Control system

Abstract

The purpose of the present invention is to suppress a drop in productivity of an entire automatic driving system introduced in an area where automatic driving vehicles and workers coexist, and to ensure the safety of the workers. A control system according to the present invention comprises: a vehicle section setting unit that sets a vehicle blocked section indicating a section that has been set exclusively for a vehicle; a worker section setting unit that sets a first blocked section into which a worker can enter and a second blocked section that includes the first blocked section and into which the vehicle cannot enter; a buffer necessity determination unit that determines whether a buffer section must be set around the first blocked section; a vehicle communication unit that transmits, to the vehicle, a travel instruction within the vehicle blocked section; and a worker communication unit that transmits an instruction to allow the worker to work or move within the first blocked section. The vehicle section setting unit sets the vehicle blocked section while avoiding the second blocked section.

Description

control system

[0001] The present invention relates to a control system for an automated driving system.

[0002] In recent years, various efforts have been made to popularize autonomous driving, and one of these proposals is autonomous driving in limited areas, where the vehicle's operation method or driving range is limited. Since it is easier to ensure safety in such limited areas than in unrestricted areas such as on general roads, it is expected that autonomous driving in such limited areas will be promoted first.

[0003] Generally, when an autonomous driving system for limited areas is introduced in a factory, it is expected that workers and autonomous vehicles will coexist in the driving area, as workers may enter the driving area of ​​autonomous vehicles or may operate work vehicles into the driving area of ​​autonomous vehicles. Therefore, if a worker or work vehicle mistakenly enters the driving area, there is a possibility that the autonomous vehicle and the worker may come into contact.

[0004] Various prior art documents have disclosed techniques for preventing contact between autonomous vehicles and workers, and between work vehicles. Patent Document 1 discloses a technology for appropriately setting the area in which a work vehicle must work and preventing other work vehicles from entering until the work is completed.

[0005] Patent Document 2 discloses technology related to a vehicle management system including an autonomously traveling unmanned vehicle, a loading machine that performs loading operations on the unmanned vehicle, and a control station that performs vehicle dispatch management and traffic control for the unmanned vehicles. The loading machine of Patent Document 2 is equipped with a toe position calculation unit that calculates the toe position of the bucket based on information on the position, orientation, and angles of each joint of the loading machine. The control station of Patent Document 2 is equipped with an unmanned vehicle instruction unit that calculates a loading area for the unmanned vehicle and issues a call instruction or a departure instruction to the unmanned vehicle based on the calculated loading area and the toe position of the loading machine.

[0006] Patent Document 3 discloses a technology in which a protection area is set for a manned work machine, the protection area including a first protection area where new protection area setting request information is not sent, the first protection area including the position of the manned work machine, and a second protection area which is set along the periphery of the first protection area and where new protection area setting request information is sent; the area occupied by the body of the manned work machine on a plane projected onto the ground surface is calculated based on body information and position information which indicate the size of the body of the manned work machine; and if the occupied area is within the first protection area, new protection area setting request information is not sent, but if it is within the second protection area, the protection area setting request information is sent.

[0007] JP 2020-86779 A JP 2022-75200 A International Publication No. 2018 / 056231

[0008] The technology disclosed in Patent Document 1 prevents other work vehicles from entering the work area of ​​a work vehicle until the work of the other work vehicle is completed, which may cause the other work vehicles to stop. With the technology disclosed in Patent Document 1, when there are multiple autonomous vehicles or when there are vehicles other than autonomous vehicles engaged in their main duties (e.g., loading and unloading ships at a port), if one autonomous vehicle stops on the driving route of another autonomous vehicle, it may interfere with the driving of the other autonomous vehicle or the main duties of the other vehicle. Thus, with the technology disclosed in Patent Document 1, because other vehicles are stopped to prevent them from entering the work area, the productivity of the entire autonomous driving system may decrease.

[0009] The technologies disclosed in Patent Documents 2 and 3 set buffers in all cases, so if the area in which the buffer is set affects the driving of other vehicles, there is a possibility that the productivity of the entire autonomous driving system will decrease.

[0010] The present invention has been made in consideration of the above-mentioned problems, and aims to prevent a decline in the productivity of the entire autonomous driving system introduced in an area where autonomous vehicles and workers coexist, while ensuring the safety of workers.

[0011] The control system according to the present invention is a control system that is communicatively connected to a vehicle that travels by automatic driving within a control area and to a mobile terminal of a worker performing work within the control area, and controls the travel of the vehicle, and includes a map information storage unit that stores map information of the control area, a vehicle section setting unit that sets a vehicle block section indicating an exclusive section for the vehicle based on position information of the vehicle transmitted from the vehicle, a worker section setting unit that sets a first block section that the worker can enter and a second block section that includes the first block section and that the vehicle cannot enter, based on position information of the worker transmitted from the mobile terminal, and a worker section setting unit that sets a vehicle block section indicating an exclusive section for the vehicle based on position information of the worker transmitted from the mobile terminal. The vehicle communication unit transmits to the vehicle a driving instruction to instruct the vehicle to drive within the vehicle block section set by the vehicle section setting unit, and a worker communication unit transmits to the mobile terminal an instruction to allow the worker to work or move within the first block section set by the worker section setting unit, wherein the worker section setting unit sets the second block section according to the determination result of the buffer necessity determination unit, and the vehicle section setting unit sets the vehicle block section avoiding the second block section set by the worker section setting unit.

[0012] According to the present invention, it is possible to prevent a decrease in productivity of the entire automated driving system introduced in an area where automated driving vehicles and workers are mixed, and to ensure the safety of the workers. Other issues, components, and effects will become clear from the description of the following embodiments.

[0013] 14. A diagram showing the configuration of an autonomous driving system including a control system according to a first embodiment. FIG. 14 shows an example of a route a worker will take from a waiting area to a destination. FIG. 14 shows an example of a request screen on a mobile device of a worker. FIG. 14 shows an example of a response screen (permitted) on a mobile device of a worker. FIG. 14 shows an example of a response screen (not permitted) on a mobile device of a worker. A block diagram showing the configuration of a control system. FIG. 14 shows an example of blocked section information stored in a blocked section storage unit. FIG. 14 shows an example of vehicle information stored in a vehicle information storage unit. FIG. 14 shows an example of worker information stored in a worker information storage unit. A diagram explaining map information of a site. FIG. 14 shows an example of map information stored in a map information storage unit. FIG. 14 shows an example of setting standard information for when a worker is working, which is stored in a setting standard storage unit. FIG. 14 shows an example of setting standard information for when a worker is moving, which is stored in a setting standard storage unit. A flowchart showing the setting process for a first blocked section and a second blocked section performed by the control system. A flowchart showing details of step S105 of FIG. 14. A flowchart showing details of step S107 of FIG. 14. A flowchart showing details of step S108 of FIG. 14. 24. A flowchart showing details of step S109 in FIG. 14. A flowchart showing details of step S112 in FIG. 14. A flowchart showing processing for setting a vehicle block section performed by a control system. A diagram explaining specific examples of a first block section and a second block section that are set when a worker is scheduled to work. A diagram explaining specific examples of a first block section and a second block section that are set when a worker is scheduled to move. A diagram explaining a trigger when the worker's status transitions. A flowchart showing processing for setting a first block section and a second block section according to the second embodiment. A flowchart showing a continuation of FIG. 24. A flowchart showing details of step S112 in FIG. 24. A flowchart showing processing for setting a vehicle block section according to the second embodiment. A diagram showing an example of a request screen on a mobile device of a worker. A diagram showing an example of a response screen (not permitted) on a mobile device of a worker. A diagram showing an example of a partition installation instruction display screen on a mobile device of a worker. A diagram explaining the effect of installing a partition in accordance with a partition installation instruction. A block diagram showing the configuration of a control system according to a third embodiment. A diagram showing an example of upper limit speed information stored in an upper limit speed storage unit.10 is a flowchart showing the process of setting a vehicle block section according to a third embodiment. FIG. 11 is a diagram showing an example of setting standard information when an operator is moving, which is stored in a setting standard storage unit according to the third embodiment. FIG. 12 is a flowchart showing the process of setting a first block section and a second block section according to the third embodiment.

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that components with the same reference numerals in each embodiment have similar components in each embodiment unless otherwise specified, and description thereof will be omitted.

[0015] [First embodiment] A first embodiment of the present invention will be described with reference to Figures 1 to 23. Figure 1 is a diagram showing the configuration of an automated driving system 1 including a control system 10 according to the first embodiment.

[0016] 1 is primarily used in locations where a large number of materials are transported frequently, such as within a factory or at a port facility, and aims to automate and streamline transportation work in such locations. In the following, the location where the autonomous driving system 1 is operated will be referred to as a "site," and the autonomous driving system 1 will be described in detail.

[0017] The autonomous driving system 1 includes a control system 10 installed within a site that performs vehicle control within a control target area, and autonomous vehicles 20-1 and 20-2 that are controlled by the control system 10. Each of the autonomous vehicles 20-1 and 20-2 is a vehicle that can travel autonomously within the control target area of ​​the control system 10. The autonomous vehicles 20-1 and 20-2 automatically perform predetermined tasks (e.g., transportation tasks). Note that while the example in FIG. 1 shows two autonomous vehicles 20-1 and 20-2 traveling within the control target area, the number of autonomous vehicles is not limited to this. The autonomous vehicles 20-1 and 20-2 have an autonomous driving mode and a manual driving mode. Hereinafter, the autonomous vehicles 20-1 and 20-2 will also be collectively referred to as "vehicle 20."

[0018] 1, in addition to the vehicle 20, a work vehicle 50 and a worker 60 are also present within the controlled area, but these do not necessarily have to be present within the controlled area. The control system 10 sets vehicle blocked sections, which are exclusive sections where only the vehicle 20 can travel, and blocked sections (first blocked section and second blocked section) where only the worker 60 can travel. The control system 10 ensures safety within the site by setting all blocked sections so that they do not overlap.

[0019] Within the site, a vehicle travel area 40 is provided as an area such as a road on which the vehicle 20 can travel. Within the site, a waiting area 70 is provided as an area on which the vehicle 20 cannot travel and which can be used by the worker 60. In the vehicle travel area 40, parking spaces 40-21 to 40-28 are provided where the vehicle 20 can temporarily stop for work such as loading, unloading, or inspection. While the example in FIG. 1 shows an example in which parking spaces 40-21 to 40-28 are provided, the number of parking spaces is not limited to this. The vehicle travel area 40 also includes a walkway 40-1 for the worker 60, which allows access from the waiting area 70 to all of the parking spaces 40-21 to 40-28. To enable the worker 60 to visually recognize the boundaries, dividing lines are provided on the ground within the site at locations corresponding to the boundaries between the walkway 40-1 and all of the parking spaces 40-21 to 40-28. Hereinafter, parking spaces 40-21 to 40-28 will be collectively referred to as "parking space 40-2."

[0020] The worker 60 mainly performs tasks such as loading, unloading, and inspection in the parking space 40-2, but may also transport luggage between the waiting area 70 and the parking space 40-2. The worker 60 mainly transports luggage using a forklift or a dolly, but may also carry luggage with both hands. To move within the vehicle travel area 40, the worker 60 must notify the control system 10 of his / her current location and destination and inquire with the control system 10 whether the movement is permitted. To work in the parking space 40-2, the worker 60 must notify the control system 10 of his / her current location and the work content and inquire with the control system 10 whether the work is permitted. The worker 60 cannot move or start work without permission from the control system 10. In this embodiment, the vehicle travel area 40, the sidewalk 40-1, and the parking space 40-2 are areas under the control of the control system 10.

[0021] FIG. 2 is a diagram showing an example of a movement route of the worker 60 from the waiting area 70 to the destination.

[0022] For example, when a worker 60 moves from the waiting area 70 to the destination parking space 40-24, the worker notifies the control system 10 of the current location of the waiting area 70 and the destination parking space 40-24, and inquires of the control system 10 whether the movement is permitted. The control system 10 confirms the safety of the movement route from the current location of the worker 60 to the destination, and after completing the setting of a blocked section for the worker 60, notifies the worker 60 of the movement route and an instruction to permit the movement. The control system 10 sets the route from the waiting area 70 to the parking space 40-2 via the sidewalk 40-1 as the movement route for the worker 60, as shown in FIG. 2. The control system 10 also instructs the worker 60 to move within the boundary of the sidewalk 40-1.

[0023] Fig. 3 is a diagram showing an example of a request screen on the mobile terminal of the worker 60. Fig. 4 is a diagram showing an example of a response screen (permission) on the mobile terminal of the worker 60. Fig. 5 is a diagram showing an example of a response screen (denial) on the mobile terminal of the worker 60.

[0024] FIG. 3 shows an example of a screen displayed on the mobile device of the worker 60 when the worker 60 makes a request to the control system 10, for example, when inquiring about work or travel permission. The top of the screen shown in FIG. 3 displays the message "1. Select your current location and destination from the map. If work is planned, please select the same location as your current location and destination." The message also displays map information for the site. The worker 60 can select his / her current location and destination from the map information. The map information allows the worker 60 to select only the parking space 40-2 where the vehicle 20 is parked and the waiting area 70, but does not allow other locations (e.g., the sidewalk 40-1 or the parking space 40-2 where the vehicle 20 is not parked). The selectable areas are limited because the work in this embodiment is limited to work related to the vehicle 20 parked in the parking space 40-2. The locations that the worker 60 can select can be changed as appropriate depending on the actual operational status of the autonomous driving system 1. For example, in order to accommodate work such as cleaning to be performed on the vacant parking space 40-2, the vacant parking space 40-2 may be selectable. Also, to enable the worker 60 to recognize which areas can be selected from the map information, selectable areas are highlighted in different colors, etc. A legend indicating selectable areas and non-selectable areas is displayed near the map information.

[0025] The bottom of the screen shown in FIG. 3 displays items for inputting the details of the schedule, the work, additional information, etc., that the worker 60 is inquiring about. Specifically, the bottom of the screen shown in FIG. 3 displays a message saying, "2. Please select the following items." Furthermore, to allow the worker 60 to select detailed items, the left side of the bottom of the screen shown in FIG. 3 displays a message saying, "Please select a schedule," and a pull-down schedule selection screen, from which the worker 60 can select a schedule. Two options are available for this option: "Move" or "Work." The center of the bottom of the screen shown in FIG. 3 displays a message saying, "Please select the work content," and a pull-down work content selection screen, from which the worker 60 can select the work content. Three options are available for this option: "Inspection," "Unloading," or "Loading." The right side of the bottom of the screen shown in FIG. 3 displays a message saying, "Please select additional information," and a pull-down additional information selection screen, from which the worker 60 can select additional information. The four options that can be selected in this item are "no luggage transport," "luggage transport with both hands," "luggage transport with forklift," and "luggage transport on cart." In other words, the additional information is information related to the transportation of luggage involved in the work. Note that the selection items shown in FIG. 3 are merely examples and can be changed as appropriate depending on the actual operating conditions of the autonomous driving system 1. Also, a "send" button is displayed at the bottom of the screen shown in FIG. 3. When the worker 60 presses this button, the information selected by the worker 60 is sent to the control system 10. The "send" button is set so that it cannot be pressed unless all selection items have been selected.

[0026] 4 shows an example of a screen displayed on the mobile terminal of the worker 60 when the control system 10 responds to the request of the worker 60 (in the case of permission). When the control system 10 responds with permission to the worker 60's inquiry about movement permission, the screen shown in FIG. 4 displays a message saying "Movement permitted. Please check the permitted area and move within the boundaries of the sidewalk," along with map information. This map information displays the first block section set for the worker 60, the current position, and the destination as the permitted movement area.

[0027] When the operator 60 responds with permission to the inquiry about work permission, the screen shown in Fig. 4 displays the message "Work permission granted. Please check the workable area and work within the boundaries." along with map information. This map information displays the first blocked section set for the operator 60 as the workable area. In addition, the screen shown in Fig. 4 displays a legend indicating the movable area and the non-movable area near the map information to make it easier for the operator 60 to confirm.

[0028] FIG. 5 shows an example of a screen displayed on the mobile device of the worker 60 when the control system 10 responds to the request of the worker 60 (in the case of denial). When the control system 10 responds with denial in response to the worker 60's request for movement permission, the screen shown in FIG. 5 displays a message saying, "Movement permission is not permitted. Please wait in the following movement-permitted area. Please contact us again after some time has passed." along with map information. This map information displays the movement-permitted area. In this case, since movement is not permitted, the movement-permitted area is configured by the first block section for the worker 60 stored in the block section storage unit 102 before the update. If the block section storage unit 102 does not store the first block section for the worker 60, the movement-permitted area is configured by the parking space 40-2, which is the current location of the worker 60, or the waiting area 70.

[0029] If the response to the inquiry about work permission for the worker 60 is denial, the screen shown in FIG. 5 displays the message "Work permission is not permitted. Please wait in the following movable area. Please inquire again after a while." along with map information. In this case, since the movable area is not permitted for work, it is configured by the first blocked section for the worker 60 stored in the blocked section storage unit 102 before updating. If the first blocked section for the worker 60 is not stored in the blocked section storage unit 102, the movable area is configured by the parking space 40-2, which is the current location of the worker 60, or the waiting area 70.

[0030] FIG. 6 is a block diagram showing the configuration of the control system 10.

[0031] The control system 10 is a system that is communicatively connected to a vehicle 20 that travels autonomously within a control area (specifically, a vehicle travel area 40) and a mobile terminal of a worker 60 that performs work within the control area, and controls the travel of the vehicle 20. The vehicle 20 is controlled by the control system 10 through wireless communication with the control system 10. The vehicle 20 travels within the control area and automatically performs predetermined work in accordance with the control from the control system 10. The mobile terminal of the worker 60 also notifies the control system 10 of the travel destination, work content, etc. through wireless communication with the control system 10. The control system 10 also notifies the worker 60 of instructions such as work permission, travel permission, or travel route, etc., through wireless communication with the mobile terminal of the worker 60.

[0032] 6 , the control system 10 includes functional blocks, such as a vehicle information storage unit 101, a blocked section storage unit 102, a worker information storage unit 103, a vehicle section setting unit 104, a worker section setting unit 105, an instruction generation unit 106, a buffer necessity determination unit 107, a buffer calculation unit 108, a map information storage unit 109, a setting standard storage unit 1010, a vehicle communication unit 1011, and a worker communication unit 1012. In the control system 10, these functional blocks are realized, for example, by a CPU executing a predetermined program or by using a recording medium such as an HDD or SSD.

[0033] The vehicle information storage unit 101 stores vehicle information such as the ID, driving mode, current position, current speed, vehicle width, destination, and data update time of each vehicle 20. Of the vehicle information, the current position, current speed, driving mode, and destination are transmitted from the vehicle 20. The vehicle information stored in the vehicle information storage unit 101 is read out by the vehicle section setting unit 104 and used in processes such as setting vehicle block sections.

[0034] The block section storage unit 102 stores block section information, which is information about each block section (including buffer sections) set for the vehicle 20 and the worker 60. The block section storage unit 102 stores, as the block section information, the ID of each worker 60 or each vehicle 20, the block section, the data update time, and the type of worker 60 or vehicle 20. The block section information stored in the block section storage unit 102 is read out by the vehicle section setting unit 104 or the worker section setting unit 105, and is used in processing such as setting each block section.

[0035] The worker information storage unit 103 stores, as worker information, the ID, status, current location, destination, work content, additional information related to the transportation of luggage associated with the work, and data update time of each worker 60. The worker information stored in the worker information storage unit 103 is read out by the worker section setting unit 105 and used in processes such as setting the first block section and the second block section.

[0036] The vehicle section setting unit 104 sets a vehicle block section that indicates an exclusive section for the vehicle 20, based on the position information of the vehicle 20 transmitted from the vehicle 20. Every time an update request for the vehicle block section is input from the vehicle communication unit 1011, the vehicle section setting unit 104 reads out the vehicle information stored in the vehicle information storage unit 101 and the block section information stored in the block section storage unit 102, and sets the vehicle block section. At this time, the vehicle section setting unit 104 sets the vehicle block section so as to avoid the second block section set by the worker section setting unit 105. The vehicle section setting unit 104 updates the block section information stored in the block section storage unit 102, based on the set vehicle block section.

[0037] The worker section setting unit 105 sets a first block section and a second block section, which are block sections for the worker 60, based on the position information of the worker 60 transmitted from the mobile terminal of the worker 60. The first block section is a section that the worker 60 can enter. The second block section is a section that encompasses the first block section and into which the vehicle 20 cannot enter. The first block section is encompassed by the second block section into which the vehicle 20 cannot enter, and therefore is a section into which the vehicle 20 cannot enter.

[0038] Each time an update request for the first block section and the second block section is input from the worker communication unit 1012, the worker section setting unit 105 reads out the worker information stored in the worker information storage unit 103 and the block section information stored in the block section storage unit 102. Then, the worker section setting unit 105 sets the first block section and the second block section according to the determination result of the buffer necessity determination unit 107 and the calculation result of the buffer calculation unit 108. In other words, the worker section setting unit 105 sets the second block section according to the determination result of the buffer necessity determination unit 107. The worker section setting unit 105 updates the block section information stored in the block section storage unit 102 based on the set first block section and second block section.

[0039] In response to an inquiry about work or movement permission from the mobile device of the worker 60, the instruction generation unit 106 generates an instruction of permission or denial based on the information output from the worker section setting unit 105, and transmits the instruction to the mobile device of the worker 60 via the worker communication unit 1012. If an instruction of permission is generated, the instruction generation unit 106 also transmits the first blocked section (blocked section presented to the worker 60) set by the worker section setting unit 105 to the mobile device of the worker 60 via the worker communication unit 1012. The instruction to permit movement or work generated by the instruction generation unit 106 is an instruction to permit the worker 60 to work or move within the first blocked section set by the worker section setting unit 105.

[0040] The buffer necessity determination unit 107 determines whether or not it is necessary to set a buffer section around the first blocked section, based on the map information stored in the map information storage unit 109. Every time a buffer section determination request is input from the worker section setting unit 105, the buffer necessity determination unit 107 reads the map information from the map information storage unit 109 and determines whether or not it is necessary to set a buffer section.

[0041] The buffer calculation unit 108 calculates a buffer section to be set around the first block section based on the setting criteria for the buffer section stored in the setting criteria storage unit 1010 and the map information stored in the map information storage unit 109. Every time a buffer section calculation request is input from the worker section setting unit 105, the buffer calculation unit 108 reads the map information from the map information storage unit 109 and the setting criteria from the setting criteria storage unit 1010, and calculates the buffer section based on this information.

[0042] The map information storage unit 109 stores map information of the control area. The map information storage unit 109 stores, as map information, information defining the vehicle driving area 40, the sidewalk 40-1, the parking space 40-2, the waiting area 70, and the installation locations of the partitions 90 within the site. The map information storage unit 109 stores coordinate information for these defining information. The map information stored in the map information storage unit 109 is read by the buffer necessity determination unit 107 or the buffer calculation unit 108 and is used in processes such as determining whether a buffer section needs to be set up or calculating the buffer section. The partitions 90 in this embodiment may be fixed protective or barrier fences such as guardrails or fences, or may be temporary protective or barrier fences made of panels, ropes, or the like that can be easily installed and removed by the workers 60.

[0043] The setting criterion storage unit 1010 stores setting criteria for setting a buffer section. The setting criterion storage unit 1010 stores different setting criteria depending on the characteristics of the work or movement performed by the worker 60. The setting criteria stored in the setting criterion storage unit 1010 are read out by the buffer calculation unit 108 and used in processes such as calculation of the buffer section.

[0044] The vehicle communication unit 1011 communicates with the vehicle 20 via the network 11 and the wireless communication equipment 12. The vehicle communication unit 1011 receives position information, speed information, etc. of the vehicle 20 transmitted from the vehicle 20. The vehicle communication unit 1011 updates the vehicle information stored in the vehicle information storage unit 101 based on the information received from the vehicle 20. Furthermore, the vehicle communication unit 1011 outputs an update request for the vehicle block section to the vehicle section setting unit 104 every time it receives information from the vehicle 20. The vehicle communication unit 1011 transmits to the vehicle 20 the vehicle block section set by the vehicle section setting unit 104 and a driving instruction instructing the vehicle 20 to drive within the vehicle block section.

[0045] The worker communication unit 1012 communicates with the mobile terminal of the worker 60 via the network 11 and the wireless communication equipment 12. The worker communication unit 1012 receives the position information, destination, work content, additional information, etc. of the worker 60 transmitted from the mobile terminal of the worker 60. The worker communication unit 1012 updates the worker information stored in the worker information storage unit 103 based on the information received from the mobile terminal of the worker 60. Furthermore, the worker communication unit 1012 outputs an update request for the first blocked section and the second blocked section to the worker section setting unit 105 every time it receives information from the mobile terminal of the worker 60. The worker communication unit 1012 transmits the instruction generated by the instruction generation unit 106 to the mobile terminal of the worker 60. At this time, when a permission instruction for movement or work is generated by the instruction generation unit 106, the worker communication unit 1012 transmits the permission instruction and the first blocked section set by the worker section setting unit 105 to the mobile terminal of the worker 60.

[0046] FIG. 7 is a diagram showing an example of the blocked section information stored in the blocked section storage unit 102. As shown in FIG.

[0047] The block section information 110 stored in the block section storage unit 102 has a data structure and data content as shown in Fig. 7. The block section information 110 has a record set for each worker 60 or vehicle 20. Each record has data such as a worker ID or vehicle ID number 111, a first block section or vehicle block section 112, a second block section 113, an update time 114, and a type 115 of the worker 60 or vehicle 20.

[0048] The worker ID or vehicle ID number 111 stores information for identifying the mobile terminal of each worker 60 or information for identifying each vehicle 20 .

[0049] The first block section or vehicle block section 112 stores coordinate information defining the first block section set by the worker section setting unit 105 as the block section to be presented to the worker 60. For example, if the first block section is rectangular, specific coordinate information of the rectangle's corners is stored. Furthermore, if the first block section is made up of multiple rectangles, specific coordinate information of the multiple rectangles is stored, as shown in the second row of FIG. 7. Furthermore, the first block section or vehicle block section 112 stores coordinate information defining the vehicle block section set by the vehicle section setting unit 104 as the block section to be presented to the vehicle 20.

[0050] The second block section 113 stores coordinate information defining the second block section, which is an area allowing entry of the worker 60 and which includes a buffer section around the first block section. For example, if the second block section is rectangular, specific coordinate information of the rectangle's corners is stored. Also, if the second block section is made up of multiple rectangles, specific coordinate information of the multiple rectangles is stored, as shown in the second row of FIG. 7. Since no buffer section is set in the vehicle block section, if the worker ID or vehicle ID number 111 indicates a vehicle 20, NULL is stored in the second block section 113. For a vehicle 20 whose driving mode is manual, a second block section including a buffer section around the vehicle block section may be set.

[0051] If the status of worker 60 is the status at the time of the inquiry for permission to work or move, the first and second blocked sections for work or move have not been updated, and therefore the coordinate information stored in first blocked section or vehicle blocked section 112 and the coordinate information stored in second blocked section 113 are information stored before the inquiry. If the response to the inquiry is "not permitted," the status of worker 60 does not change and the first and second blocked sections are not updated, and therefore the coordinate information stored in first blocked section or vehicle blocked section 112 and the coordinate information stored in second blocked section 113 are information stored before the inquiry.

[0052] The time when the content of each record was last updated is stored in the update time 114. Note that each record of the block section information 110 is updated every time the vehicle section setting unit 104 sets a vehicle block section or every time the worker section setting unit 105 sets a first block section or a second block section.

[0053] The type 115 of worker 60 or vehicle 20 stores information for distinguishing whether the record is a record of a worker 60 or a record of a vehicle 20 .

[0054] FIG. 8 is a diagram showing an example of vehicle information stored in the vehicle information storage unit 101. As shown in FIG.

[0055] The vehicle information 120 stored in the vehicle information storage unit 101 has a data structure and data contents as shown in Fig. 8. The vehicle information 120 has a record set for each vehicle 20. Each record has data such as a vehicle ID 121, a driving mode 122, a position 123, a speed 124, a vehicle width 125, a destination 126, and an update time 127.

[0056] The vehicle ID 121 stores information for identifying each vehicle 20. The driving mode 122 stores the driving mode of each vehicle 20. The driving modes include an automatic driving mode and a manual driving mode. The position 123 stores coordinate information of the current position of each vehicle 20 in the map information of the site. The speed 124 stores the traveling speed of each vehicle 20. The vehicle width 125 stores the vehicle width of each vehicle 20. The destination 126 stores coordinate information of the destination of each vehicle 20 in the map information of the site. The update time 127 stores the time when the contents of each record were last updated. Note that each record of the vehicle information 120 is updated every time the vehicle communication unit 1011 receives information from the vehicle 20.

[0057] FIG. 9 is a diagram showing an example of worker information stored in the worker information storage unit 103.

[0058] The worker information 130 stored in the worker information storage unit 103 has a data structure and data content as shown in Fig. 9. The worker information 130 has a record set for each worker 60. Each record has data such as a worker ID 131, a status 132, a location 133, a destination 134, a task 135, additional information 136, and an update time 137.

[0059] The worker ID 131 stores information for identifying the mobile terminal of the worker 60. The status 132 stores the status of the worker 60. There are four statuses for the worker 60, for example, inquiry about work permission, inquiry about travel permission, working, or traveling. Details of the status of the worker 60 managed by the control system 10 will be described later using FIG. 23 .

[0060] The location 133 stores the current location of the worker 60, indicated by the location information received from the mobile device of the worker 60. The location 133 may store coordinate information of the current location of the worker 60 in the map information of the site, but in this embodiment, the name of the area in which the worker 60 is currently located is stored. For example, if the mobile device of the worker 60 receives information that the current location is the waiting area 70, the location 133 stores the waiting area 70. The current location that the worker 60 can specify is limited to locations such as the waiting area 70 or parking space 40-2. The destination 134 may store coordinate information of the destination in the map information of the site, but in this embodiment, the name of the area in which the destination is received from the mobile device of the worker 60 is stored. For example, if the mobile device of the worker 60 receives information that the destination is parking space 40-21, the destination 134 stores the parking space 40-21. The destination that the worker 60 can specify is limited to locations such as the waiting area 70 or parking space 40-2.

[0061] The work content 135 stores the work content received from the mobile terminal of the worker 60. The work content may be, for example, loading, unloading, or inspection. The additional information 136 stores the additional information received from the mobile terminal of the worker 60. The additional information is used when the buffer necessity determination unit 107 determines whether or not a buffer section needs to be set. The additional information 136 stores, for example, whether the luggage is transported by forklift, whether or not the luggage is transported by cart, whether or not the luggage is transported with both hands, or whether or not the luggage is transported. The update time 137 stores the time when the content of each record was last updated. Note that each record in the worker information 130 is updated every time the worker communication unit 1012 receives information from the mobile terminal of the worker 60.

[0062] 10 is a diagram illustrating map information of a site. FIG. 11 is a diagram illustrating an example of map information stored in the map information storage unit 109.

[0063] The map information storage unit 109 manages map information of the site as a map plan view, as shown in Fig. 10. The map information storage unit 109 places the plan view of the site in a coordinate system and manages coordinate information of various areas within the map.

[0064] The map information 140 stored in the map information storage unit 109 has a data structure and data contents as shown in Fig. 11. The map information 140 has a record of a range 142 for each area 141.

[0065] The area 141 stores the name of each area of ​​the site. The range 142 stores coordinate information defining each area. For example, since the parking space 40-2 or the waiting area 70 is rectangular, the range 142 stores specific coordinate information for each corner of the rectangle. The walkway 40-1 is made up of multiple rectangles, so the range 142 stores specific coordinate information for each corner of the multiple rectangles. The partition 90 is shaped like a line segment, so the range 142 stores specific coordinate information for both ends of the line segment.

[0066] FIG. 12 is a diagram showing an example of setting reference information stored in the setting reference storage unit 1010 when the worker 60 is working.

[0067] The setting standard information 150 stored in the setting standard storage unit 1010 when the worker 60 is working has the data structure and data content as shown in Fig. 12. The setting standard information 150 includes data on a task classification 151, a task content 152, additional information 153, and a setting standard 154 for a buffer section.

[0068] The work classification 151 stores the classification of work performed within the site. In the example shown in FIG. 12 , the work is divided into two categories: (1) work with easily recognizable boundaries, and (2) work with difficult to recognize boundaries. Work with easily recognizable boundaries refers to work in which the worker 60 can easily recognize the demarcation lines that are set on the ground within the site and indicate the boundaries of each area while working. Work with easily recognizable boundaries refers to work in which the worker 60 can easily recognize the demarcation lines that are set on the ground within the site and indicate the boundaries of each area while working.

[0069] The work content 152 stores the work content (loading, unloading, inspection, etc.) to be performed within the site. The additional information 153 stores additional information related to the transportation of luggage associated with the work. For example, the additional information 153 stores whether luggage is transported using a forklift, a dolly, with both hands, or no luggage is transported. The buffer section setting criteria 154 stores a specific value of the size to be set as the buffer section based on a combination of the work content 152 and the additional information 153. The specific value of the size to be set as the buffer section is set according to the situation at the site. Note that the setting criteria information 150 shown in FIG. 12 is an example, and the data stored in the work content 152, the additional information 153, and the setting criteria 154 may be changed according to the situation at the site.

[0070] FIG. 13 is a diagram showing an example of setting reference information stored in the setting reference storage unit 1010 when the operator 60 moves.

[0071] The setting standard information 155 stored in the setting standard storage unit 1010 when the worker 60 is moving has the data structure and data content as shown in Fig. 13. The setting standard information 155 has data on a movement classification 156, information on movement 157, and setting standards 158 for a buffer section.

[0072] The movement classification 156 stores the classification of movements performed within the site. In the example shown in FIG. 13 , movements are classified into two categories: (1) movements with easily recognizable boundaries, and (2) movements with difficult to recognize boundaries. Movements with easily recognizable boundaries refer to movements in which the worker 60 can easily recognize the demarcation lines that indicate the boundaries of each area on the ground within the site while moving. Movements in which the worker 60 can easily recognize the demarcation lines that indicate the boundaries of each area on the ground within the site while moving.

[0073] The in-transit information 157 stores in-transit information, which is information related to the transportation of luggage during transportation. For example, the in-transit information 157 stores whether the luggage is transported by forklift, by dolly, by both hands, or no luggage is transported. The buffer section setting criteria 158 stores a specific value of the size to be set as the buffer section based on the in-transit information 157. The specific value of the size to be set as the buffer section is set according to the situation at the site. Note that the setting criteria information 155 shown in FIG. 13 is an example, and the data stored in the in-transit information 157 and the setting criteria 158 may be changed according to the situation at the site.

[0074] 12 and 13 , the setting criteria storage unit 1010 stores different setting criteria for the buffer section depending on the classification of the work or movement performed by the worker 60. The setting criteria storage unit 1010 stores different setting criteria depending on the work content of the work performed by the worker 60 and additional information related to the transportation of luggage accompanying the work. The setting criteria storage unit 1010 stores different setting criteria for the buffer section depending on in-motion information related to the transportation of luggage when the worker 60 moves.

[0075] The buffer calculation unit 108 calculates buffer sections of different sizes according to set criteria corresponding to the classification of work or movement performed by the worker 60. The buffer calculation unit 108 calculates buffer sections of different sizes according to set criteria corresponding to the work content and additional information. The buffer calculation unit 108 calculates buffer sections of different sizes according to set criteria corresponding to the movement information.

[0076] 14 is a flowchart showing the process of setting the first blocked section and the second blocked section performed by the control system 10. This flowchart starts when the worker communication unit 1012 receives an inquiry about work or movement permission from the mobile terminal of the worker 60.

[0077] First, the worker communication unit 1012 receives information such as an inquiry about work or travel permission, the current location of the worker 60, the destination, the work content, and additional information from the mobile terminal of the worker 60 (step S101). Based on the received information, the worker communication unit 1012 updates the worker information stored in the worker information storage unit 103 (step S102) and outputs a request to update the blocked section to the worker section setting unit 105 (step S103). The worker section setting unit 105 acquires worker information (inquiry type, current location, destination, work content, and additional information) from the worker information storage unit 103 and acquires blocked section information from the blocked section storage unit 102 (step S104).

[0078] Next, the operator section setting unit 105 determines whether a first blocked section can be set for the operator 60 (step S105). Details of the process by which the operator section setting unit 105 determines whether a first blocked section can be set will be described later using FIG. 15 . If it is determined that the setting is not possible (NO), information indicating that the setting is not possible is output to the instruction generating unit 106, and the instruction generating unit 106 generates a non-permission instruction for the operator 60 (step S112). In this case, information about the first blocked section is not output to the instruction generating unit 106. Details of the process by which the instruction generating unit 106 generates an instruction will be described later using FIG. 19 . If it is determined that the setting is possible (YES), the operator section setting unit 105 temporarily sets the first blocked section as an internal variable (step S106).

[0079] Next, the worker section setting unit 105 outputs a buffer section determination request, worker information, information on the first block section, and the like to the buffer necessity determination unit 107. The buffer necessity determination unit 107 reads map information from the map information storage unit 109, determines whether a buffer section needs to be set based on the information output from the worker section setting unit 105 and the map information, and outputs the determination result to the worker section setting unit 105 (step S107). Details of the process by which the buffer necessity determination unit 107 determines whether a buffer section needs to be set will be described later with reference to FIG. 16 . If it is determined that a buffer section does not need to be set (NO), the worker section setting unit 105 sets the second block section for the worker 60 to the same section as the provisionally set first block section (step S110). If it is determined that a buffer section needs to be set (YES), the worker section setting unit 105 outputs a buffer section calculation request, worker information, information on the provisionally set first block section, and the like to the buffer calculation unit 108. The buffer calculation unit 108 calculates the buffer section and outputs the calculation result to the worker section setting unit 105 (step S108). Details of the process by which the buffer calculation unit 108 calculates the buffer section will be described later with reference to FIG.

[0080] Next, the operator section setting unit 105 determines whether a second block section can be set for the operator 60 (step S109). If it is determined that the second block section cannot be set (NO), the operator section setting unit 105 cancels the first block section provisionally set in step S106 and outputs information indicating that the second block section cannot be set to the instruction generation unit 106 (step S114). In this case, information about the first block section is not output to the instruction generation unit 106. The instruction generation unit 106 generates a non-permission instruction for the operator 60 (step S112). If it is determined that the second block section can be set (YES), the operator section setting unit 105 provisionally sets the second block section as an internal variable (step S110). In this case, the operator section setting unit 105 provisionally sets a section obtained by adding the buffer section calculated by the buffer calculation unit 108 to the periphery of the first block section as the second block section. Details of the process by which the operator section setting unit 105 determines whether the second block section can be set will be described later with reference to FIG. 18 .

[0081] Next, the operator section setting unit 105 officially sets the provisionally set first and second blocked sections, and updates the first and second blocked sections associated with the operator 60, which are included in the blocked section information in the blocked section storage unit 102 (step S111). The operator section setting unit 105 then outputs information about the first blocked section and the operator information to the instruction generation unit 106. The instruction generation unit 106 generates a permission instruction for the operator 60 (step S112). The operator communication unit 1012 transmits the instruction generated by the instruction generation unit 106 to the mobile device of the operator 60 (step S113). The control system 10 then terminates the processing shown in FIG. 14 .

[0082] Fig. 15 is a flowchart showing the details of step S105 in Fig. 14. This flowchart starts after an update request for the first blocked section is input to the worker section setting unit 105 from the worker communication unit 1012 and the worker section setting unit 105 acquires worker information and blocked section information.

[0083] First, the worker section setting unit 105 acquires map information from the map information storage unit 109 (step S1051). The worker section setting unit 105 determines whether the worker 60 is scheduled to move based on the worker 60's status (work or movement permission inquiry) (step S1052). If the worker 60 is scheduled to move (YES), the worker section setting unit 105 provisionally sets the walkway 40-1 to the destination and the parking space 40-2 at the destination as a first blocked section (step S1056). Furthermore, the waiting area 70 is not included in the first blocked section, whether it is the destination or the current location. If the worker 60 is scheduled to work (NO), the parking space 40-2 where the worker 60 is currently located is provisionally set as a first blocked section (step S1053).

[0084] Next, the worker section setting unit 105 determines whether the provisionally set first blocked section overlaps with other blocked sections (step S1054). Specifically, the worker section setting unit 105 determines whether the provisionally set first blocked section overlaps with all other vehicle blocked sections. In addition, although the provisionally set first blocked section may basically overlap with the second blocked section of another worker 60, since a worker 60 whose additional information is "transport luggage by forklift" may be operating a forklift, it is necessary to set the provisionally set first blocked section so that it does not overlap with the second blocked section of that worker 60. Therefore, the worker section setting unit 105 also determines whether the provisionally set first blocked section overlaps with the second blocked section of a worker 60 whose additional information is "transport luggage by forklift."

[0085] If the provisionally set first block section overlaps with another block section (a vehicle block section or a second block section for a worker 60 whose additional information is "transport luggage by forklift") (YES), the worker section setting unit 105 determines that the first block section cannot be set (step S1057). If the provisionally set first block section does not overlap with another block section (a vehicle block section or a second block section for a worker 60 whose additional information is "transport luggage by forklift") (NO), the worker section setting unit 105 determines that the first block section can be set (step S1055). Thereafter, the worker section setting unit 105 ends the processing shown in FIG. 15 .

[0086] Fig. 16 is a flowchart showing the details of step S107 in Fig. 14. This flowchart starts when a buffer section determination request is input from the worker section setting unit 105 to the buffer necessity determining unit 107.

[0087] First, the buffer necessity determination unit 107 acquires a buffer section determination request, worker information, and information on the first blocked section from the worker section setting unit 105 (step S1071). The buffer necessity determination unit 107 acquires map information from the map information storage unit 109 (step S1072).

[0088] Next, the buffer necessity determination unit 107 determines whether a buffer section needs to be set based on the map information and the first blocked section (step S1073). Specifically, the buffer necessity determination unit 107 compares all edges of the first blocked section with the map information. It is not necessary to set a buffer section on edges adjacent to the partition 90. If a buffer section does not need to be set on all edges of the first blocked section (NO), the buffer necessity determination unit 107 determines that a buffer section is not needed and generates a determination result indicating that a buffer section is not needed (step S1076). If a buffer section needs to be set on at least one edge of the first blocked section (YES), the buffer necessity determination unit 107 determines that a buffer section needs to be set, generates a determination result indicating that a buffer section is needed, and identifies a location where a buffer section needs to be set (hereinafter also referred to as a "buffer-needed location") (step S1074). Then, the buffer necessity determination unit 107 outputs the determination result and information on the buffer-needed location (the side of the first blocked section where a buffer section needs to be set) to the operator section setting unit 105 (step S1075). Thereafter, the buffer necessity determining unit 107 ends the processing shown in FIG.

[0089] Fig. 17 is a flowchart showing the details of step S108 in Fig. 14. This flowchart starts when a buffer section calculation request is input from the worker section setting unit 105 to the buffer calculation unit 108.

[0090] First, the buffer calculation unit 108 acquires a buffer section calculation request, worker information, the first blocked section, and information on locations requiring a buffer from the worker section setting unit 105 (step S1081). The buffer calculation unit 108 acquires map information from the map information storage unit 109 and acquires setting criteria for the buffer section from the setting criteria storage unit 1010 (step S1082).

[0091] Next, the buffer calculation unit 108 calculates a buffer section based on the setting criteria for the buffer section, the first blocked section, the location requiring a buffer, and the map information (step S1083). Specifically, the buffer calculation unit 108 calculates a rectangular section as the buffer section. For example, the buffer calculation unit 108 sets the length of the side indicated by the location requiring a buffer in the first blocked section as the length of the rectangular buffer section, and sets the width specified in the setting criteria (setting criteria 154, 158 shown in FIG. 12 or 13) as the width of the buffer section. Note that the buffer section, first blocked section, and second blocked section can all be represented by coordinate information.

[0092] Next, the buffer calculation unit 108 outputs information on the first blocked section and the buffer section to the worker section setting unit 105 (step S1084). After that, the buffer calculation unit 108 ends the processing shown in FIG.

[0093] Fig. 18 is a flowchart showing the details of step S109 in Fig. 14. This flowchart starts when information on the first blocked section and the buffer section is input to the worker section setting unit 105 from the buffer calculation unit 108.

[0094] First, the operator section setting unit 105 acquires information on the first blocked section and the buffer section from the buffer calculation unit 108. The operator section setting unit 105 provisionally sets a section obtained by adding the buffer section to the periphery of the acquired first blocked section as a second blocked section (step S1091).

[0095] Next, the worker section setting unit 105 determines whether the provisionally set second blocked section overlaps with other blocked sections (step S1092). Specifically, the worker section setting unit 105 determines whether the provisionally set second blocked section overlaps with all other vehicle blocked sections. In addition, the worker section setting unit 105 determines whether the provisionally set second blocked section overlaps with the second blocked section of the worker 60 whose additional information is "transporting luggage by forklift."

[0096] If the provisionally set second block section overlaps with another block section (a vehicle block section or a second block section for a worker 60 whose additional information is "transport luggage by forklift") (YES), the worker section setting unit 105 determines that the second block section cannot be set (step S1094). If the provisionally set second block section does not overlap with another block section (a vehicle block section or a second block section for a worker 60 whose additional information is "transport luggage by forklift") (NO), the worker section setting unit 105 determines that the second block section can be set (step S1093). Thereafter, the worker section setting unit 105 ends the processing shown in FIG. 18 .

[0097] In this way, the worker section setting unit 105 sets the first block section and the second block section, respectively, avoiding the vehicle block section set by the vehicle section setting unit 104, as shown in Figures 15 and 18.

[0098] Fig. 19 is a flowchart showing the details of step S112 in Fig. 14. This flowchart starts when the instruction generation unit 106 receives information on the first blocked section and worker information from the worker section setting unit 105, or information indicating that the first blocked section cannot be set.

[0099] First, the instruction generation unit 106 acquires information about the first block section and worker information, or information indicating that the first block section cannot be set, from the worker section setting unit 105 (step S1121). The instruction generation unit 106 determines whether information about the first block section has been acquired (step S1122). If information about the first block section has not been acquired (NO), the instruction generation unit 106 generates an instruction not to permit movement or work depending on the status of the worker 60, and generates a wait instruction to wait in a movable area (step S1125). The movable area in the case of disallowance is the first block section of the worker 60 included in the block section information before updating stored in the block section storage unit 102. Note that if the first block section of the worker 60 is not stored in the block section storage unit 102, the instruction generation unit 106 sets the parking space 40-2 or the waiting area 70, which is the current location of the worker 60, as the movable area.

[0100] If the information on the first blocked section has been acquired (YES), the instruction generation unit 106 determines whether the worker 60 is scheduled to move based on the status of the worker 60 (inquiry about work or movement permission) (step S1123). If the worker 60 is scheduled to move (YES), the instruction generation unit 106 generates a permission instruction including a movable area (first blocked section) and permission to start movement (step S1124). If the worker 60 is scheduled to work (NO), the instruction generation unit 106 generates a permission instruction including a workable area (first blocked section) and permission to start work (step S1126). Thereafter, the instruction generation unit 106 ends the processing shown in FIG. 19 .

[0101] 20 is a flowchart showing the process of setting a vehicle blocked section performed by the control system 10. This flowchart starts when the vehicle communication unit 1011 receives information such as the current position and destination from the vehicle 20.

[0102] First, the vehicle communication unit 1011 receives information such as the driving mode, current position, speed, and destination from the vehicle 20 (step S201). Based on the received information, the vehicle communication unit 1011 updates the vehicle information stored in the vehicle information storage unit 101 (step S202) and outputs an update request for the vehicle block section to the vehicle section setting unit 104 (step S203). The vehicle section setting unit 104 acquires the vehicle information from the vehicle information storage unit 101 and acquires the block section information from the block section storage unit 102 (step S204).

[0103] Next, the vehicle section setting unit 104 provisionally sets a vehicle block section for the vehicle 20 (step S205). The vehicle section setting unit 104 provisionally sets the vehicle block section based on predetermined criteria. Next, the vehicle section setting unit 104 determines whether the provisionally set vehicle block section overlaps with other block sections (other vehicle block sections and the second block section) (step S206). If the provisionally set vehicle block section does not overlap with other block sections (other vehicle block sections and the second block section) (NO), the vehicle section setting unit 104 sets the provisionally set vehicle block section as the vehicle block section (step S210). Then, the vehicle section setting unit 104 updates the vehicle block section associated with the vehicle 20, which is included in the block section information stored in the block section storage unit 102 (step S208).

[0104] If the temporarily set vehicle block section overlaps with another block section (another vehicle block section or the second block section) (YES), the vehicle section setting unit 104 deletes the portion of the temporarily set vehicle block section that overlaps with the other block section and sets the vehicle block section (step S207). That is, the vehicle section setting unit 104 sets the vehicle block section while avoiding the second block section set by the worker section setting unit 105. Then, the vehicle section setting unit 104 updates the vehicle block section associated with the vehicle 20 included in the block section information stored in the block section storage unit 102 (step S208). The vehicle communication unit 1011 transmits the vehicle block section set by the vehicle section setting unit 104 to the vehicle 20, including the vehicle block section in the driving instruction (step S209). Thereafter, the control system 10 ends the processing shown in FIG. 20 .

[0105] Fig. 21 is a diagram illustrating a specific example of a first blocked section and a second blocked section that are set when a worker 60 is scheduled to work. Fig. 22 is a diagram illustrating a specific example of a first blocked section and a second blocked section that are set when a worker 60 is scheduled to move.

[0106] The first block section is a section that is presented to the worker 60 as a movable area. The second block section is a section that restricts the entry of the vehicle 20 or other workers 60, and is not presented to the worker 60. The worker section setting unit 105 sets the parking space 40-2 and / or the sidewalk 40-1, which have clear boundaries, as the first block section so that the worker 60 can easily recognize the boundaries of the first block section. In addition, the worker section setting unit 105 sets a section that includes a buffer section around the first block section as the second block section.

[0107] FIG. 21 shows, for example, the first block section and the second block section set by the worker section setting unit 105 when the worker 60 is scheduled to work in the parking space 40-21. When the worker section setting unit 105 determines that the first block section can be set in response to an inquiry from the worker 60 about permission to work in the parking space 40-21, it sets the parking space 40-21, which has a clear boundary, as the first block section. The buffer calculation unit 108 then calculates buffer sections based on the setting criteria for areas around the first block section where buffer sections need to be set. For example, in FIG. 21 , partitions 90-1 and 90-2 are installed on the left and right sides of the parking space 40-21, which is the first block section, but no partitions 90 are installed on the top and bottom sides. In this case, it is not necessary to set buffer sections on the left and right sides, but it is necessary to set buffer sections on the top and bottom sides. Therefore, the buffer calculation unit 108 sets the length of the buffer section to the length of the upper and lower sides of the parking space 40-21, which is the first blocked section, and calculates the width defined in the setting standard to be the width of the buffer section. The worker section setting unit 105 sets the section that combines the first blocked section and the buffer section as the second blocked section.

[0108] 22 shows, for example, the first block section and the second block section set by the worker section setting unit 105 when the worker 60 is scheduled to move from the waiting area 70 to the parking space 40-24. When the worker section setting unit 105 determines that the first block section can be set in response to an inquiry about permission to move from the waiting area 70 to the parking space 40-24, it sets the parking space 40-24, which has a clear boundary shown in FIG. 22, and the sidewalk 40-1 from the waiting area 70 to the parking space 40-24, as the first block section. Then, the buffer calculation unit 108 calculates buffer sections based on the setting criteria for locations where buffer sections need to be set around the sidewalk 40-1 and the parking space 40-24, which are the first block section.

[0109] FIG. 23 is a diagram illustrating triggers that occur when the state of the worker 60 changes.

[0110] The state 171 indicates the state of the worker 60 included in the worker information stored in the worker information storage unit 103. There are four states for the worker 60: inquiry about work permission, inquiry about movement permission, working, or moving. The trigger 172 indicates an event that triggers a transition to the state 171.

[0111] When the worker communication unit 1012 receives a movement permission inquiry from the mobile terminal of the worker 60, the status of the worker 60 (status 132 in FIG. 9 ) included in the worker information stored in the worker information storage unit 103 is changed to "movement permission inquiry." When the worker section setting unit 105 reserves the first block section and the second block section for the movement of the worker 60, the status of the worker 60 included in the worker information stored in the worker information storage unit 103 is changed to "moving." As long as the status of the worker 60 is "moving," the control system 10 does not open the first block section and the second block section for the worker 60.

[0112] When the worker communication unit 1012 receives a work permission inquiry from the mobile terminal of the worker 60, the status of the worker 60 included in the worker information stored in the worker information storage unit 103 is changed to "work permission inquiry." When the worker section setting unit 105 reserves the first blocked section and the second blocked section for the worker 60 to work, the status of the worker 60 included in the worker information stored in the worker information storage unit 103 is changed to "working." As long as the status of the worker 60 is "working," the control system 10 does not open the first blocked section and the second blocked section for the worker 60.

[0113] In order to improve the efficiency of the autonomous driving system 1 within the site, the control system 10 may open the set first and second blocked sections when the worker 60 completes his / her movement or work. In this case, two states, "movement completed" and "work completed," are added to the status of the worker 60. When the worker communication unit 1012 receives a notification of movement completion from the mobile device of the worker 60, the status of the worker 60 included in the worker information stored in the worker information storage unit 103 is changed to "movement completed." When the worker communication unit 1012 receives a notification of work completion from the mobile device of the worker 60, the status of the worker 60 included in the worker information storage unit 103 is changed to "work completed." When the status of the worker 60 is changed to "movement completed" or "work completed," the control system 10 opens the first and second blocked sections for the worker 60.

[0114] As described above, the control system 10 according to the first embodiment is a control system that is communicatively connected to a vehicle 20 that travels autonomously within a controlled area and to a mobile terminal of a worker 60 that performs work within the controlled area, and controls the travel of the vehicle 20. The control system 10 includes a map information storage unit 109 that stores map information of the control target area; a vehicle section setting unit 104 that sets a vehicle block section indicating an exclusive section for the vehicle 20 based on the position information of the vehicle 20 transmitted from the vehicle 20; a worker section setting unit 105 that sets a first block section that the worker 60 can enter and a second block section that includes the first block section and that the vehicle 20 cannot enter based on the position information of the worker 60 transmitted from the mobile terminal of the worker 60; a buffer necessity determination unit 107 that determines whether or not a buffer section needs to be set around the first block section based on the map information; a vehicle communication unit 1011 that transmits to the vehicle 20 a driving instruction instructing the vehicle 20 to drive within the vehicle block section set by the vehicle section setting unit 104; and a worker communication unit 1012 that transmits to the mobile terminal of the worker 60 an instruction permitting the worker 60 to work or move within the first block section set by the worker section setting unit 105. The worker section setting unit 105 sets a second blocked section in accordance with the determination result of the buffer necessity determination unit 107. The vehicle section setting unit 104 sets a vehicle blocked section so as to avoid the second blocked section set by the worker section setting unit 105.

[0115] As a result, the control system 10 can prohibit the vehicle 20 from entering a second block section, which is a first block section presented to the worker 60 and includes a buffer section around it, and set the second block section so that it does not overlap with the vehicle block section, which is an exclusive section for the vehicle 20. Therefore, even if the worker 60 accidentally exits the set first block section, the control system 10 makes it difficult for the worker 60 to enter the vehicle block section, thereby reducing the risk of collision with the vehicle 20 and ensuring the safety of the worker 60. Furthermore, the control system 10 sets the buffer section after determining whether or not to set a buffer section based on map information, so that excessive buffer sections are not set without considering the site conditions. Therefore, the control system 10 does not excessively stop the traveling vehicle 20, thereby preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can prevent a decrease in productivity of the entire automated driving system 1 installed in an area where automated vehicles 20 and workers 60 coexist, and ensure the safety of the worker 60.

[0116] Furthermore, the control system 10 according to the first embodiment further includes a setting criterion storage unit 1010 that stores setting criteria for setting a buffer section, and a buffer calculation unit 108 that calculates a buffer section based on the setting criteria and map information. The setting criterion storage unit 1010 stores different setting criteria according to the classification of the work or movement performed by the worker 60. The buffer calculation unit 108 calculates buffer sections of different sizes according to the setting criteria according to the classification of the work or movement. The worker section setting unit 105 sets, as a second block section, a section obtained by adding the buffer section calculated by the buffer calculation unit 108 to the periphery of the first block section.

[0117] This allows the control system 10 to set buffer sections according to the classification of the work or movement performed by the worker 60, thereby eliminating the need to set excessive buffer sections without considering the work or movement status of the worker 60. Therefore, the control system 10 further prevents excessive stopping of the traveling vehicle 20, thereby further preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can further prevent a decrease in productivity of the entire automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 coexist, and can ensure the safety of the worker 60.

[0118] Furthermore, in the control system 10 according to the first embodiment, the setting criterion storage unit 1010 stores different setting criteria depending on the work content and additional information related to the transportation of luggage associated with the work. The buffer calculation unit 108 calculates buffer sections of different sizes according to the setting criterion depending on the work content and additional information.

[0119] This allows the control system 10 to set a buffer section according to the specific content of the work performed by the worker 60, thereby eliminating the need to set an excessive buffer section without considering the specific content of the work. Therefore, the control system 10 further prevents excessive stopping of the traveling vehicle 20, thereby further preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can further prevent a decrease in productivity of the entire automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 coexist, and can ensure the safety of the worker 60.

[0120] Furthermore, in the control system 10 according to the first embodiment, the setting criterion storage unit 1010 stores different setting criteria depending on the in-transit information related to the transportation of luggage during travel. The buffer calculation unit 108 calculates buffer sections of different sizes according to the setting criterion corresponding to the in-transit information.

[0121] This allows the control system 10 to set a buffer section according to the specific details of the movement performed by the worker 60, thereby eliminating the need to set an excessive buffer section without considering the specific details of the movement. Therefore, the control system 10 further prevents excessive stopping of the traveling vehicle 20, thereby further preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can further prevent a decrease in productivity of the entire automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 coexist, and can ensure the safety of the workers 60.

[0122] Furthermore, in the control system 10 according to the first embodiment, the worker section setting unit 105 sets the first block section and the second block section, avoiding the vehicle block section set by the vehicle section setting unit 104.

[0123] This allows the control system 10 to reliably prevent the first block section and the second block section from being set as overlapping vehicle block sections. Therefore, the control system 10 can reliably reduce the risk of a collision between the worker 60 and the vehicle 20 and reliably ensure the safety of the worker 60. Therefore, the control system 10 can prevent a decrease in the productivity of the entire automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 coexist, and can reliably ensure the safety of the worker 60.

[0124] Furthermore, in the control system 10 according to the first embodiment, when a vehicle block section is set, if the vehicle block section overlaps with the buffer section of the second block section, the vehicle section setting unit 104 deletes the overlapping portion of the vehicle block section that overlaps with the buffer section and sets the vehicle block section.

[0125] As a result, the control system 10 can reliably prevent a vehicle block section from being set that overlaps with the second block section, while also avoiding a situation in which a vehicle block section cannot be set and the vehicle 20 cannot travel. Therefore, the control system 10 further prevents excessive stopping of the traveling vehicle 20 while reliably reducing the risk of a collision between the worker 60 and the vehicle 20, thereby further preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can further prevent a decrease in productivity of the entire automated driving system 1 that is introduced in an area where automated vehicles 20 and workers 60 coexist, and can reliably ensure the safety of the worker 60.

[0126] Second Embodiment A second embodiment of the present invention will be described with reference to Figures 24 to 31. In the second embodiment, the description of the same components as those in the first embodiment will be omitted.

[0127] In the second embodiment, when it is determined that the second blocked section for the worker 60 cannot be set, the worker section setting unit 105 identifies a location (hereinafter also referred to as a "partition installation location") where a partition 90 should be set so that the second blocked section can be set without overlapping with other blocked sections. Then, the instruction generating unit 106 generates a partition installation instruction instructing the worker 60 to install the partition 90 at the partition installation location identified by the worker section setting unit 105. The worker communication unit 1012 transmits the partition installation instruction generated by the instruction generating unit 106 to the mobile device of the worker 60. Furthermore, when the worker 60 installs the partition 90 in accordance with the partition installation instruction, a notification of completion of installation of the partition 90 is transmitted from the mobile device of the worker 60. The worker communication unit 1012 updates the map information stored in the map information storage unit 109 based on the notification of completion of installation of the partition 90. Note that the partition 90 in this embodiment may be a temporary protective fence or a temporary prevention fence composed of panels, ropes, or the like that can be easily installed and removed by the worker 60.

[0128] Fig. 24 is a flowchart showing the setting process of the first blocked section and the second blocked section according to the second embodiment. Fig. 25 is a flowchart continuing from Fig. 24. The flowcharts shown in Fig. 24 and Fig. 25 start when the worker communication unit 1012 receives an inquiry about work or movement permission from the mobile terminal of the worker 60. Fig. 24 and Fig. 25 correspond to Fig. 14 of the first embodiment.

[0129] Steps S101 to S108 shown in FIG. 24 are the same as steps S101 to S108 shown in FIG. 14 of the first embodiment, and therefore a description thereof will be omitted.

[0130] In step S109, the operator section setting unit 105 determines whether or not a second blocked section can be set (step S109). If it is determined that the second blocked section can be set (YES), the operator section setting unit 105 provisionally sets the second blocked section (step S110). The subsequent steps S111 to S113 are the same as steps S111 to S113 shown in FIG. 14 of the first embodiment, and therefore, description thereof will be omitted.

[0131] If it is determined that the second block section cannot be set (NO), the worker section setting unit 105 provisionally sets the second block section so that it does not overlap with other block sections (the vehicle block section and the second block section of the worker 60 whose additional information is "transporting luggage by forklift") (step S114). Specifically, the worker section setting unit 105 deletes the overlapping portion of the buffer section that would overlap with other block sections if the second block section were set, and provisionally sets the second block section. At this time, the overlapping portion of the buffer section that is deleted is limited to the boundary with the first block section.

[0132] Next, the worker section setting unit 105 identifies a partition installation location (step S115). Specifically, the worker section setting unit 105 identifies the boundary of the first block section that is adjacent to another block section by deleting the overlapping portion of the buffer section as the partition installation location. For example, the worker section setting unit 105 compares the provisionally set second block section with the first block section, and identifies the side of the first block section that is not surrounded by the buffer section as the partition installation location. The partition installation location may be limited to a location where a dividing line is installed, such as the boundary of the parking space 40-2 or the sidewalk 40-1, so that the worker 60 can easily recognize the partition installation location.

[0133] Next, because the partition 90 has not yet been installed, the worker section setting unit 105 cannot officially set the provisionally set second blocked section and update the blocked section information in the blocked section storage unit 102. Therefore, the worker section setting unit 105 cancels the provisionally set first blocked section (step S116) and outputs information on the identified partition installation location to the instruction generation unit 106. The instruction generation unit 106 generates a partition installation instruction based on the partition installation location information from the worker section setting unit 105 (step S112). The worker communication unit 1012 transmits the partition installation instruction generated by the instruction generation unit 106 to the mobile device of the worker 60 (step S113). Thereafter, the control system 10 ends the processing shown in FIGS. 24 and 25 . Details of the processing by the instruction generation unit 106 to generate a partition installation instruction will be described later using FIG. 26 .

[0134] Fig. 26 is a flowchart showing the details of step S112 in Fig. 24. This flowchart starts when information on the first blocked section and worker information, information on the inability to set the first blocked section, or information on the location where a partition is to be installed is input from the worker section setting unit 105 to the instruction generating unit 106. Fig. 26 corresponds to Fig. 19 of the first embodiment.

[0135] First, the instruction generation unit 106 acquires information on the first blocked section, worker information, information on the inability to set the first blocked section, or information on the location of partitions from the worker section setting unit 105 (step S1121). The instruction generation unit 106 determines whether information on the first blocked section has been acquired (step S1122). If information on the first blocked section has been acquired (YES), the instruction generation unit 106 determines whether the worker 60 is scheduled to move based on the status of the worker 60 (inquiry about work or movement permission) (step S1123). If the worker 60 is scheduled to move (YES), the instruction generation unit 106 generates a permission instruction including a movable area (first blocked section) and permission to start movement (step S1124). If the worker 60 is scheduled to work (NO), the instruction generation unit 106 generates a permission instruction including a movable area (first blocked section) and permission to start work (step S1126).

[0136] If the information on the first blocked section has not been acquired (NO), the instruction generating unit 106 determines whether or not information on the partition installation location has been acquired (step S1127). If the information on the partition installation location has been acquired (YES), the instruction generating unit 106 generates an instruction not to permit movement or work in accordance with the status of the worker 60, and also generates a partition installation instruction (step S1128). If the information on the partition installation location has not been acquired (NO), the instruction generating unit 106 generates an instruction not to permit movement or work in accordance with the status of the worker 60 (step S1125).

[0137] 27 , the instruction generating unit 106 may receive information on the location where the partition is to be installed from the vehicle section setting unit 104. In this case, similar to step S1128 in FIG. 26 , the instruction generating unit 106 sends a partition installation instruction to the mobile terminal of the worker 60, and upon receiving a notification that installation of the partition 90 has been completed from the mobile terminal of the worker 60, adds the installation location of the partition 90 to the map information stored in the map information storage unit 109.

[0138] Fig. 27 is a flowchart showing the process of setting a vehicle-blocked section according to the second embodiment, which corresponds to Fig. 20 of the first embodiment.

[0139] Steps S201 to S207 and step S210 shown in FIG. 27 are similar to steps S201 to S207 and step S210 shown in FIG. 20 of the first embodiment, and therefore description thereof will be omitted.

[0140] In step S208, the vehicle section setting unit 104 determines whether or not there is a section within the vehicle block section provisionally set in step S207 that the vehicle 20 cannot pass through (hereinafter also referred to as an "impassable section") (step S208). Specifically, the vehicle section setting unit 104 compares the width of the narrowest section within the provisionally set vehicle block section with the vehicle width of the vehicle 20, and determines that there is an impassable section if the vehicle width is greater. If it is determined that there is no impassable section (NO), the vehicle section setting unit 104 updates the block section information stored in the block section storage unit 102 (step S209).

[0141] If it is determined that there is an impassable location (YES), the vehicle section setting unit 104 identifies a location where a partition should be installed so that a vehicle block section that the vehicle 20 can pass through can be set, and outputs the location to the instruction generating unit 106 (step S212). The method for identifying the location where a partition should be installed is the same as step S115 in Fig. 25. That is, the vehicle section setting unit 104 identifies the boundary of the first block section adjacent to the buffer section adjacent to the impassable location as the location where a partition 90 that separates the first block section from the vehicle block section should be installed.

[0142] The vehicle section setting unit 104 updates the vehicle section linked to the vehicle 20 included in the block section information stored in the block section storage unit 102 with the vehicle section including the impassable location (step S209). The vehicle communication unit 1011 includes the vehicle section set by the vehicle section setting unit 104 in a driving instruction and transmits it to the vehicle 20 (step S211). Thereafter, the control system 10 ends the processing shown in FIG. 27.

[0143] 28 is a diagram showing an example of a request screen on the mobile terminal of the worker 60. FIG. 29 is a diagram showing an example of a response screen (not permitted) on the mobile terminal of the worker 60.

[0144] 28 shows an example of a screen displayed on the mobile terminal of the worker 60 when the worker 60 makes a request to the control system 10, for example, when inquiring about work or movement permission. At the bottom of the screen shown in Fig. 28, there are displayed items for inputting the details of the inquiry that the worker 60 plans to make, the work details, additional information, etc. These items are the same as those in Fig. 3 of the first embodiment, and therefore description thereof will be omitted.

[0145] The top of the screen shown in FIG. 28 displays the message "1. Select your current location and destination from the map. If work is planned, please select the same location for your current location and destination." along with map information for the site. The site map information displays the parking space 40-2, the walkway 40-1, and the installed partitions 90. The top of the screen shown in FIG. 28 also displays the message "Please check the installation locations of the partitions on site. If the installation locations on the site and the map differ, touch one of the buttons below to add or delete them directly on the map." along with "Add Partition" and "Delete Partition" buttons. The worker 60 checks the installation locations of the partitions on the site, and if they do not match the map information, they can be directly corrected.

[0146] FIG. 29 shows an example of a screen displayed on the mobile device of the worker 60 when the control system 10 responds to the request of the worker 60 (in the case of denial of permission). When the control system 10 responds with denial of permission to the worker 60's inquiry about work permission, the screen shown in FIG. 29 displays a message (partition installation instruction) stating "Work permission is not permitted. Please wait in the movable area below and wait a while before inquiring, or install a partition as shown in the map below before inquiring." along with map information. This map information displays the location where the partition will be installed. Note that the movable area shown in FIG. 29 is configured by the first blocked section for the worker 60 stored in the blocked section storage unit 102 before updating, since work is not permitted.

[0147] FIG. 30 is a diagram showing an example of a display screen for partition installation instructions on the mobile terminal of the worker 60.

[0148] FIG. 30 shows an example of a screen displayed on the mobile device of the worker 60 when the control system 10 transmits a partition installation instruction to allow the vehicle 20 to pass through the vehicle-blocked section. The screen shown in FIG. 30 displays a message (partition installation instruction) saying, "To improve system efficiency, please install a partition as shown in the map below. After installation is complete, please touch the "Installation Complete" button below." along with map information. This map information displays the location where the partition is installed. Furthermore, this map information displays an "Installation Complete" button so that the worker 60 who installed the partition 90 can send a notification that installation is complete.

[0149] FIG. 31 is a diagram for explaining the effect of installing a partition 90 in response to a partition installation instruction.

[0150] The left side of Figure 31 illustrates a case in which the vehicle section setting unit 104 sets an L-shaped vehicle block section so that it does not overlap with the second block section when setting the vehicle block section. However, because the width of a portion of the set vehicle block section is narrower than the vehicle width of the vehicle 20, the vehicle 20 cannot pass through the vehicle block section. Having an impassable area within the vehicle block section like this can reduce the productivity of the entire system. Therefore, in this embodiment, the control system 10 sends a partition installation instruction to the mobile device of the worker 60. As shown on the right side of Figure 31, when the worker 60 installs a partition 90-3 in response to the partition installation instruction, the installation of the partition 90-3 eliminates the need to set a buffer section. This allows the vehicle section setting unit 104 to set a rectangular vehicle block section instead of an L-shaped vehicle block section, thereby eliminating the impassable area within the vehicle block section. As a result, a decrease in productivity of the entire system can be prevented.

[0151] As described above, in the control system 10 according to the second embodiment, when the second block section is set and the buffer section of the second block section overlaps with the vehicle block section, the worker section setting unit 105 deletes the overlapping portion of the buffer section that overlaps with the vehicle block section and sets the second block section.

[0152] As a result, the control system 10 can reliably prevent the second block section from being set so as to overlap with a vehicle block section, while also avoiding a situation in which the second block section cannot be set and the worker 60 cannot work or move. Therefore, the control system 10 can reliably reduce the risk of a collision between the worker 60 and the vehicle 20 while also eliminating the need for the worker 60 to wait excessively, thereby further preventing a decrease in productivity of the entire automated driving system 1. Therefore, the control system 10 can further prevent a decrease in productivity of the entire automated driving system 1 that is introduced in an area where automated vehicles 20 and workers 60 coexist, and can also reliably ensure the safety of the worker 60.

[0153] Furthermore, in the control system 10 according to the second embodiment, the worker section setting unit 105 identifies the boundary of the first blocked section adjacent to the vehicle blocked section by deleting the overlapping portion of the buffer section as the installation location of the partition 90 that separates the first blocked section from the vehicle blocked section. The worker communication unit 1012 transmits to the mobile terminal of the worker 60 a partition installation instruction instructing the worker 60 to install the partition 90 at the installation location identified by the worker section setting unit 105.

[0154] As a result, the control system 10 can reliably avoid having the worker 60 wait excessively, while further reducing the risk of a collision between the worker 60 and the vehicle 20. Therefore, the control system 10 can reliably prevent a decrease in the productivity of the entire automated driving system 1 that has been introduced in an area where automated driving vehicles 20 and workers 60 coexist, and can further ensure the safety of the worker 60.

[0155] Furthermore, in the control system 10 according to the second embodiment, when the deletion of the overlapping portion of the vehicle block section results in an impassable location within the vehicle block section where the vehicle 20 cannot pass, the vehicle section setting unit 104 identifies the boundary of the first block section adjacent to the buffer section adjacent to the impassable location as the installation location of the partition 90 that separates the first block section from the vehicle block section. The worker communication unit 1012 transmits a partition installation instruction to the mobile terminal of the worker 60 instructing the worker 60 to install the partition 90 at the installation location identified by the vehicle section setting unit 104.

[0156] This allows the control system 10 to reliably avoid excessive stopping of the traveling vehicle 20, while further reducing the risk of collision between the worker 60 and the vehicle 20. Therefore, the control system 10 can reliably prevent a decrease in the productivity of the entire automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 coexist, and can further ensure the safety of the worker 60.

[0157] Third Embodiment A third embodiment of the present invention will be described with reference to Figures 32 to 36. In the third embodiment, the description of the same components as those in the first embodiment will be omitted.

[0158] FIG. 32 is a block diagram showing the configuration of a control system 10 according to the third embodiment.

[0159] In the third embodiment, the control system 10 includes an upper limit speed storage unit 1013 that stores an upper limit speed of the vehicle 20. The upper limit speed storage unit 1013 stores an upper limit speed that varies depending on the difference between the width of the vehicle block section and the vehicle width of the vehicle 20. The vehicle section setting unit 104 then sets an upper limit speed for the vehicle 20 that corresponds to the difference. The vehicle communication unit 1011 transmits a driving instruction to the vehicle 20 that instructs the vehicle 20 to drive at or below the upper limit speed set by the vehicle section setting unit 104.

[0160] Furthermore, in the third embodiment, the setting reference storage unit 1010 stores an upper limit speed for the worker 60 that differs depending on the movement classification. The worker section setting unit 105 sets an upper limit speed for the worker 60 according to the movement classification. The instruction generation unit 106 transmits an instruction to the mobile device of the worker 60 that permits the worker 60 to move at or below the upper limit speed set by the worker section setting unit 105.

[0161] FIG. 33 is a diagram showing an example of upper limit speed information stored in upper limit speed storage unit 1013. As shown in FIG.

[0162] The upper limit speed information 160 stored in the upper limit speed storage unit 1013 has the data structure and data contents shown in Fig. 33. The upper limit speed information 160 has data on a difference 161 between the vehicle block section and the vehicle width, and an upper limit speed 162.

[0163] The difference 161 between the vehicle block section and the vehicle width stores a range of difference values ​​obtained by subtracting the vehicle width of the vehicle 20 from the width of the vehicle block section set for the vehicle 20 (the width in the vehicle width direction of the vehicle 20 passing through the vehicle block section). The upper limit speed 162 stores an upper limit speed set for the vehicle 20 that falls within the range stored in the difference 161 between the vehicle block section and the vehicle width. For example, for a vehicle 20 for which the difference between the vehicle block section and the vehicle width is within a range of 0.4 m to 0.6 m, the upper limit speed is set to 20 km / h. Note that the upper limit speed information 160 shown in FIG. 33 is an example, and the data stored in the difference 161 between the vehicle block section and the vehicle width and the upper limit speed 162 may be changed depending on the site conditions.

[0164] Fig. 34 is a flowchart showing the process of setting a vehicle-blocked section according to the third embodiment, which corresponds to Fig. 20 of the first embodiment.

[0165] Steps S201 to S207 and step S210 shown in FIG. 34 are similar to steps S201 to S207 and step S210 shown in FIG. 20 of the first embodiment, and therefore description thereof will be omitted.

[0166] In step S208, the vehicle section setting unit 104 sets the upper limit speed of the vehicle 20 based on the upper limit speed information stored in the upper limit speed storage unit 1013 (step S208). Specifically, the vehicle section setting unit 104 calculates the difference between the width of the set vehicle block section and the vehicle width of the vehicle 20. Then, the vehicle section setting unit 104 references the upper limit speed information stored in the upper limit speed storage unit 1013 and sets an upper limit speed corresponding to the calculated difference. The vehicle section setting unit 104 updates the vehicle block section and upper limit speed associated with the vehicle 20, which are included in the block section information stored in the block section storage unit 102 (step S209). The vehicle communication unit 1011 transmits the vehicle block section and upper limit speed set by the vehicle section setting unit 104, together with a driving instruction, to the vehicle 20 (step S211). Thereafter, the control system 10 ends the processing shown in FIG. 34 .

[0167] Fig. 35 is a diagram showing an example of setting reference information stored in the setting reference storage unit 1010 according to the third embodiment when the operator 60 is moving. Fig. 35 is a diagram corresponding to Fig. 13 according to the first embodiment.

[0168] The setting standard information 155 stored in the setting standard storage unit 1010 when the worker 60 is moving has the data structure and data content as shown in Fig. 35. The setting standard information 155 has data on a movement classification 156, information during movement 157, a setting standard 158 for a buffer section, and an upper limit speed 159.

[0169] The movement classification 156, the in-movement information 157, and the buffer section setting criteria 158 each store the same data as in FIG. 13 of the first embodiment, and therefore a description thereof will be omitted. The upper limit speed 159 stores a specific value of the movement speed of the worker 60 that should be set as the upper limit speed based on the buffer section setting criteria 158. The specific value of the movement speed of the worker 60 that should be set as the upper limit speed is set depending on the situation at the site. Note that the setting criteria information 155 shown in FIG. 35 is an example, and the data stored in the in-movement information 157, the setting criteria 158, and the upper limit speed 159 may be changed depending on the situation at the site.

[0170] Fig. 36 is a flowchart showing the setting process of the first blocked section and the second blocked section according to the third embodiment. Fig. 36 is a diagram corresponding to Fig. 14 of the first embodiment.

[0171] Steps S101 to S109 and step S114 shown in FIG. 36 are similar to steps S101 to S109 and step S114 shown in FIG. 14 of the first embodiment, and therefore description thereof will be omitted.

[0172] In step S110, the worker section setting unit 105 provisionally sets a second block section and sets a maximum speed for the worker 60 based on the maximum speed stored in the setting reference storage unit 1010 (step S110). Next, the worker section setting unit 105 officially sets the provisionally set first block section and second block section, and updates the first block section, second block section, and maximum speed associated with the worker 60, which are included in the block section information stored in the block section storage unit 102 (step S111). The worker section setting unit 105 then outputs information about the first block section, worker information, and maximum speed to the instruction generation unit 106. The instruction generation unit 106 generates a permission instruction including a movable area (first block section), movement start permission, and maximum speed (step S112). The worker communication unit 1012 transmits the instruction generated by the instruction generation unit 106 to the mobile device of the worker 60 (step S113). The control system 10 then terminates the process shown in FIG. 36 .

[0173] In the third embodiment, safety can be improved by setting the upper limit speed of the vehicle 20 according to the difference between the vehicle block section and the vehicle width.

[0174] As described above, the control system 10 of the third embodiment further includes an upper limit speed storage unit 1013 that stores an upper limit speed of the vehicle 20. The upper limit speed storage unit 1013 stores an upper limit speed that varies depending on the difference between the width of the vehicle block section and the vehicle width of the vehicle 20. The vehicle section setting unit 104 sets an upper limit speed for the vehicle 20 that corresponds to the difference. The vehicle communication unit 1011 transmits a driving instruction to the vehicle 20 that instructs the vehicle 20 to drive at or below the upper limit speed set by the vehicle section setting unit 104.

[0175] This allows the control system 10 to control the traveling speed of the vehicle 20 according to the site conditions, thereby improving the traveling efficiency of the vehicle 20 while ensuring the safety of the worker 60. Therefore, the control system 10 can prevent a decrease in the overall productivity of the automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 coexist, and can also ensure the safety of the worker 60.

[0176] Furthermore, in the control system 10 according to the third embodiment, the setting reference storage unit 1010 stores different upper speed limits for the worker 60 depending on the movement classification. The worker section setting unit 105 sets an upper speed limit for the worker 60 depending on the movement classification. The worker communication unit 1012 transmits an instruction to the mobile terminal of the worker 60 to permit the worker 60 to move at or below the upper speed limit set by the worker section setting unit 105.

[0177] This allows the control system 10 to control the movement speed of the worker 60 depending on the site conditions, thereby improving the movement efficiency of the worker 60 and ensuring the safety of the worker 60. Therefore, the control system 10 can prevent a decrease in the productivity of the entire automated driving system 1 introduced in an area where automated vehicles 20 and workers 60 are mixed, and can also ensure the safety of the worker 60.

[0178] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and are not necessarily limited to those including all of the described components. Furthermore, some of the components of one embodiment can be replaced with components of another embodiment, and components of another embodiment can be added to components of one embodiment. Furthermore, some of the components of each embodiment can be added, deleted, or replaced with other components.

[0179] Furthermore, the above-described components, functions, processing units, or processing means may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described components or functions may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the program, table, or file that implements each function can be stored in a storage device such as a memory, a hard disk, or an SSD (solid state drive), or in a storage medium such as an IC card, an SD card, or a DVD.

[0180] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected.

[0181] 1...Automatic driving system, 10...Control system, 101...Vehicle information storage unit, 102...Blocked section storage unit, 103...Worker information storage unit, 104...Vehicle section setting unit, 105...Worker section setting unit, 106...Instruction generation unit, 107...Buffer necessity determination unit, 108...Buffer calculation unit, 109...Map information storage unit, 1010...Setting standard storage unit, 1011...Vehicle communication unit, 1012...Worker communication unit, 1013...Upper limit speed storage unit, 60...Worker, 90...Partition

Claims

1. A control system that is communicatively connected to a vehicle that drives autonomously within a control area and to a mobile terminal of a worker performing work within the control area, and controls the driving of the vehicle, comprising: a map information storage unit that stores map information of the control area; a vehicle section setting unit that sets a vehicle block section indicating an exclusive section for the vehicle based on position information of the vehicle transmitted from the vehicle; a worker section setting unit that sets a first block section that the worker can enter and a second block section that includes the first block section and that the vehicle cannot enter, based on position information of the worker transmitted from the mobile terminal; a buffer necessity determination unit that determines whether a buffer section needs to be set around the first block section based on the map information; a vehicle communication unit that transmits to the vehicle a driving instruction instructing the vehicle to drive within the vehicle block section set by the vehicle section setting unit; and a worker communication unit that transmits to the mobile terminal an instruction that permits the worker to work or move within the first block section set by the worker section setting unit. the worker section setting unit sets the second blocked section in accordance with a determination result of the buffer necessity determination unit, and the vehicle section setting unit sets the vehicle blocked section so as to avoid the second blocked section set by the worker section setting unit.

2. The control system according to claim 1, further comprising: a setting criterion storage unit that stores setting criteria for setting the buffer section; and a buffer calculation unit that calculates the buffer section based on the setting criteria and the map information, wherein the setting criterion storage unit stores different setting criteria depending on the classification of the work or movement performed by the worker, the buffer calculation unit calculates buffer sections of different sizes according to the setting criteria according to the classification of the work or the movement, and the worker section setting unit sets the section obtained by adding the buffer section calculated by the buffer calculation unit to the periphery of the first block section as the second block section.

3. The control system described in claim 2, characterized in that the setting standard memory unit stores different setting standards depending on the work content of the work and additional information regarding the transportation of cargo associated with the work, and the buffer calculation unit calculates buffer sections of different sizes in accordance with the setting standards depending on the work content and the additional information.

4. The control system described in claim 2, characterized in that the setting standard memory unit stores different setting standards depending on in-motion information regarding the transportation of luggage during the movement, and the buffer calculation unit calculates different sizes of the buffer section according to the setting standard depending on the in-motion information.

5. The control system described in claim 2, characterized in that the worker section setting unit sets each of the first block section and the second block section, avoiding the vehicle block section set by the vehicle section setting unit.

6. The control system described in claim 5, characterized in that, when the buffer section of the second block section overlaps with the vehicle block section when the second block section is set, the worker section setting unit deletes the overlapping portion of the buffer section that overlaps with the vehicle block section and sets the second block section.

7. The control system described in claim 6, characterized in that the worker section setting unit identifies the boundary of the first block section adjacent to the vehicle block section by deleting the overlapping portion of the buffer section as a location for installing a partition that separates the first block section from the vehicle block section, and the worker communication unit transmits to the mobile terminal a partition installation instruction instructing the worker to install the partition at the installation location identified by the worker section setting unit.

8. The control system of claim 1, characterized in that, when setting the vehicle block section, the vehicle block section overlaps with the buffer section of the second block section, the vehicle section setting unit deletes the overlapping portion of the vehicle block section that overlaps with the buffer section and sets the vehicle block section.

9. The control system described in claim 8, characterized in that, when the deletion of the overlapping portion of the vehicle block section results in an impassable location within the vehicle block section where the vehicle cannot pass, the vehicle section setting unit identifies the boundary of the first block section adjacent to the buffer section adjacent to the impassable location as a location for installing a partition that separates the first block section from the vehicle block section, and the worker communication unit transmits to the mobile terminal a partition installation instruction instructing the worker to install the partition at the installation location identified by the vehicle section setting unit.

10. The control system according to claim 2, further comprising an upper limit speed memory unit that stores an upper limit speed of the vehicle, wherein the upper limit speed memory unit stores the upper limit speed that varies depending on the difference between the width of the vehicle block section and the width of the vehicle, the vehicle section setting unit sets the upper limit speed for the vehicle depending on the difference, and the vehicle communication unit transmits the driving instruction to the vehicle instructing the vehicle to drive at or below the upper limit speed set by the vehicle section setting unit.

11. The control system described in claim 2, characterized in that the setting standard memory unit stores an upper limit speed for the worker that differs depending on the classification of the movement, the worker section setting unit sets the upper limit speed for the worker according to the classification of the movement, and the worker communication unit transmits the instruction to the mobile terminal to allow the worker to move at or below the upper limit speed set by the worker section setting unit.

Images