to the present disclosure. FIG. 4 is a diagram for explaining a deadlock. FIG. 5 is a diagram for explaining a method for controlling a mobile body by a mobile body control device according to the present disclosure. FIG. 6 is a diagram for explaining a method for controlling a mobile body by a mobile body control device according to the present disclosure. FIG. 7 is a flowchart showing the flow of a learning process of a mobile body control device according to the present disclosure. FIG. 8 is a flowchart showing the flow of a learning process of a mobile body control device according to the present disclosure. FIG. 9 is a block diagram showing an example hardware configuration for realizing a mobile body control function of a mobile body control device according to the present disclosure.

[0011] Hereinafter, embodiments will be described with reference to the drawings. Note that the drawings are simplified, and the technical scope of the embodiments should not be narrowly interpreted based on the description in the drawings. Furthermore, identical elements are given the same reference numerals, and duplicate explanations will be omitted.

[0012] In the following embodiments, when necessary for convenience, the description will be divided into multiple sections or embodiments. However, unless otherwise specified, they are not unrelated to each other, and one is a partial or complete modification, application example, detailed explanation, supplementary explanation, etc. of the other. Furthermore, in the following embodiments, when the number of elements (including the number, numerical value, amount, range, etc.) is mentioned, it is not limited to that specific number, and may be more or less than the specific number, unless otherwise specified or when it is clearly limited to a specific number in principle.

[0013] Furthermore, in the following embodiments, the components (including operational steps, etc.) are not necessarily essential unless otherwise specified or considered to be clearly essential in principle. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of components, etc., it is intended to include those that are substantially similar or similar to the shape, etc., unless otherwise specified or considered to be clearly not essential in principle. The same applies to the above numbers, etc. (including numbers, numerical values, amounts, ranges, etc.).

[0014] 1 is a block diagram showing an example of the configuration of a mobile object control system 1 according to the present disclosure. The mobile object control system 1 is a system for controlling the movement of a mobile object that moves within a predetermined working area.

[0015] As shown in FIG. 1, the mobile object control system 1 includes a definition unit 111, a reservation unit 112, and a control unit 113. FIG. 1 also shows a mobile object 13 that is the control target of the mobile object control system 1. The mobile object 13 may or may not be included in the mobile object control system 1. The definition unit 111, the reservation unit 112, and the control unit 113 may be implemented in different devices, or may be implemented in a single device. FIG. 2 is a block diagram showing an example configuration of a mobile object control device 11 in which each functional unit of the mobile object control system 1 is implemented. As shown in FIG. 2, the mobile object control device 11 implements each functional unit of the mobile object control system 1.

[0016] The defining unit 111 defines, as a non-stop area (NS area), a unit area in which the moving object 13 is prohibited from stopping, among a plurality of unit areas defined in a predetermined working area in which the moving object 13 moves. The plurality of unit areas in the matrix may be defined by the defining unit 111, or may be defined by another method, such as setting by an operator. The area of ​​the plurality of unit areas in the matrix may be changed as appropriate depending on the size of the moving object 13, etc.

[0017] The predetermined work area is, for example, an area where the transported goods are transported by the mobile body 13, such as a warehouse or a factory. In this case, the mobile body 13 is, for example, an autonomous mobile robot that transports the goods. The mobile body 13 is, for example, an automated guided vehicle (AGV), an automated guided forklift (AGF), an autonomous mobile robot (AMR), an unmanned ground vehicle (UGV), or an unmanned aerial vehicle such as a drone.

[0018] A non-stop area is an area where stopping of moving objects is prohibited because deadlock is likely to occur. A deadlock is a situation in which, when multiple moving objects 13 attempt to move through an intersection or the like, the multiple moving objects 13 continue to wait indefinitely for each other to move in order to secure each other's area. Deadlocks are likely to occur at intersections, corners, areas with heavy traffic, areas with narrow roads, etc. Therefore, the defining unit 111 defines unit areas where deadlock is likely to occur, such as unit areas located at intersections or corners, as non-stop areas. Alternatively, the defining unit 111 may determine non-stop areas by learning through simulation.

[0019] The reservation unit 112 reserves one or more unit areas among the plurality of unit areas as a travel route for the mobile body 13. Note that if the travel route that the mobile body 13 is scheduled to pass through has been reserved by another mobile body, the reservation unit 112 waits without making a reservation until the reservation by the other mobile body is released (i.e., until the other mobile body passes through the reserved travel route). Then, when the reservation by the other mobile body is released (i.e., when the other mobile body passes through the reserved travel route), the reservation unit 112 reserves the travel route that the mobile body 13 is scheduled to pass through.

[0020] Here, when reserving a travel route including a non-stop area for the mobile unit 13, the reservation unit 112 reserves the travel route so as to include the unit area of ​​the next destination after the non-stop area. As a result, once the mobile unit that has previously reserved a travel route including a non-stop area has passed through the non-stop area, the next mobile unit is permitted to reserve a travel route including the non-stop area, thereby preventing a situation in which multiple mobile units in a non-stop area wait indefinitely for each other to move in order to secure each other's area, i.e., preventing the occurrence of deadlock.

[0021] In addition, when reserving a travel route for the moving body 13, particularly one that involves a change of direction such as a corner, the reservation unit 112 may reserve the travel route to include multiple unit areas within a specified range, including the unit area where the change of direction occurs, taking into account the swaying of the moving body 13, etc.

[0022] The control unit 113 transmits instructions to move the mobile object 13 along the reserved travel route. The mobile object 13 receives the instructions transmitted from the control unit 113 and moves along the reserved travel route.

[0023] In this way, when reserving a travel route for a mobile body 13 that includes a non-stop area where deadlock is likely to occur, the mobile body control device 11 according to the present disclosure reserves the travel route so as to include the unit area of ​​the next destination after the non-stop area. As a result, until a mobile body that has previously reserved a travel route including a non-stop area passes through the non-stop area, the next mobile body is not permitted to reserve a travel route including the non-stop area. This prevents a situation in which multiple mobile bodies in a non-stop area wait indefinitely for each other to move in order to secure each other's area, i.e., prevents the occurrence of deadlock. In other words, the mobile body control device 11 according to the present disclosure can move the mobile body 13 efficiently.

[0024] (Operation of Mobile Object Control System 1) Next, the operation of the mobile object control system 1 will be described with reference to Fig. 3. Fig. 3 is a flowchart showing the operation of the mobile object control system.

[0025] First, the mobile object control system 1 defines, as non-stop areas (NS areas), unit areas in which the mobile object 13 is prohibited from stopping, among a plurality of unit areas in a matrix defined in a predetermined work area in which the mobile object 13 moves (step S101). For example, the mobile object control system 1 defines, as non-stop areas, unit areas in which deadlocks are likely to occur, such as intersections and corners, among the plurality of unit areas. The plurality of unit areas in the matrix may be defined by the mobile object control system 1, or may be defined by another method, such as by operator setting.

[0026] Thereafter, the mobile object control system 1 reserves one or more of the plurality of unit areas as a travel route (step S102). However, if the travel route to be passed through has been reserved by another mobile object, the mobile object control system 1 waits until the reservation by the other mobile object is released, and when the reservation by the other mobile object is released, reserves the travel route to be passed through for the mobile object 13.

[0027] When reserving a travel route for the mobile unit 13, if the planned travel route does not include a non-stop area, the mobile unit control system 1 reserves a predetermined number of unit areas as the travel route. On the other hand, if the planned travel route includes a non-stop area, the mobile unit control system 1 reserves the travel route so that it includes the unit area that is the next destination after the non-stop area. In particular, if the final destination unit area of ​​the travel route for the predetermined number of unit areas is a non-stop area, the mobile unit control system 1 reserves a number of unit areas that exceeds the predetermined number (for example, the predetermined number + 1) as the travel route.

[0028] Thereafter, the mobile object control system 1 transmits instructions for moving the mobile object 13 along the reserved travel route (step S103). For example, the mobile object control system 1 may transmit, as instructions for moving the mobile object 13, information on the travel route to be traveled, or information on the tire rotation speed, speed, acceleration, angular velocity, and angular acceleration for travel along the travel route, or control commands for operation. The mobile object 13 receives the instructions transmitted from the mobile object control system 1 and moves along the reserved travel route.

[0029] In this way, when reserving a travel route for a mobile body 13 that includes a non-stop area where deadlock is likely to occur, the mobile body control device 11 according to the present disclosure reserves the travel route so as to include the unit area of ​​the next destination after the non-stop area. As a result, until a mobile body that has previously reserved a travel route including a non-stop area passes through the non-stop area, the next mobile body is not permitted to reserve a travel route including the non-stop area. This prevents a situation in which multiple mobile bodies in a non-stop area wait indefinitely for each other to move in order to secure each other's area, i.e., prevents the occurrence of deadlock. In other words, the mobile body control device 11 according to the present disclosure can move the mobile body 13 efficiently.

[0030] Second Embodiment Fig. 4 is a block diagram showing a configuration example of a mobile body control system 2 to which a mobile body control device 11 according to the present disclosure is applied. The mobile body control device 11 is a device that controls the movement of multiple mobile bodies moving within a predetermined work area. As already explained, the defining unit 111, the reservation unit 112, and the control unit 113 of the mobile body control device 11 may be implemented in different devices. In this case, the multiple separate devices constitute a mobile body control system that realizes functions equivalent to those of the mobile body control device 11.

[0031] 4, the mobile object control system 2 includes a mobile object control device 11, an image capturing device 12, n (n is an integer of 2 or more) mobile objects 13_1 to 13_n, and a network 50. The mobile object control device 11, the image capturing device 12, the storage device 14, and the multiple mobile objects 13 are configured to be able to communicate with each other via a wired or wireless network 50. The wireless network 50 includes, for example, 4G, 5G, 6G, LTE (Long Term Evolution), Wi-Fi (Wireless Fidelity), L5G, etc.

[0032] The image capturing device 12 is installed, for example, on the ceiling of a work room including a predetermined work area, and captures images of the work area in which the multiple moving objects 13 move. The image capturing device 12 may be any of various cameras and sensors. For example, the image capturing device 12 may be an RGB camera, a 2D Lidar, a 3D Lidar, etc. The mobile object control device 11 controls the movement of the multiple moving objects 13 while monitoring the movement status of the multiple moving objects 13 by analyzing the images captured by the image capturing device 12.

[0033] The defining unit 111 defines, as a non-stop area (NS area), a unit area in which the moving objects 13 are prohibited from stopping, among a plurality of unit areas defined in a predetermined working area in which the moving objects 13 move. The matrix-shaped unit areas may be defined by the defining unit 111, or may be defined by another method, such as setting by an operator. The area of ​​the matrix-shaped unit areas may be changed as appropriate depending on the size of the moving objects 13, etc.

[0034] The predetermined work area is, for example, an area where goods are transported by a plurality of mobile bodies 13, such as a warehouse or a factory. In this case, each mobile body 13 is, for example, an autonomous mobile robot that moves goods to their origin alone and transports goods to their destination in pairs with other mobile bodies in cooperation. However, each mobile body 13 is not limited to moving goods to their origin alone and transporting goods to their destination in pairs with other mobile bodies in cooperation. For example, each mobile body 13 may move goods to their origin in pairs with other mobile bodies or transport goods to their destination alone. For example, each mobile body 13 may be an AGV (Automated Guided Vehicle), an AGF (Automated Guided Forklift), an AMR (Autonomous Mobile Robot), an UGV (Unmanned Ground Vehicle), or an unmanned aerial vehicle such as a drone.

[0035] Deadlocks are likely to occur at intersections, corners, areas with heavy traffic, areas with narrow roads, etc. Furthermore, multiple moving objects 13 operating in coordination have a larger movement area than a moving object 13 operating alone, making them more likely to cause deadlock. Therefore, the defining unit 111 defines unit areas where deadlocks are likely to occur, such as unit areas located at intersections or unit areas located at corners, as non-stop areas. Alternatively, the defining unit 111 may determine non-stop areas through learning by simulation. The learning method by simulation of the mobile object control device 11 will be described later.

[0036] The reservation unit 112 reserves one or more unit areas out of the plurality of unit areas as a travel route for each moving body 13. Note that, when a travel route that each moving body 13 is scheduled to pass through has been reserved by another moving body, the reservation unit 112 waits without making a reservation until the reservation by the other moving body is released (i.e., until the other moving body passes the reserved travel route). Then, when the reservation by the other moving body is released (i.e., when the other moving body passes the reserved travel route), the reservation unit 112 reserves the travel route that each moving body 13 is scheduled to pass through.

[0037] A reservation table indicating the reservation status of the travel route of each mobile object 13 is stored in the storage device 14. The reservation unit 112 reserves a travel route for each mobile object 13 by referring to the reservation table and comparing the reservation status of the travel route represented by one or more unit areas set for each mobile object 13. The information in the reservation table holds information about the unit area reserved by each mobile object 13 and does not necessarily include time information. In this case, the reservation unit 112 reserves a travel route for each mobile object 13 by referring to the reservation status that does not include time axis information, and therefore the amount of calculation can be reduced compared to when reserving a travel route by referring to the reservation status that includes time axis information.

[0038] In related art, deadlocks occur when multiple moving objects move along routes. To prevent this deadlock, a system that reserves all routes for all moving objects is adopted. This not only increases the amount of information that must be stored, but also increases the likelihood that a route reserved for one moving object will block another moving object's route. Therefore, the more routes that are desired to be reserved, the more difficult it becomes to reserve routes. Furthermore, to avoid this situation, it is necessary to store time information indicating when each moving object may come into contact with another moving object. Furthermore, calculations are also required to avoid interference between the moving objects, which increases the amount of calculations and ultimately increases the time required to control the moving objects. In contrast, the mobile object control system disclosed herein does not require time information, and reserves a moving object route for each moving object 13 while comparing the reservation status of moving objects represented by one or more unit areas set for each moving object 13, thereby reducing the amount of calculations.

[0039] Here, when reserving a travel route including a non-stop area for each mobile body 13, the reservation unit 112 reserves the travel route so that it includes the unit area of ​​the next destination after the non-stop area. As a result, once a mobile body that has previously reserved a travel route including a non-stop area has passed through the non-stop area, the next mobile body is permitted to reserve a travel route including the non-stop area, thereby preventing a situation in which multiple mobile bodies in a non-stop area continue to wait indefinitely for each other to move in order to secure each other's area, i.e., preventing the occurrence of deadlock.

[0040] In addition, when reserving a travel route for each moving body 13, particularly one that involves a change of direction such as a corner, the reservation unit 112 may reserve the travel route to include multiple unit areas within a specified range, including the unit area where the change of direction occurs, taking into account the swaying of the moving body, etc.

[0041] The control unit 113 refers to the reservation table stored in the storage device 14 and transmits instructions to move each of the moving objects 13 along the reserved movement route. Upon receiving the instructions transmitted from the control unit 113, each of the moving objects 13 moves along the reserved movement route.

[0042] In this way, when reserving a travel route that includes a non-stop area where deadlock is likely to occur for each moving body 13, the mobile body control device 11 according to the present disclosure reserves the travel route so that it includes the unit area of ​​the next destination after the non-stop area. As a result, until a moving body that has previously reserved a travel route that includes a non-stop area passes through the non-stop area, the next moving body is not permitted to reserve a travel route that includes the non-stop area. This prevents a situation in which multiple moving bodies wait indefinitely for each other to move in the non-stop area in order to secure each other's area, i.e., the occurrence of deadlock. In other words, the mobile body control device 11 according to the present disclosure can efficiently move multiple moving bodies 13.

[0043] (Operation of the mobile body control device 11) Next, the operation of the mobile body control device 11 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the operation of the mobile body control device 11.

[0044] First, the mobile body control device 11 defines, as non-stop areas (NS areas), unit areas in which stopping of each of the mobile bodies 13 is prohibited, among a plurality of unit areas in a matrix defined in a predetermined work area in which a plurality of mobile bodies 13 move (step S201). For example, the mobile body control device 11 defines, as non-stop areas, unit areas in which deadlocks are likely to occur, such as intersections and corners, among the plurality of unit areas. Note that the plurality of unit areas in the matrix may be defined by the mobile body control system 1, or may be defined by another method, such as setting by an operator.

[0045] Thereafter, the mobile body control device 11 selects a mobile body 13 to be controlled (step S202). Specifically, the mobile body control device 11 preferentially selects a mobile body 13 with a high priority. For example, a high priority is set for a mobile body 13 that is currently transporting an object or a mobile body 13 that is heading toward the source of the object. Furthermore, a low priority is set for a mobile body 13 that has completed transporting the object and is moving to a waiting location or a mobile body 13 that is currently charging. Then, the mobile body control device 11 reserves a travel route for the selected mobile body 13 (steps S203 to S206).

[0046] For example, if the travel route has not been reserved by another mobile body (NO in step S203) and the travel route does not include a non-stop area (NO in step S204), the mobile body control device 11 reserves a predetermined number of unit areas as the travel route (step S205).

[0047] Furthermore, for example, if the travel route has not been reserved by another moving body (NO in step S203) and the travel route includes a non-stop area (YES in step S204), the mobile body control device 11 reserves the travel route so as to include the next destination unit area after the non-stop area (step S206). In particular, if the last destination unit area of ​​a travel route for a predetermined number of unit areas is a non-stop area, the mobile body control device 11 reserves a number of unit areas exceeding the predetermined number (for example, the predetermined number + 1) as the travel route (step S206).

[0048] On the other hand, if the travel route has been reserved by another mobile object (YES in step S203), the mobile object control device 11 waits without making a reservation until the reservation by the other mobile object is released (step S207).

[0049] Thereafter, the mobile object control device 11 transmits an instruction to move the selected mobile object 13 along the reserved movement route (step S207). The mobile object 13 selected as the object to be controlled receives the instruction transmitted from the mobile object control device 11 and moves along the reserved movement route.

[0050] Thereafter, if the mobile body control device 11 determines that the processing is to continue (YES in step S209), it again executes the processes of selecting the mobile body 13 to be controlled, reserving the movement route, and instructing the mobile body 13 to move (steps S202 to S208); if it determines that the processing is not to continue (NO in step S209), it terminates the processing.

[0051] 6 is a diagram showing an example in which four independently moving mobile units 13, mobile units A to D, attempt to pass through an intersection X that is not designated as a non-stop area. A situation in which a deadlock occurs will be described using FIG. 6.

[0052] In the example of Figure 6, first, moving objects A to D move to the unit area immediately before intersection X, that is, the unit area immediately before intersection X. Then, moving objects A to D move to intersection X according to their respective reserved travel routes. After that, moving objects A to D attempt to move to their respective destination unit areas, but are unable to do so because another moving object is present in each destination unit area. In other words, at intersection X, moving objects A to D continue to wait indefinitely for each other to move in order to secure each other's area, i.e., a deadlock has occurred.

[0053] 7 is a diagram showing an example in which four moving bodies 13, A to D, each moving independently, pass through intersection X designated as a non-stop area. In the example of FIG. 7, moving body A is attempting to move from the left side of a route extending horizontally to the left via intersection X. Moving body B is attempting to move from the right side of a route extending horizontally to the left via intersection X. Moving body C is attempting to move from the top of a route extending vertically to the bottom via intersection X. Moving body D is attempting to move from the bottom of a route extending vertically to the top via intersection X.

[0054] In the example of FIG. 7 , moving bodies A to D first move to a location immediately before intersection X, i.e., the unit area immediately before intersection X. Then, of moving bodies A to D, moving bodies A and B reserve a travel route including the unit area located at intersection X, which is designated as a non-stop area, and the unit area of ​​the next destination, and then move along the reserved travel route. At this time, moving bodies C and D wait until moving bodies A and B pass intersection X. After moving bodies A and B pass intersection X, moving bodies C and D reserve a travel route including the unit area located at intersection X, which is designated as a non-stop area, and the unit area of ​​the next destination, and then move along the reserved travel route. Thus, in the example of FIG. 7 , until moving bodies A and B, which have previously reserved a travel route including a non-stop area, pass through the non-stop area, the next moving bodies C and D are not permitted to reserve a travel route including the non-stop area. This prevents a situation in which moving bodies A to D wait indefinitely for each other to move in the non-stop area in order to secure each other's area, i.e., a deadlock.

[0055] In this way, when reserving a travel route that includes a non-stop area where deadlock is likely to occur for each moving body 13, the mobile body control device 11 according to the present disclosure reserves the travel route so that it includes the unit area of ​​the next destination after the non-stop area. As a result, until a moving body that has previously reserved a travel route that includes a non-stop area passes through the non-stop area, the next moving body is not permitted to reserve a travel route that includes the non-stop area. This prevents a situation in which multiple moving bodies wait indefinitely for each other to move in the non-stop area in order to secure each other's area, i.e., the occurrence of deadlock. In other words, the mobile body control device 11 according to the present disclosure can efficiently move multiple moving bodies 13.

[0056] Note that each moving body 13 does not necessarily have to move independently, but may also move cooperatively in pairs with other moving bodies. For example, each moving body 13 moves an object to its origin independently, and then pairs with other moving bodies to transport the object to its destination in cooperation with other moving bodies. In particular, a pair of moving bodies 13 operating cooperatively supports the object from both sides and requires a larger moving area than when the moving bodies 13 move independently. Therefore, the moving body control device 11 reserves a moving path including more unit areas for the pair of moving bodies 13 operating cooperatively than for a moving body 13 operating independently.

[0057] 8 is a diagram showing an example of a case where moving bodies A and B, which are a pair of moving bodies 13 operating in coordination, pass through a corner Y1. Note that in the example of FIG. 8, the unit area located at the corner Y1 is not designated as a non-stop area.

[0058] In the example of Fig. 8, moving bodies A and B operating in coordination support and transport an object from both sides, requiring a larger movement area than when moving bodies A and B move independently. In particular, when moving bodies A and B change direction, such as at a corner Y1, an even larger movement area is required. Therefore, the moving body control device 11 reserves a movement route R1 for moving bodies A and B operating in coordination, which includes more unit areas than when moving bodies A and B move independently. In the example of Fig. 8, the moving body control device 11 reserves a movement route R1 for moving bodies A and B operating in coordination, which includes eight unit areas.

[0059] 9 is a diagram showing an example in which moving bodies A and B, a pair of moving bodies 13 operating in coordination, pass through a corner Y1. In the example of FIG. 9, one of the unit areas located at the corner Y1 is designated as a non-stop area, and one of the unit areas located at the corner Y2 is designated as a non-stop area.

[0060] In the example of FIG. 9 , the mobile object control device 11 reserves a travel route R1 for the cooperatively operating mobile objects A and B, which includes more unit areas than when the mobile objects A and B move independently. In the example of FIG. 9 , the mobile object control device 11 reserves a travel route R1 for the cooperatively operating mobile objects A and B, which includes eight unit areas. Here, the travel route R1 includes a non-stop area. Therefore, the mobile object control device 11 further reserves a travel route that includes a unit area at the next destination of the travel route R1 so that the mobile objects A and B do not stop in the non-stop area. Note that the cooperatively operating mobile objects A and B also require a large travel area at the next destination of the travel route R1. In particular, a large travel area is required when the mobile objects A and B change direction, such as at corner Y2, the next destination after corner Y1. Therefore, the mobile object control device 11 further reserves a travel route R2 consisting of multiple unit areas (10 unit areas in the example of FIG. 9 ) as the next destination of the travel route R1. Here, the travel route R2 includes a non-stop area. Therefore, the mobile object control device 11 further reserves a movement route R3 that includes the unit area of ​​the next destination of movement route R2 so that the moving objects A and B do not stop in the non-stop area. That is, in the example of Fig. 9, the mobile object control device 11 reserves movement routes R1 to R3 for the moving objects A and B that operate in coordination with each other.

[0061] Although the mobile object control device 11 has been described as reserving a travel route including a plurality of unit areas of a predetermined range, particularly around corners, for a pair of mobile objects 13 operating in coordination, the present invention is not limited to this. The mobile object control device 11 may also be configured to reserve a travel route including a plurality of unit areas of a predetermined range, particularly around corners, for a mobile object 13 operating independently, taking into account the swaying of the mobile object.

[0062] (Learning Process of Mobile Body Control Device 11) Next, the learning process of the mobile body control device 11 will be described with reference to Fig. 10 to Fig. 12. Fig. 10 to Fig. 12 are flowcharts showing the flow of the learning process of the mobile body control device 11.

[0063] The mobile object control device 11 learns, through simulation, which unit areas are likely to cause deadlocks from among a plurality of unit areas defined in a matrix for a predetermined work area, and designates them as non-stop areas. This will be explained in detail below.

[0064] In the examples of Figures 10 to 12, the simulation conditions are set as follows: First, 12 moving objects 13 are used in the simulation. The 12 moving objects 13 are also used as six pairs of moving objects that operate in coordination. Furthermore, 1000 simulations with 28,800 steps per simulation are performed. In one step, each moving object 13 moves from one unit area to an adjacent unit area.

[0065] As shown in FIG. 10 , first, as an initial setting, the start area of ​​each moving object 13 is designated as a non-stop area for moving objects moving independently. As a result, the start area of ​​each moving object 13 is not monitored for whether it corresponds to a non-stop area. Furthermore, a parameter NUM_OF_SIM, which represents the number of simulations, is set to “1000.” Furthermore, a parameter EARLY_STOPPING, which represents the number of consecutive simulations without a deadlock, which triggers early termination of learning, is set to “150.” Therefore, if no deadlock occurs in 150 consecutive simulations, learning terminates. Furthermore, a parameter DROP_RATE, which represents the ratio of the number of simulations from the start of learning to the end of random deletion of non-stop areas, is set to “0.8.” Therefore, of the 1000 simulations, non-stop areas are randomly deleted in the first 800 simulations, and random deletion of non-stop areas is not performed in the last 200 simulations. Furthermore, TARGET_NUMBER, which indicates the target number of non-stop areas, is set to 20. The probability of randomly removing a non-stop area is expressed as min{(current number of non-stop areas) / TARGET_NUMBER, 1}. In other words, if "(current number of non-stop areas) / TARGET_NUMBER" is less than 1, the probability of randomly removing a non-stop area is (current number of non-stop areas) / TARGET_NUMBER, and if "(current number of non-stop areas) / TARGET_NUMBER" is 1 or greater, the probability of randomly removing a non-stop area is 1.

[0066] After the initial setting, the parameter counter is set to "0" (step S301). After that, the parameter i is set to "0", and the value of the parameter i is incremented by one each time a simulation is executed (step S302).

[0067] If no deadlock occurs during the execution of the simulation (NO in step S303), the value of the parameter counter is incremented by one (step S305).

[0068] If a deadlock occurs during the execution of the simulation (YES in step S303), the parameter counter is set to "0" (step S304).

[0069] 11, if an independently operating mobile object 13 is participating in the deadlock (YES in step S306), the unit area in which each of the participating mobile objects 13 is located is designated as a non-stop area for independently operating mobile objects (step S307). On the other hand, if an independently operating mobile object 13 is not participating in the deadlock (NO in step S306), i.e., if only a pair of multiple mobile objects 13 operating in coordination (a cooperative transport pair) is participating in the deadlock, the unit area in which the leader mobile object 13 of the cooperative transport pair participating in the deadlock is located is designated as a non-stop area for the cooperative transport pair (step S308). Note that the non-stop area for independently operating mobile objects and the non-stop area for the cooperative transport pair are distinct, but they may overlap.

[0070] 12, if i / NUM_OF_SIM is equal to or less than DROP_RATE (YES in step S309), max{(current number of nonstop areas) / TARGET_NUMBER, 1} is set to parameter p (step S310), and a random number between 0 and 1 is set to parameter u (step S311). Specifically, if the number of simulations is the first 800, the ratio of the current number of nonstop areas to the target number of nonstop areas is set to parameter p, and a random number between 0 and 1 is set to parameter u. However, if (current number of nonstop areas) / TARGET_NUMBER is greater than "1", parameter p is set to "1". If the parameter u is smaller than the parameter p (YES in step S312), one of the multiple nonstop areas is randomly deleted (step S313). If the parameter u is equal to or greater than the parameter p (NO in step S312), random deletion of nonstop areas is not performed. Also, if i / NUM_OF_SIM is greater than DROP_RATE (NO in step S309), that is, if the number of simulations is the latter 200, random deletion of nonstop areas is not performed.

[0071] Thereafter, if the value of the parameter counter is equal to or greater than the parameter EARLY_STOPPING (YES in step S314), i.e., if the number of consecutive simulations without a deadlock occurring is 150 or more, learning ends. If the value of the parameter counter is less than the parameter EARLY_STOPPING (NO in step S314), i.e., if the number of consecutive simulations without a deadlock occurring is less than 150, learning does not end and the next simulation is executed. Then, when the parameter i becomes equal to NUM_OF_SIM=1000, execution of the simulation ends (step S315).

[0072] By specifying the non-stop area learned through simulation, the mobile control device 11 was able to reduce the number of deadlocks to only five out of 1000 simulations, whereas deadlocks occurred in all 1000 simulations when no non-stop area was specified.

[0073] In this way, when reserving a travel route that includes a non-stop area where deadlock is likely to occur for each moving body 13, the mobile body control device 11 according to the present disclosure reserves the travel route so that it includes the unit area of ​​the next destination after the non-stop area. As a result, until a moving body that has previously reserved a travel route that includes a non-stop area passes through the non-stop area, the next moving body is not permitted to reserve a travel route that includes the non-stop area. This prevents a situation in which multiple moving bodies wait indefinitely for each other to move in the non-stop area in order to secure each other's area, i.e., the occurrence of deadlock. In other words, the mobile body control device 11 according to the present disclosure can efficiently move multiple moving bodies 13.

[0074] (Hardware configuration for realizing the mobile body control function of the mobile body control device 11) The mobile body control processing performed by the mobile body control device 11 can be realized by a general-purpose computer system. A brief description will be given below with reference to FIG.

[0075] 13 is a block diagram showing an example of a hardware configuration that realizes the mobile object control function of the mobile object control device 11. The computer 300 includes, for example, a CPU (Central Processing Unit) 301, which is a control device, a RAM (Random Access Memory) 302, and a ROM (Read Only Memory) 303. The computer 300 further includes an IF (Interface) 304, which is an interface with the outside, and an HDD (Hard Disk Drive) 305, which is an example of a non-volatile storage device. Furthermore, the computer 300 may include other components not shown, such as input devices such as a keyboard and a mouse, and a display device such as a display.

[0076] The HDD 305 stores an operating system (OS) (not shown) and a control program 306. The control program 306 is a computer program in which the mobile object control process of the mobile object control device 11 is implemented.

[0077] The CPU 301 controls various processes in the computer 300, and access to the RAM 302, ROM 303, IF 304, and HDD 305. In the computer 300, the CPU 301 reads and executes the OS and control program 306 stored in the HDD 305. In this way, the computer 300 realizes the mobile object control function of the mobile object control device 11.

[0078] The above-mentioned program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in this disclosure. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes RAM, ROM, flash memory, solid-state drives (SSDs) or other memory technologies, CD-ROMs, digital versatile discs (DVDs), Blu-ray discs or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may also be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0079] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0080] Each drawing is merely an example for describing one or more embodiments. Each drawing may not relate to only one particular embodiment, but may also relate to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0081] Furthermore, some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0082] (Supplementary Note 1) A mobile body control system comprising: a definition means for defining, as a non-stop area, a unit area in which the mobile body is prohibited from stopping, among a plurality of unit areas in a matrix defined in a predetermined area in which the mobile body moves; a reservation means for reserving, for the mobile body, one or more unit areas among the plurality of unit areas as a movement route; and a control means for transmitting instructions to move the mobile body along the reserved movement route, wherein, when reserving, for the mobile body, the movement route including the non-stop area, the reservation means reserves the movement route so as to include a unit area that is the next destination of the non-stop area.

[0083] (Supplementary Note 2) The mobile body control system described in Supplementary Note 1, wherein the reservation means reserves the first predetermined number of unit areas as the travel route for the mobile body when the final destination unit area of ​​the travel route for the first predetermined number of unit areas is not a non-stop area, and reserves a number of unit areas exceeding the first predetermined number as the travel route for the mobile body when the final destination unit area of ​​the travel route for the first predetermined number of unit areas is a non-stop area.

[0084] (Supplementary Note 3) The mobile object control system according to Supplementary Note 1, wherein, if a travel route that the mobile object is scheduled to pass through has been reserved by another mobile object, the reservation means reserves the travel route that the mobile object is scheduled to pass through when the reservation by the other mobile object is canceled.

[0085] (Supplementary Note 4) The mobile body control system according to Supplementary Note 1, wherein when reserving the travel route for the mobile body that involves a direction change, the reservation means reserves the travel route so as to include a plurality of unit areas within a predetermined range that includes a unit area in which the direction change occurs.

[0086] (Supplementary Note 5) The mobile object control system according to Supplementary Note 1, wherein in the learning mode, the defining means designates, as the non-stop area, one of the plurality of unit areas in which each of the plurality of mobile objects participating in the deadlock is located.

[0087] (Supplementary Note 6) The mobile body control system according to Supplementary Note 1, wherein the reservation means compares reservation statuses of the travel routes represented by the one or more unit areas set for each of a plurality of mobile bodies including the mobile body, and reserves the travel routes for each of the plurality of mobile bodies.

[0088] (Supplementary Note 7) A mobile body control method in which a computer defines, as a non-stop area, a unit area in which the mobile body is prohibited from stopping, among a plurality of unit areas in a matrix defined in a predetermined area in which the mobile body moves, reserves one or more unit areas among the plurality of unit areas as a movement route for the mobile body, and transmits an instruction to move the mobile body along the reserved movement route, wherein, in reserving the movement route for the mobile body, when the movement route includes the non-stop area, the movement route is reserved so as to include a unit area that is the next destination of the non-stop area.

[0089] (Supplementary Note 8) The mobile body control method described in Supplementary Note 7, wherein in reserving a travel route for the mobile body, if the final destination unit area of ​​the travel route for the first predetermined number of unit areas is not a non-stop area, the first predetermined number of unit areas are reserved as the travel route for the mobile body, and if the final destination unit area of ​​the travel route for the first predetermined number of unit areas is a non-stop area, a number of unit areas exceeding the first predetermined number are reserved as the travel route for the mobile body.

[0090] (Supplementary Note 9) In reserving a travel route for the moving body, if a travel route that the moving body is scheduled to pass through has been reserved by another moving body, the mobile body control method described in Supplementary Note 7 reserves the travel route that the moving body is scheduled to pass through when the reservation by the other moving body is canceled.

[0091] (Supplementary Note 10) The mobile body control method according to Supplementary Note 7, wherein when reserving a travel route for the mobile body that involves a direction change, the travel route is reserved so as to include a plurality of unit areas within a predetermined range that includes a unit area in which the direction change occurs.

[0092] (Supplementary Note 11) The mobile object control method according to Supplementary Note 7, wherein in the definition of the unit area, in a learning mode, a unit area in which each of the plurality of unit areas in which the plurality of mobile objects participating in the deadlock is located is designated as the non-stop area.

[0093] (Supplementary Note 12) The mobile body control method according to Supplementary Note 7, wherein, in reserving a travel route for the mobile body, reservation statuses of the travel route represented by the one or more unit areas set for each of a plurality of mobile bodies including the mobile body are compared, and the travel route for each of the plurality of mobile bodies is reserved.

[0094] (Supplementary Note 13) A mobile body control device comprising: a definition means for defining, as a non-stop area, a unit area in which stopping of a mobile body is prohibited, among a plurality of unit areas in a matrix defined in a predetermined area in which the mobile body moves; a reservation means for reserving, for the mobile body, one or more unit areas among the plurality of unit areas as a movement route; and a control means for transmitting an instruction to move the mobile body along the reserved movement route, wherein, when reserving, for the mobile body, the movement route including the non-stop area, the reservation means reserves the movement route so as to include a unit area that is the next destination of the non-stop area.

[0095] (Supplementary Note 14) The mobile body control device described in Supplementary Note 13, wherein the reservation means reserves the first predetermined number of unit areas as the travel route for the mobile body when the final destination unit area of ​​the travel route for the first predetermined number of unit areas is not a non-stop area, and reserves a number of unit areas exceeding the first predetermined number as the travel route for the mobile body when the final destination unit area of ​​the travel route for the first predetermined number of unit areas is a non-stop area.

[0096] (Supplementary Note 15) The mobile body control device according to Supplementary Note 13, wherein, when a travel route that the mobile body is scheduled to pass through has been reserved by another mobile body, the reservation means reserves the travel route that the mobile body is scheduled to pass through when the reservation by the other mobile body is canceled.

[0097] (Supplementary Note 16) The mobile body control device according to Supplementary Note 13, wherein when reserving the travel route involving a direction change for the mobile body, the reservation means reserves the travel route so as to include a plurality of unit areas of a predetermined range including a unit area in which the direction change is performed.

[0098] (Supplementary Note 17) The mobile body control device according to Supplementary Note 13, wherein in the learning mode, the defining means designates, as the non-stop area, a unit area in which each of a plurality of mobile bodies participating in a deadlock is located, among the plurality of unit areas.

[0099] (Supplementary Note 18) The mobile body control device according to Supplementary Note 13, wherein the reservation means compares reservation statuses of the travel route represented by the one or more unit areas set for each of a plurality of mobile bodies including the mobile body, and reserves the travel route for each of the plurality of mobile bodies.

[0100] (Supplementary Note 19) A control program that causes a computer to execute the following processes: a process of defining, as a non-stop area, a unit area in which stopping of a moving body is prohibited, among a plurality of unit areas in a matrix defined in a predetermined area in which the moving body moves; a process of reserving one or more unit areas among the plurality of unit areas as a moving route for the moving body; and a process of transmitting an instruction to move the moving body along the reserved moving route, wherein in the process of reserving the moving route, when reserving the moving route for the moving body that includes the non-stop area, the moving route is reserved so as to include a unit area that is the next destination of the non-stop area.

[0101] (Supplementary Note 20) The control program according to Supplementary Note 19 causes a computer to execute the following processes in the travel route reservation process: when a final destination unit area of ​​a travel route of a first predetermined number of unit areas is not a non-stop area, a process of reserving the first predetermined number of unit areas as the travel route for the moving body; and when a final destination unit area of ​​a travel route of the first predetermined number of unit areas is a non-stop area, a process of reserving a number of unit areas exceeding the first predetermined number as the travel route for the moving body.

[0102] Some or all of the elements (e.g., configurations and functions) described in Supplementary Notes 2 to 6 that are dependent on Supplementary Note 1 may also be dependent on Supplementary Note 19 in the same dependency relationship as Supplementary Notes 2 to 6. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods.

[0103] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the invention.

[0104] This application claims priority based on Japanese Patent Application No. 2023-222883, filed December 28, 2023, the disclosure of which is incorporated herein in its entirety by reference.

[0105] REFERENCE SIGNS LIST 1 Mobile object control system 11 Mobile object control device 12 Imaging device 13 Mobile object 14 Storage device 50 Network 111 Definition unit 112 Reservation unit 113 Control unit 300 Computer 301 CPU 302 RAM 303 ROM 304 IF 305 HDD 306 Control program

Claims

1. A movement control system comprising: a defining means for defining, as a non-stop area, a unit area among a plurality of matrix-shaped unit areas defined in a predetermined area where a moving body moves, which prohibits the moving body from stopping; a reserving means for reserving, for the moving body, one or more unit areas among the plurality of unit areas as a movement route; and a control means for transmitting an instruction for moving the moving body along the reserved movement route, wherein when the reserving means reserves the movement route including the non-stop area for the moving body, the reserving means reserves the movement route so as to include the unit area of the next destination of the non-stop area.

2. The movement control system according to claim 1, wherein when the last destination unit area of the movement route for a first predetermined number of unit areas is not a non-stop area, the reserving means reserves the first predetermined number of unit areas as the movement route for the moving body; and when the last destination unit area of the movement route for the first predetermined number of unit areas is a non-stop area, the reserving means reserves a number of unit areas exceeding the first predetermined number as the movement route for the moving body.

3. The movement control system according to claim 1, wherein when the movement route scheduled to be passed through by the moving body is reserved by another moving body, the reserving means reserves the movement route scheduled to be passed through when the reservation by the other moving body is cancelled.

4. The movement control system according to claim 1, wherein when the reserving means reserves the movement route involving a direction change for the moving body, the reserving means reserves the movement route so as to include a plurality of unit areas within a predetermined range including the unit area where the direction change is made.

5. The movement control system according to claim 1, wherein in a learning mode, the defining means designates, as the non-stop area, the unit areas where each of the plurality of moving bodies participating in a deadlock is located among the plurality of unit areas.

6. The movement control system according to claim 1, wherein the reserving means compares the reservation status of the movement route represented by the one or more unit areas set for each of the plurality of moving bodies including the moving body, and reserves the movement route for each of the plurality of moving bodies.

7. A method for controlling the movement of a moving object, comprising: a computer defining a non-stop area as a unit area that prohibits the moving object from stopping among a plurality of matrix-shaped unit areas defined in a predetermined area where the moving object moves; reserving, for the moving object, one or more unit areas among the plurality of unit areas as a moving route; and transmitting an instruction for moving the moving object along the reserved moving route. In the reservation of the moving route for the moving object, when reserving a moving route including the non-stop area for the moving object, the moving route is reserved so as to include a unit area of the next destination of the non-stop area.

8. In the reservation of the moving route for the moving object, when the unit area of the last destination among the moving routes for a first predetermined number of unit areas is not a non-stop area, the first predetermined number of unit areas are reserved as the moving route for the moving object; when the unit area of the last destination among the moving routes for the first predetermined number of unit areas is a non-stop area, a number of unit areas exceeding the first predetermined number are reserved as the moving route for the moving object. The method for controlling the movement of a moving object according to claim 7.

9. In the reservation of the moving route for the moving object, when the moving route scheduled to be passed through is reserved by another moving object for the moving object, the moving route scheduled to be passed through is reserved when the reservation by the other moving object is cancelled. The method for controlling the movement of a moving object according to claim 7.

10. In the reservation of the moving route for the moving object, when reserving a moving route involving a direction change for the moving object, the moving route is reserved so as to include a plurality of unit areas within a predetermined range including the unit area where the direction change is made. The method for controlling the movement of a moving object according to claim 7.

11. In the definition of the unit area, in a learning mode, a unit area where each of a plurality of moving objects participating in a deadlock is located among the plurality of unit areas is designated as the non-stop area. The method for controlling the movement of a moving object according to claim 7.

12. In the reservation of the movement route for the moving body, the reservation status of the movement route represented by the one or more unit areas set for each of the plurality of moving bodies including the moving body is compared, and the movement route for each of the plurality of moving bodies is reserved. The movement control method according to claim 7.

13. A defining means for defining, as a non-stop area, a unit area that prohibits the stop of the moving body among a plurality of matrix-shaped unit areas defined in a predetermined area where the moving body moves; A reservation means for reserving, for the moving body, one or more unit areas among the plurality of unit areas as a movement route; A control means for transmitting an instruction for moving the moving body along the reserved movement route; The reservation means reserves the movement route so as to include the unit area of the next destination of the non-stop area when reserving the movement route including the non-stop area for the moving body. A movement control device.

14. When the last destination unit area of the movement route for the first predetermined number of unit areas is not a non-stop area, the reservation means reserves the first predetermined number of unit areas as the movement route for the moving body. When the last destination unit area of the movement route for the first predetermined number of unit areas is a non-stop area, the reservation means reserves a number of unit areas exceeding the first predetermined number as the movement route for the moving body. The movement control device according to claim 13.

15. When the movement route scheduled to be passed through by the moving body is reserved by another moving body, the reservation means reserves the movement route scheduled to be passed through when the reservation by the other moving body is cancelled. The movement control device according to claim 13.

16. When the reservation means reserves the movement route involving a direction change for the moving body, the reservation means reserves the movement route so as to include a plurality of unit areas within a predetermined range including the unit area where the direction change is made. The movement control device according to claim 13.

17. In the learning mode, the defining means designates, as the non-stop area, the unit area where each of the plurality of moving bodies participating in the deadlock is located among the plurality of unit areas. The movement control device according to claim 13.

18. The reservation means compares the reservation status of the movement routes represented by the one or more unit areas set for each of the plurality of moving bodies including the moving body, and reserves the movement routes for each of the plurality of moving bodies. The mobile body control device according to claim 13.

19. A control program for causing a computer to execute a process of defining a unit area where the movement of the moving body is prohibited as a non-stop area among a plurality of matrix-shaped unit areas defined in a predetermined area where the moving body moves, a process of reserving one or more unit areas among the plurality of unit areas as a movement route for the moving body, and a process of transmitting an instruction for moving the moving body along the reserved movement route. In the movement route reservation process, when reserving the movement route including the non-stop area for the moving body, the movement route is reserved so as to include the unit area of the next destination of the non-stop area. Control program.

20. In the movement route reservation process, when the unit area of the last destination among the movement routes for the first predetermined number of unit areas is not a non-stop area, a process of reserving the first predetermined number of unit areas as the movement route for the moving body, and when the unit area of the last destination among the movement routes for the first predetermined number of unit areas is a non-stop area, a process of reserving a number of unit areas exceeding the first predetermined number as the movement route for the moving body. The control program according to claim 19, which causes a computer to execute the process.

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