Control method and control system

Abstract

Provided is a control method for moving a plurality of mobile bodies 13 in a movement region R in which a plurality of sections S are set. An open period during which the mobile bodies 13 can enter can be set for each of the plurality of sections S. The control method includes: a derivation step for deriving, for each of the plurality of mobile bodies, a movement plan including a time and the position of the mobile body 13 at the time so that the plurality of mobile bodies 13 will not come into contact with each other; and a setting step for setting, on the basis of the movement plan derived in the derivation step, the open period of each of the plurality of sections S for the mobile body 13 corresponding to the movement plan.

Description

Control method and control system

[0001] The present invention relates to a control method and a control system for a moving object.

[0002] Patent Document 1 discloses a traveling vehicle system including a lattice-shaped track, traveling vehicles traveling on the track, a controller capable of communicating with the traveling vehicles and controlling the traveling vehicles, a work terminal that transmits specific information indicating a current position to the controller, and a scaffolding section that is provided below the track and hangs down from the track for workers possessing the work terminals to pass under the track. In the traveling vehicle system described in Patent Document 1, the traveling vehicle enters one or more squares when entry permission corresponding to one or more squares on the track is obtained from the controller, and does not enter one or more squares when entry permission is not obtained from the controller, and the controller blocks, among a plurality of squares corresponding to the worker's route from the entry point to the scaffolding section to the destination, at least the square that corresponds to the current position indicated by the specific information transmitted from the work terminal, thereby not granting entry permission to the traveling vehicle.

[0003] Patent No. 7380694

[0004] In the above-mentioned conventional system, collisions between moving bodies (traveling vehicles) are prevented by blocking the moving bodies by not granting them permission to enter a square. However, while the conventional system can prevent collisions between moving bodies, it does not control the moving bodies according to their movement plans, which positions the moving bodies at predetermined positions at predetermined times.

[0005] An object of one aspect of the present invention is to provide a control method and a control system that can move moving bodies in accordance with a movement plan while avoiding contact between the moving bodies.

[0006] (1) A control method according to one aspect of the present invention is a control method for moving a plurality of moving bodies in a movement area in which a plurality of sections are set, wherein an open period during which the moving bodies can enter can be set for each of the plurality of sections, and the control method includes: a derivation step of deriving a movement plan for each of the plurality of moving bodies, the movement plan including a time and the position of the moving body at that time, so that the plurality of moving bodies do not come into contact with each other; and a setting step of setting the open period of each of the plurality of sections for the moving body corresponding to the movement plan, based on the movement plan derived in the derivation step.

[0007] A control method according to one aspect of the present invention sets, based on a movement plan, an open period for each of a plurality of sections for a moving object corresponding to the movement plan. In this way, the control method causes the moving object to move according to the movement plan by moving based on the open period (according to whether each section is accessible or not). The movement plan is derived so that the plurality of moving objects do not come into contact with each other. Therefore, the control method allows the moving object to move according to the movement plan while avoiding contact between the moving objects.

[0008] (2) In the control method of (1) above, in the setting step, an open period including a surplus section may be set at least one of the front and rear of the moving body in the direction of travel of the moving body relative to the position corresponding to the time of the movement plan. With this method, the open period can be set across multiple sections.

[0009] (3) In the control method of (1) or (2) above, in a steady state, all of the multiple sections in the movement area may not grant entry permission to the moving body, and in the setting step, opening periods of the multiple sections may be set for the moving body corresponding to the movement plan based on the movement plan. The steady state is a state in which no instructions are given to the moving body. In this method, the opening periods are set in a state in which all of the multiple sections are set as blocking sections that do not permit entry of the moving body.

[0010] (4) In the control method of (1) or (2) above, in a steady state, all of the multiple sections in the movement area may grant entry permission to the moving body, and in the setting step, the open period may be set by assigning closed periods during which the moving body cannot enter the multiple sections for the moving body corresponding to the movement plan based on the movement plan. In this method, the open period can be set by assigning closed periods in a state in which all of the multiple sections permit entry of the moving body.

[0011] (5) A control system according to one aspect of the present invention is a control system for moving a plurality of moving bodies in a moving area having a plurality of sections set therein, in which an open period during which the moving bodies can enter can be set for each of the plurality of sections, and a movement plan including a time and the position of the moving body at that time is derived for each of the plurality of moving bodies so that the plurality of moving bodies do not come into contact with each other, and based on the derived movement plan, an open period for each of the plurality of sections is set for the moving body corresponding to the movement plan.

[0012] A control system according to one aspect of the present invention sets, based on a movement plan, an open period for each of a plurality of sections for a moving object corresponding to the movement plan. As a result, the control system moves the moving object according to the movement plan by moving based on the open period (according to whether each section is accessible or not). The movement plan is derived so that the plurality of moving objects do not come into contact with each other. Therefore, the control system can move the moving objects according to the movement plan while avoiding contact between the moving objects.

[0013] According to one aspect of the present invention, moving bodies can be moved according to a movement plan while avoiding contact between the moving bodies.

[0014] Fig. 1 is a diagram showing a control system according to an embodiment. Fig. 2 is a diagram showing a configuration of a moving body. Fig. 3 is a diagram showing an example of the operation of the moving body. Fig. 4 is a diagram showing an example of a movement plan of the moving body derived by a movement planner. Fig. 5 is a diagram showing an example of an opening period set by an access control manager.

[0015] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or corresponding elements are designated by the same reference numerals, and redundant description will be omitted.

[0016] Fig. 1 is a diagram illustrating a control system according to an embodiment. The control system 1 illustrated in Fig. 1 may be applied to, for example, a transport system for transporting an article. The article may be, for example, a general package, a front-opening unified pod (FOUP) for storing semiconductor wafers, or a reticle pod for storing reticles.

[0017] As shown in FIG. 1 , the control system 1 includes a transportation command management unit 3, a mobile object general management unit 5, a route planning unit 7, a mobile object management unit 9, an approach control management unit 11, and a mobile object 13.

[0018] The transport command management unit 3, the mobile unit overall management unit 5, the route planning unit 7, the mobile unit management unit 9, and the entry control management unit 11 may be configured as one computer or as multiple computers. When multiple computers are used, these computers are connected via a communication network such as the Internet or an intranet to logically construct a single control system 1. The computer may be configured to include a processor, a main memory unit, an auxiliary memory unit, a communication control unit, an input device, an output device, etc.

[0019] The mobile object management unit 9, the access control management unit 11, and the mobile object 13 are provided for each management unit U. The control system 1 may include one or more management units U. In the example shown in FIG. 1, one management unit U is shown. The management unit U is a unit for managing some of the mobile objects 13, rather than all of the multiple mobile objects 13 provided in the control system 1. The management unit U may include one or more mobile objects 13. The management unit U is set based on the range in which the mobile objects 13 can physically be managed, such as the range in which wireless communication is possible.

[0020] The transport command management unit 3 manages transport commands in the control system 1. The transport command management unit 3 may be, for example, a manufacturing execution system (MES) or a warehouse management system (WMS). The transport command management unit 3 outputs transport commands related to the mobile object 13 to the mobile object supervision management unit 5.

[0021] The mobile unit supervising management unit 5 manages all mobile units 13 controlled by the control system 1. The mobile unit supervising management unit 5 may be, for example, a WCS (Warehouse Control System). The mobile unit supervising management unit 5 manages all mobile units 13 based on a transport command output from the transport command management unit 3. The mobile unit supervising management unit 5 outputs the transport command to the route planning unit 7. In addition to the transport command, the mobile unit supervising management unit 5 may also output mobile unit information related to the position and status of the mobile unit 13 to the route planning unit 7. The mobile unit supervising management unit 5 outputs route information (described later) output from the route planning unit 7 to the mobile unit management unit 9.

[0022] The route planning unit 7 plans movement routes for the multiple moving bodies 13 so that the moving bodies 13 do not come into contact with each other. The route planning unit 7 plans movement routes for the moving bodies 13, for example, using a route planning algorithm or the like. The route planning unit 7 derives (generates) a movement plan for the moving bodies 13 based on a transportation command output from the mobile body supervision management unit 5. The route planning unit 7 outputs route information related to the movement plan for the moving bodies 13 to the mobile body supervision management unit 5. A method for deriving a movement plan in the route planning unit 7 will be described in detail later.

[0023] The mobile object management unit 9 controls the operation of the mobile object 13 included in the management unit U. The mobile object management unit 9 controls the operation of the mobile object 13 based on the route information output from the route planning unit 7. The mobile object management unit 9 outputs control information related to the control of the operation of the mobile object 13 to the mobile object 13. The control information includes release information (described later). The mobile object management unit 9 acquires the position and status of the mobile object 13. The mobile object management unit 9 outputs mobile object information related to the position and status of the mobile object 13 to the mobile object general management unit 5.

[0024] The entry control management unit 11 manages the entry of the mobile object 13 into a section in a movement area in which the mobile object 13 moves. In a movement area in which a plurality of sections are set, the entry control management unit 11 sets an opening period for each section in which the mobile object 13 is permitted to enter (pass through). The entry control management unit 11 outputs opening information related to the opening period to the mobile object management unit 9.

[0025] The mobile body 13 moves within a movement area in which a plurality of sections are set. The mobile body 13 may be, for example, a dolly, an overhead hoist transfer (OHT), an automated guided vehicle (AGV), a stacker crane, etc. The mobile body 13 operates based on a movement plan. The mobile body 13 moves autonomously within the movement area based on the movement plan.

[0026] Fig. 2 is a diagram showing the configuration of the mobile body 13. As shown in Fig. 2, the mobile body 13 includes a communication unit 130, a control unit 131, and a driving device 132. The mobile body 13 may further include a transfer device or the like.

[0027] The communication unit 130 communicates with the mobile object management unit 9. The communication unit 130 can communicate with the mobile object management unit 9 wirelessly or via a wired connection. The communication unit 130 receives control information output from the mobile object management unit 9 from the mobile object management unit 9. The communication unit 130 transmits mobile object information relating to the position and status of the mobile object 13 to the mobile object management unit 9.

[0028] The control unit 131 controls the operation of the moving body 13. The control unit 131 controls the operation of the driving device 132 of the moving body 13 based on the control information.

[0029] The driving device 132 drives each part of the moving body 13. The driving device 132 may be, for example, an electric motor or a linear motor.

[0030] FIG. 3 is a diagram illustrating an example of the operation of the mobile body 13. As illustrated in FIG. 3, the mobile body 13 travels through a movement area R. A plurality of sections S are set within the movement area R. It can also be said that the movement area R is configured to include the plurality of sections S. If the mobile body 13 is a carriage, the movement area R may be a grid-shaped travel path along which the carriage travels. A plurality of sections S are set within the movement area R by a plurality of grids. If the mobile body 13 is an AGV, the movement area R may be a floor or the like along which the AGV travels. A plurality of barcodes are provided within the movement area R, and a plurality of sections S are set by each of the plurality of barcodes. If the mobile body 13 is an overhead guided vehicle (OHT), the movement area R may be a track along which the OHT travels, which is provided on the ceiling side of the facility. A plurality of sections S are set within the movement area R by virtually dividing the track.

[0031] In the example shown in FIG. 3 , a plurality of sections S, "A", "B", "C", "D", and "E", are set in the movement region R. The moving body 13 moves across the plurality of sections S based on a movement plan. In this embodiment, the interval between each of the plurality of sections S is, for example, 1.5 m. The moving body 13 moves across the movement region R based on movement relationship values. The movement relationship values ​​include acceleration and maximum speed. In this embodiment, for example, the acceleration is 1 m / s ２ ], and the maximum speed is 1 [m / s]. When the moving body 13 is moving at the maximum speed, it takes 1.5 seconds to travel through one section S.

[0032] The route planning unit 7 derives a movement plan as follows (derivation step). The route planning unit 7 calculates the travel time required for the moving body 13 to move between adjacent sections S based on multiple movement relationship values ​​related to the moving body 13. The route planning unit 7 calculates the travel time required for each of the multiple sections S based on the intervals between the multiple sections S in the movement area R and the movement relationship values ​​(acceleration, maximum speed) of the moving body 13. The route planning unit 7 sets the unit time so that the value obtained by dividing the travel time by the unit time is an approximately integer value. The route planning unit 7 derives a movement plan for the moving body 13 so that the moving body 13 is present in one of the sections S for each unit time.

[0033] Specifically, the route planning unit 7 calculates the travel time required for moving between adjacent sections S for all sections S in the movement area R. Specifically, the route planning unit 7 calculates the travel time required for the mobile body 13 to move from section S "A" to "B," "B" to "C," "C" to "D," and "D" to "E."

[0034] The route planning unit 7 sets the unit time so that the value obtained by dividing each of the calculated multiple travel times by the unit time is an approximate integer value. As described above, the travel time required to travel from "A" to "B" in section S is, for example, 2.0 seconds. As described above, the travel time required to travel from "B" to "C" in section S, from "C" to "D" in section S, and from "D" to "E" in section S is, for example, 1.5 seconds. For each of the travel times of 2.0 seconds and 1.5 seconds, the route planning unit 7 sets the unit time so that the value obtained by dividing the travel time by the unit time is an approximate integer value. When multiple unit times exist, the route planning unit 7 uses the largest unit time among the multiple unit times. For the unit times related to the travel times of 2.0 seconds and 1.5 seconds, the unit times that are integer values ​​(approximate integer values) are 0.1 seconds and 0.5 seconds. The route planning unit 7 sets the largest of these unit times, 0.5 seconds, as the unit time. The route planning unit 7 derives a movement plan for the moving body 13 so that the moving body 13 is located in one of the sections S every unit time (0.5 seconds).

[0035] 4 is a diagram showing an example of a movement plan for the moving object 13 derived by the route planning unit 7 according to this embodiment. As shown in FIG. 4, the movement plan includes a time [s] and a place (position). As shown in Figure 4, the movement plan for the moving body 13 is set so that section S of the movement area R is located at "A" when the time is 0 s, section S of the movement area R is located at "A" when the time is 0.5 s, section S of the movement area R is located at "A" when the time is 1.0 s, section S of the movement area R is located at "A" when the time is 1.5 s, section S of the movement area R is located at "B" when the time is 2.0 s, section S of the movement area R is located at "B" when the time is 2.5 s, section S of the movement area R is located at "B" when the time is 3.0 s, section S of the movement area R is located at "C" when the time is 3.5 s, section S of the movement area R is located at "C" when the time is 4.0 s, and section S of the movement area R is located at "C" when the time is 4.5 s.

[0036] In the movement plan shown in FIG. 4, when moving from "A" to "B" in section S, the time is set to 0 s to 2.0 s. The moving object 13 moves at an acceleration of 1 [m / s ２ ] and its maximum speed is 1 m / s, so it takes 2.0 seconds to accelerate from "A" (stopped state) in section S to "B". Therefore, the moving body 13 can move according to the movement plan. Furthermore, in the movement plan shown in FIG. 5, the time is set to 2.0 seconds to 3.5 seconds when moving from "B" to "C" in section S. Since the moving body 13 has a maximum speed of 1 m / s, it takes 1.5 seconds to move between adjacent sections S. Therefore, it is possible to move the moving body 13 according to the movement plan.

[0037] The calculation method of the unit time in the route planning unit 7 will be described in more detail. The time range of the movement plan, that is, the unit time, is assumed to be u. As an example, the unit time u is a rational number. In this case, the unit time u is expressed as follows: u=p ｕ / q ｕ It is expressed as p ｕ and q ｕ are relatively prime integers.

[0038] When there are N types of "time required to move through one section" that are calculated based on the movement relation value of the moving object 13, the N types of "time required to move through one section" are expressed as T １ , ..., T Ｎ In this case, T ｉ Let t be a rational number. ｉ = p ｉ / q ｉ Approximate by rational numbers. ｉ and q ｉ are relatively prime integers, where ε ｉ = (T ｉ -t ｉ ) / u is the approximation error. ｉ / u=(p ｉ q ｕ ) / (q ｉ p ｕ ) for any i is an integer, let u be the largest u ｍａｘ = p ｕ，ｍａｘ / q ｕ，ｍａｘ When expressed as p ｕ，ｍａｘ = GCD(p ｉ ), q ｕ，ｍａｘ = LCM(q ｉ ) is calculated by GCD(p ｉ ) is p １ , ..., p Ｎ The greatest common divisor of ｉ ) is q １ , …, q Ｎ is the least common multiple of the above. ｍａｘ Approximation error ε in ｉ = (T ｉ -t ｉ ) / u is included in the first error range or the second error range, the path planning unit 7 ｍａｘ is used as the unit time u. In this embodiment, the above-mentioned substantially integer value means a value that includes the first error range or the second error range.

[0039] The first error range or the second error range is defined as follows: In this embodiment, the first error range is ε ｉ<0.1. The first error range is an error range relating to a value relating to a specific "major movement" of the moving object 13. A "major movement" is a movement that appears frequently among the movements of the moving object 13, for example, a movement such as passing through one section S at the highest speed. In this embodiment, the second error range is ε ｉ <0.2. The second error range is an error range relating to the movements of the moving object 13 other than the above-mentioned "major movement movements."

[0040] In the above calculation method, if the value obtained by dividing the travel time by the unit time is not an approximate integer, that is, if the approximation error ε ｉ is not included in the first error range or the second error range, at least one of the movement-related values ​​of the moving object 13 is changed (changing step). In this embodiment, the route planning unit 7 may change at least one of the movement-related values, acceleration and maximum speed, or may change both the acceleration and maximum speed. After changing the movement-related values, the route planning unit 7 sets a unit time.

[0041] Based on the movement plan derived by the route planning unit 7, the access control management unit 11 sets an opening period for each of the multiple sections S for the moving body 13 corresponding to the movement plan (setting step). The opening period is a period during which the moving body 13 is permitted to enter each of the multiple sections S. An opening period during which the moving body 13 can enter can be set for each of the multiple sections S. In this embodiment, in a steady state, all of the multiple sections S in the movement region R do not grant entry permission to the moving body 13. That is, in the steady state, all of the multiple sections S in the movement region R are set to a non-open period (closed period) during which the moving body 13 cannot enter. In the steady state, all of the multiple sections S are set to a blocking section during which the moving body 13 is not permitted to enter. The steady state is a state in which no commands are given to the moving body 13. In the steady state, the access control management unit 11 sets an opening period for each section S from a state in which a non-open period is set for all of the multiple sections S in the movement region R.

[0042] The access control management unit 11 sets an open period including a margin section at least in front of or behind the moving body 13 in the direction of travel of the moving body 13 relative to the position corresponding to the time of the movement plan. A margin section is a section where contact with other moving bodies 13 can be avoided at the time of the movement plan. A margin section may include one or more sections S. FIG. 5 is a diagram showing an example of an open period set by the access control management unit 11. FIG. 5 shows times (T1 to T9) and sections S (A to H). In FIG. 5, unshaded areas indicate open periods, and shaded areas indicate closed periods (blocking sections).

[0043] As shown in FIG. 5 , at time T1, sections S "A," "B," and "C" are set to open periods, and sections S "D," "E," "F," "G," and "H" are set to closed periods. The open period set at time T1 includes two marginal sections ahead of the moving body 13 in the direction of travel. At time T2, sections S "A," "B," "C," and "D" are set to open periods, and sections S "E," "F," "G," and "H" are set to closed periods. The open period set at time T2 includes a total of three marginal sections ahead and behind the moving body 13 in the direction of travel. At time T3, sections S "B," "C," "D," and "E" are set to open periods, and sections S "A," "F," "G," and "H" are set to closed periods. The open period set at time T3 includes a total of three marginal sections ahead and behind the moving body 13 in the direction of travel.

[0044] At time T4, sections S "C," "D," and "E" are set to open periods, and sections S "A," "B," "F," "G," and "H" are set to closed periods. The open period set at time T4 includes a total of two spare sections, one in front of and one behind the moving body 13 in the direction of travel. At time T5, sections S "C," "D," and "E" are set to open periods, and sections S "A," "B," "F," "G," and "H" are set to closed periods. The open period set at time T5 includes a total of two spare sections, one in front of and one behind the moving body 13 in the direction of travel. At time T6, sections S "D" and "E" are set to open periods, and sections S "A," "B," "C," "F," "G," and "H" are set to closed periods. The open period set at time T6 includes one spare section behind the moving body 13 in the direction of travel.

[0045] At time T7, sections S "E" and "F" are set to open periods, and sections S "A", "B", "C", "D", "G", and "H" are set to closed periods. The open period set at time T7 includes one spare section ahead of the moving body 13 in the direction of travel. At time T8, sections S "E", "F", and "G" are set to open periods, and sections S "A", "B", "C", "D", "F", and "H" are set to closed periods. The open period set at time T8 includes two spare sections in total, one ahead and one behind the moving body 13 in the direction of travel. At time T9, sections S "F", "G", and "H" are set to open periods, and sections S "A", "B", "C", "D", and "E" are set to closed periods. The open period set at time T9 includes two spare sections in total, one ahead and one behind the moving body 13 in the direction of travel.

[0046] The access control management unit 11 sets an opening period at a fixed cycle based on the transport command output from the transport command management unit 3. If a change occurs in the transport command, the access control management unit 11 may set an opening period regardless of the fixed cycle. If the access control management unit 11 cannot complete setting of the opening period within the fixed cycle, it outputs opening information related to the opening period for which setting has been completed. In other words, if the access control management unit 11 cannot complete setting of the opening period within the fixed cycle, it outputs only opening information for which setting has already been completed within the period.

[0047] As described above, in the control system (control method) 1 according to this embodiment, based on a movement plan, an open period for each of a plurality of sections S is set for the moving body 13 corresponding to the movement plan. As a result, in the control system 1, the moving body 13 moves based on the open period (according to whether each section is accessible or not), thereby moving according to the movement plan. The movement plan is derived so that the plurality of moving bodies 13 do not come into contact with each other. Therefore, the control system 1 can move the moving bodies 13 according to the movement plan while avoiding contact between the moving bodies 13.

[0048] In the control system 1 according to this embodiment, the entry control management unit 11 sets an open period including a margin section at least in front of or behind the moving body 13 in the direction of travel relative to the position corresponding to the time of the movement plan. In this configuration, an open period can be set across multiple sections S.

[0049] In the control system 1 according to this embodiment, in a steady state, all of the multiple sections S in the movement region R do not grant entry permission to the moving body 13. The entry control management unit 11 sets open periods for the multiple sections S for the moving body 13 corresponding to the movement plan based on the movement plan. In this configuration, the open periods are set in a state where all of the multiple sections S are set as blocking sections that do not permit entry of the moving body 13.

[0050] Although the embodiments of the present invention have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present invention.

[0051] In the above embodiment, the unit time u is a rational number. However, the unit time u may be an irrational number. In this case, N types of "time required to move through one section" are expressed as T １ , ..., T Ｎ The value obtained by dividing these by the unit time is t ｉ =T ｉ / u. F(t ｉ ) to t ｉ the integer part of C(t ｉ ) to t ｉ The decimal part of is rounded up to the integer part. In this case, u is the largest u that is an integer for any i. ｍａｘ is t ｉ -F(t ｉ ) < ε ｉ or C(t ｉ ) -t ｉ <ε ｉ It is calculated as the maximum u that satisfies the following.

[0052] In the above embodiment, the mobile object 13 is described as a dolly, an OHT, an AGV, a stacker crane, or the like. However, the mobile object may also be an article that moves (is transported) by a conveyor. The mobile object moves on a conveyor having a movement area in which multiple compartments are set. The movement area may be a belt of the conveyor. The movement area has multiple compartments set by virtually dividing the belt.

[0053] In the above embodiment, an example has been described in which the access control management unit 11 is included in the management unit U. However, the control system 1 may be provided with one access control management unit 11 .

[0054] In the above embodiment, an example has been described in which, in a steady state, all of the multiple sections S in the movement region R are not open. However, in the steady state, all of the multiple sections S in the movement region R may grant entry permission to the moving body 13. That is, in the steady state, an open period in which the entry of the moving body 13 is permitted is set for all of the multiple sections S in the movement region R. In this case, the entry control management unit 11 sets the open period for the moving body 13 corresponding to the movement plan by assigning a closed period in which the moving body 13 cannot enter to the multiple sections S based on the movement plan.

[0055] 1...control system, 13...mobile body, R...mobile area, S...section.

Claims

A control method for moving a plurality of moving objects in a movement area in which a plurality of sections are set, comprising: an open period during which the moving object can enter can be set for each of the plurality of sections; a derivation step of deriving a movement plan including a time and a position of each of the plurality of moving bodies at the time so that the plurality of moving bodies do not come into contact with each other; A control method comprising: a setting step of setting the opening period of each of the plurality of sections for the moving body corresponding to the movement plan based on the movement plan derived in the derivation step. 　 The control method according to claim 1 , wherein the setting step sets the open period including a surplus section at least one of ahead and behind in a direction of travel of the moving body relative to the position corresponding to the time in the movement plan. 　 In a steady state, all of the plurality of sections of the movement area do not grant entry permission to the moving body, The control method according to claim 1 or 2, wherein the setting step sets the open periods of the sections for the moving object corresponding to the movement plan based on the movement plan. 　 In a steady state, all of the plurality of sections of the movement area grant entry permission to the moving body, 3. The control method according to claim 1, wherein the setting step sets the open periods for the moving object corresponding to the movement plan by assigning closed periods in which the moving object cannot enter a plurality of the sections based on the movement plan. 　 A control system for moving a plurality of moving objects in a moving area in which a plurality of sections are set, an open period during which the moving object can enter can be set for each of the plurality of sections; deriving a movement plan for each of the plurality of moving bodies, the movement plan including a time and a position of the moving body at the time, so that the plurality of moving bodies do not come into contact with each other; A control system that sets the opening period of each of the plurality of sections for the moving body corresponding to the movement plan based on the derived movement plan.

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