Autonomous moving device, cart, method for controlling autonomous moving device, program, and group operation control system

Abstract

An autonomous moving device (100) comprises: a first cart holding part (142) that is inclined downward toward the center from the left and the right; a second cart holding part (143) that is inclined downward toward the center from the front and the rear; and a first sliding part (141) for connecting the cart by raising the first cart holding part (142) and the second cart holding part (143).

Description

Autonomous mobile device, cart, autonomous mobile device control method, program, and group operation control system

[0001] The present invention relates to an autonomous mobile device, a carriage, a method for controlling an autonomous mobile device, a program, and a group operation control system.

[0002]

[0003] Conventionally, there has been known a moving device capable of connecting a cart for carrying luggage. For example, Patent Document 1 discloses an auxiliary vehicle for a cart that reliably transports the cart with a simple structure.

[0003] Japanese Patent Application Laid-Open No. 2005-178504

[0004] The auxiliary vehicle for a car bogie disclosed in Patent Document 1 prevents the car bogie from moving away from the auxiliary vehicle, allowing the auxiliary vehicle to tow the car bogie and move. However, this auxiliary vehicle is designed to be coupled to the car bogie manually, and automatic coupling is not possible. Furthermore, when coupling the bogies automatically, there is a problem in that coupling fails if the bogies are installed in the wrong position.

[0005] The present invention has been made in consideration of the above-mentioned situation, and aims to provide an autonomous mobile device or the like that can couple carts while automatically correcting their positions even if the installation positions of the carts are misaligned.

[0006] In order to achieve the above object, the autonomous mobile device according to the present invention comprises: a first carriage holding section having a slope that descends from the left and right toward the center; a second carriage holding section having a slope that descends from the front and rear toward the center; and a first slide section that connects carriages by raising the first carriage holding section and the second carriage holding section.

[0007] According to the present invention, even if the installation positions of the carriages are misaligned, the carriages can be coupled while automatically correcting their positions.

[0008] 1 is a perspective view showing the appearance of an autonomous mobile device according to an embodiment. FIG. 4 is a view seen from an arrow A in FIG. 1. FIG. 1 is a view seen from an arrow B in FIG. 1. FIG. 4 is a perspective view showing the appearance of a bogie according to an embodiment. FIG. 4 is a view seen from an arrow C in FIG. 4. FIG. 4 is a view seen from an arrow D in FIG. 4. (a) is a perspective view showing a brake of the bogie, and (b) is a view seen from an arrow E in (a). FIG. 5 is a side view showing a configuration before a docking operation of the autonomous mobile device and the bogie. FIG. 6 is a perspective view showing a bogie holding member at the rear of the autonomous mobile device and a coupling part of the bogie. FIG. 7 is a schematic view showing an example of alignment of the bogie holding member and a first coupling part. FIG. 8 is a block diagram showing the functional configuration of an autonomous mobile device. FIG. 9 is a view for explaining that the autonomous mobile device operates in response to task instructions from a remote control terminal. FIG. 10 is a plan view of a platform and a train for explaining a mechanism for preventing collisions with the side of the train, entry into a door part, etc. FIG. 11 is a view for explaining the detection range of a rear obstacle detection unit when the autonomous mobile device is not coupled to a bogie. FIG. 12 is a view for explaining the detection range of a rear obstacle detection unit when the autonomous mobile device is coupled to a bogie. FIG. 13 is a view for explaining an example of a matrix-type route. FIG. 14 is a view for explaining an example of a cyclic-type route. It is a figure which shows the outline of the embodiment which has a blockage control terminal. It is a figure which shows an example of an external command to a blockage control part. It is a figure which shows an example of a user interface which has a withdrawal command button.

[0009] Hereinafter, an autonomous mobile device and the like according to an embodiment of the present invention will be described with reference to the drawings. Note that the same or corresponding parts in the drawings are given the same reference numerals.

[0010] The autonomous mobile device according to the embodiment receives instructions in advance regarding the route to be traveled and the coupling and decoupling of the carriage, and stores the instruction data. By reproducing the stored instruction data, the autonomous mobile device can perform automatic operation (autonomously traveling to a predetermined location, coupling and decoupling of the carriage) based on the contents of the instruction.

[0011] First, the structures of the autonomous mobile device and the carriage according to the embodiment will be described with reference to the drawings. In the following description, the "front" and "front portion" of the autonomous mobile device 100 refer to the lower left side of Fig. 1, and the "rear" and "rear portion" refer to the upper right side of Fig. 1. Furthermore, the left and right directions refer to the left and right when viewed from the front of the autonomous mobile device 100.

[0012] As shown in FIGS. 1 to 3, the autonomous mobile device 100 includes a base unit 110 , a frame portion 120 , a rear slide lock 140 , a front slide lock 150 , a charger / discharger 161 , and a battery 164 .

[0013] The base unit 110 is a part that performs basic operations such as traveling and teaching of the autonomous mobile device 100, and also includes various detection units. The configuration of each part of the base unit 110 will be described later in the explanation of the functional configuration of the autonomous mobile device 100.

[0014] The frame section 120 is a part that constitutes the structural framework of the autonomous mobile device 100. In addition, a rear slide lock 140 and a front slide lock 150 are attached to the frame section 120 for connecting (docking) the bogie 200, which will be described later. The frame section 120 is fixed to the body of the base unit 110 and is located above the base unit 110. The frame section 120 is formed in a three-dimensional lattice shape by combining aluminum alloy pipe members and connecting members that connect the pipe members to each other or to the base unit 110.

[0015] The frame section 120 includes a horizontal section 121, a front slide lock installation section 122, a rear slide lock installation section 123, a battery installation section 124, a communication terminal installation section 125, an operation terminal installation section 126, a path sensor installation section 127, a status indicator light installation section 128, and an input device installation section 129. In addition to pipe members, auxiliary installation members such as plate members are used as needed for the installation sections for various devices.

[0016] The horizontal portion 121 is a horizontally extending portion located above the drive portion 114 of the base unit 110 .

[0017] The front slide lock installation section 122 is provided above the front end of the horizontal section 121. The front slide lock installation section 122 is provided with a slide rail that allows the front slide lock 150 to slide up and down.

[0018] The rear slide lock installation section 123 is provided at the rear end of the horizontal section 121. The rear slide lock installation section 123 includes a slide rail that allows the rear slide lock 140 to slide up and down.

[0019] The battery installation section 124 is provided at the front of the frame section 120. The battery installation section 124 is provided as a latticed box-shaped space to accommodate two sets of batteries 164 that are the power sources for the autonomous mobile device 100 and chargers / dischargers 161 for the batteries 164.

[0020] The communication terminal installation section 125 is located slightly forward and above the front slide lock installation section 122, and is adapted to hold the communication terminal 162 thereon.

[0021] The operation terminal installation section 126 is provided at a position slightly shifted to the left from the center of the front part of the frame section 120, and is configured to hold an on-board operation terminal 163. The on-board operation terminal 163 is, for example, a smartphone, and may include a control section 111, a storage section 112, etc., which will be described later.

[0022] The route sensor installation section 127 is provided at the tip of two pipe members that protrude upward from the center of the front of the frame section 120, and has a map route detection section 171 mounted thereon.

[0023] The status indicator light installation section 128 is located at approximately the same position as the front slide lock installation section 122 in the front-to-rear direction, and is provided at an upper position slightly offset to the left of the center when viewed from the front of the vehicle. A status indicator light 165 is attached to the tip of the status indicator light installation section 128. The status indicator light 165 includes red, yellow, and green lamps, and lights up the lamp of a color indicating the current status of the autonomous mobile device 100 in response to instructions (control) from the control unit 111, which will be described later. For example, the green lamp lights up when the autonomous mobile device 100 is traveling without any problems, the yellow lamp lights up when the autonomous mobile device 100 is stopped due to blockage control, etc., which will be described later, and the red lamp lights up when the autonomous mobile device 100 is stopped due to some kind of abnormality. The lighting status of the status indicator light 165 can be easily confirmed from a distance of several hundred meters using, for example, a monocular, allowing the user to easily check the status of the autonomously moving autonomous mobile device 100 even from a distance.

[0024] The input device installation section 129 is provided at the center of the front part of the frame section 120, and has the operation acquisition section 113 attached thereto.

[0025] The frame portion 120 also includes an upper obstacle sensor installation portion 132, a step sensor installation portion 133, a lower obstacle sensor installation portion 134, and a rear obstacle sensor installation portion 135 for attaching 2D sensors that detect obstacles or steps.

[0026] The upper obstacle sensor installation section 132 is provided slightly below the route sensor installation section 127, and has an upper obstacle detection section 172 attached thereto.

[0027] The step sensor installation section 133 is provided below the input device installation section 129, and has a step detection section 173 attached to it. The step detection section 173 is provided at an angle from the horizontal direction so that it can detect steps on the road surface below and ahead.

[0028] The lower obstacle sensor installation section 134 is provided at approximately the center of the lower side of the frame section 120, and the lower obstacle detection section 174 is attached facing downward.

[0029] The rear obstacle detection unit 175 is provided at the rearmost position of the frame unit 120 so as not to interfere with the rear slide lock 140, and the rear obstacle detection unit 175 is attached thereto.

[0030] The rear slide lock 140 is a portion that receives the carriage 200 when the carriage 200 is docked to the autonomous mobile device 100. The rear slide lock 140 includes a first slide portion 141, a first carriage holding portion 142, and a second carriage holding portion 143.

[0031] The first slide portion 141 is attached to the rear slide lock installation portion 123. The first slide portion 141 includes, for example, a motor and a ball screw, and can move up and down by rotation of the motor.

[0032] The first carriage holding portion 142 is formed by bending a single metal plate, and includes an attachment portion 142a that is attached to the first slide portion 141. Therefore, the first carriage holding portion 142 is movable up and down together with the first slide portion 141.

[0033] The first carriage holding portion 142 includes an inclined portion 142b, a rectangular groove portion 142c, and an inclined portion 142d, which are continuous with the mounting portion 142a. The inclined portion 142b, the groove portion 142c, and the inclined portion 142d in the center of the first carriage holding portion 142 are formed in a generally curved V-shape.

[0034] The second carriage holding portion 143 is formed by bending a single metal plate, and includes an attachment portion 143a at one edge and an attachment portion 143e at the other edge that are attached to the rear portion of the first slide portion 141. Therefore, the second carriage holding portion 143 can move up and down together with the first slide portion 141.

[0035] The second carriage holding portion 143 includes an inclined portion 143b, a round groove portion 143c, and an inclined portion 143d, which are continuous with the mounting portion 143a. The inclined portion 143d is also continuous with the mounting portion 143e. The second carriage holding portion 143 is generally M-shaped as a whole. The inclined portion 143b, the groove portion 143c, and the inclined portion 143d are generally V-shaped.

[0036] The front slide lock 150 is a portion that receives the carriage 200 when the carriage 200 is coupled to the autonomous mobile device 100. The front slide lock 150 includes a second slide portion 151 and a third carriage holding portion 152.

[0037] The second slide part 151 is attached to the front slide lock installation part 122. The second slide part 151 is equipped with, for example, a motor and a ball screw, and can move up and down by the rotation of the motor.

[0038] The third bogie holding portion 152 is formed by bending a single metal plate, and includes an attachment portion 152a at one edge that is attached to the rear portion of the second slide portion 151. Therefore, the third bogie holding portion 152 is movable up and down together with the second slide portion 151. Furthermore, the third bogie holding portion 152 is installed at a position closer to the center of gravity of the autonomous mobile device 100 than the first bogie holding portion 142 and the second bogie holding portion 143 of the rear slide lock 140.

[0039] The third carriage holding portion 152 includes an inclined portion 152b, a round groove portion 152c, and an inclined portion 152d on another edge portion, which are continuous with the mounting portion 152a. The inclined portion 152b, the groove portion 152c, and the inclined portion 152d are formed in a generally J-shape.

[0040] A battery 164 is inserted into and removed from the charger / discharger 161, and by inserting a battery 164 charged in a separate location, the battery 164 is used as a power source to supply power to each part of the autonomous mobile device 100. In addition, the battery 164 is charged via an external power source using an autonomous mobile device 100 that is not in operation or a separate charger / discharger 161. Two sets of charger / discharger 161 and battery 164 are housed in the autonomous mobile device 100, and only one set is used alternately when the autonomous mobile device 100 is traveling. This allows one battery 164 to be charged while the other battery 164 is operating, thereby extending the operating time of the autonomous mobile device 100 per day.

[0041] Next, the dolly 200 will be described. The dolly 200 travels while docked with the autonomous mobile device 100, and transports a load. As shown in FIGS. 4 to 7, the dolly 200 includes a dolly main body 210 and a brake 240.

[0042] The carriage body 210 includes a frame 215 and wheels 213 as the main parts of the carriage.

[0043] The frame 215 is formed in a three-dimensional lattice shape by combining aluminum alloy pipe members and connecting members used to connect the pipe members to other pipe members or other members. In this embodiment, the frame 215 is formed as a shelf with two steps 211 and 212 on which loads are placed. In Figure 4, flat luggage platforms 221 and 222 on which loads are placed are laid on the steps 211 and 212, respectively.

[0044] Four wheels 213 for traveling are attached to the lower part of the frame 215. Furthermore, sheet-like or plate-like covers 231 and 232 are attached to the frame 215 for the purpose of protection or the like.

[0045] When the autonomous mobile device 100 and the carriage 200 are undocked, the brake 240 comes into contact with the floor surface to prevent unexpected movement of the carriage 200. The brake 240 is attached to the frame 215 in the center near the two rear wheels 213.

[0046] The brake 240 includes a lifting portion 241 , a biasing portion 242 , a braking member 243 , and mounting members 244 and 245 .

[0047] The lifting section 241 is formed in a three-dimensional lattice shape by combining pipe members and connecting members similar to those of the frame 215. In this embodiment, the lifting section 241 is configured by combining a pair of pipe members extending in the vertical direction and a connecting pipe member extending in the horizontal direction.

[0048] The lifting section 241 includes slide members 241a and 241b and a braking end portion 241c.

[0049] The pair of upper and lower slide members 241a, 241b are fixed to the tubular member of the lifting section 241 and are attached to a mounting member 245 at the rear of the tubular member so as to be able to slide up and down. The braking end 241c is the lower end of the tubular member, and has a braking member 243 attached to it.

[0050] The biasing portion 242 includes a spring 242a and an outer cylinder 242b.

[0051] The spring 242a is a coil spring with a predetermined spring constant and is arranged to expand and contract in the vertical direction. The upper end of the spring 242a is fixed to the lower end of the mounting member 244, and the lower end of the spring 242a is fixed to the outer tube 242b. The spring 242a may include an adjustment member at one or both ends of the coil spring for adjusting the height when mounted. By changing the height of the coil spring, the contact pressure of the brake 240 with the floor surface can be adjusted.

[0052] The upper end of the outer cylinder 242b surrounds the lower end of the mounting member 244, and the lower end contacts the slide member 241a of the lifting unit 241. The outer cylinder 242b can move upward when the slide member 241a is pushed up, or can move downward by the biasing force of the spring 242a.

[0053] The braking member 243 is a member that is located at the bottom of the carriage 200 and comes into contact with the floor surface when braking. The braking member 243 is made of a material that is suitable for braking the floor surface and preventing scratches, such as natural rubber.

[0054] The carriage 200 also includes a first connecting portion 251 , a second connecting portion 252 , and a third connecting portion 253 for docking with the autonomous mobile device 100 .

[0055] The first connecting portion 251 is a tubular member similar to the frame 215, and extends in the front-to-rear direction of the bogie. The first connecting portion 251 is attached to the rear of the frame 215 at a position corresponding to the first bogie holding portion 142 when the autonomous mobile device 100 and the bogie 200 are docked.

[0056] The second connecting portion 252 is a tubular member similar to the frame 215, and extends in the left-right direction of the bogie. The second connecting portion 252 is attached to a pair of tubular members in front of the brake 240 at a position corresponding to the second bogie holding portion 143 when the autonomous mobile device 100 and the bogie 200 are docked.

[0057] The third connecting portion 253 is a tubular member similar to the frame 215, and extends in the left-right direction of the bogie. The third connecting portion 253 is attached to the front of the frame 215 at a position corresponding to the third bogie holding portion 152 when the autonomous mobile device 100 and the bogie 200 are docked.

[0058] Roller members 251a and 252a are respectively disposed around the first connecting portion 251 and the second connecting portion 252. The roller members 251a and 252a are cylindrical members made of, for example, plastic, and are freely rotatable relative to the first connecting portion 251 and the second connecting portion 252, respectively.

[0059] Next, the docking operation between the autonomous mobile device 100 and the carriage 200 will be described with reference to FIGS.

[0060] Before docking, the carriage 200 is stopped at a predetermined station and is braked by the brake 240 .

[0061] When the autonomous mobile device 100 retracts and enters from in front of the carriage 200, the autonomous mobile device 100 and the carriage 200 assume a positional relationship in the front-to-rear direction generally as shown in Fig. 8. At this time, the positional relationship in the front-to-rear direction and the left-to-right direction does not need to be highly accurate, and may be accurate to the extent possible with the autopilot accuracy stored in the autonomous mobile device 100.

[0062] Next, the control unit 111, which will be described later, raises the rear slide lock 140 before the front slide lock 150. As a result, the first connecting portion 251 and the second connecting portion 252 of the bogie 200 come into contact with the first bogie holding portion 142 and the second bogie holding portion 143 of the autonomous mobile device 100, respectively.

[0063] FIG. 10 schematically shows the alignment of the second carriage holding portion 143 of the autonomous mobile device 100 and the second connecting portion 252 of the carriage 200.

[0064] When the rear slide lock 140 and the second carriage holding portion 143 of the autonomous mobile device 100 rise as shown by the white arrow in the figure, the roller member 252a on the outer periphery of the second connecting portion 252 first comes into contact with either the inclined portion 143b, the groove portion 143c, or the inclined portion 143d of the second carriage holding portion 143.

[0065] If the first contact is with groove portion 143c, second connecting portion 252 and roller member 252a enter groove portion 143c as is, connecting second connecting portion 252 with second carriage holding portion 143. If the first contact is with inclined portion 143b or inclined portion 143d, as second carriage holding portion 143 continues to rise, roller member 252a moves along inclined portion 143b or inclined portion 143d while rotating.

[0066] Finally, the second connecting portion 252 and the roller member 252a enter the groove portion 143c and are connected to the second carriage holding portion 143. In this way, the second carriage holding portion 143 of the autonomous mobile device 100 and the second connecting portion 252 of the carriage 200 are accurately aligned in the front-to-rear direction by mechanical action alone when docking. The allowable range of left-to-right misalignment of the second carriage holding portion 143 is within the ranges of the inclined portion 143b, the groove portion 143c, and the inclined portion 143d.

[0067] Similarly to the above, the first carriage holding unit 142 of the autonomous mobile device 100 and the first connecting unit 251 of the carriage 200 are accurately aligned in the fore-and-aft direction by mechanical operation alone when docking, similar to the configuration in Fig. 10. The allowable range of misalignment of the first carriage holding unit 142 in the fore-and-aft direction is within the ranges of the inclined portion 142b, the groove portion 142c, and the inclined portion 142d.

[0068] When the rear slide lock 140 rises to its upper limit position, the first connecting portion 251 and the second connecting portion 252 of the carriage 200 are held by the first carriage holding portion 142 and the second carriage holding portion 143 of the autonomous mobile device 100, respectively. At this time, the lifting portion 241 of the brake 240, which is integrated with the first connecting portion 251, is lifted. This compresses the spring 242a of the biasing portion 242, and the braking member 243 of the brake 240 moves away from the floor surface, thereby releasing the brake.

[0069] Next, the front slide lock 150 rises, and the third connecting portion 253 of the carriage 200 is held by the third carriage holding portion 152 of the front slide lock 150, similar to the rear slide lock 140. The allowable range of longitudinal displacement of the third carriage holding portion 152 of the front slide lock 150 is within the ranges of the inclined portion 152b, the groove portion 152c, and the inclined portion 152d. This range may be narrower than the allowable range of displacement of the first carriage holding portion 142 of the rear slide lock 140, because mechanical alignment has already been performed.

[0070] Docking between the autonomous mobile device 100 and the bogie 200 is completed by placing the bogie 200 on the autonomous mobile device 100 through three connection points using the front slide lock 150 and the rear slide lock 140. After docking, the majority of the load of the bogie 200, including the payload, is borne by the first bogie holding unit 142 and the second bogie holding unit 143 at the rear of the autonomous mobile device 100, and the floor surface via the wheels 213 of the bogie main body 210. Therefore, after docking, the third bogie holding unit 152 at the front of the autonomous mobile device 100 bears a small proportion of the load. Furthermore, since the third bogie holding portion 152 of the front slide lock 150 is installed at a position closer to the center of gravity of the autonomous mobile device 100 than the first bogie holding portion 142 and the second bogie holding portion 143 of the rear slide lock 140, by raising the third bogie holding portion 152 and holding the third connecting portion 253 of the bogie 200, the connection between the autonomous mobile device 100 and the bogie 200 can be made more reliable.

[0071] When the autonomous mobile device 100 and the carriage 200 are to be released from their docking position, the above docking operation is reversed.

[0072] First, the control unit 111 (described later) lowers the front slide lock 150 to release the third carriage holding unit 152 from holding the third connecting unit 253 .

[0073] Next, the rear slide lock 140 of the autonomous mobile device 100 is released, releasing the hold of the first coupling part 251 by the first carriage holding part 142 and the hold of the second coupling part 252 by the second carriage holding part 143. At this time, the urging force of the spring 242a of the urging part 242 presses down the lifting part 241 and the braking member 243 of the brake 240, causing them to contact the floor surface. This brakes the carriage 200, preventing unexpected movement.

[0074] After the docking, the autonomous mobile device 100 moves from the position of the carriage 200 to another location by manual or automatic control.

[0075] In the configuration of this embodiment, the autonomous mobile device 100 and the bogie 200 are equipped with mechanisms that mechanically restrain the bogie 200 in the forward / backward and left / right directions. As a result, even if the installation position of the bogie 200 deviates from a predetermined position, the autonomous mobile device 100 and the bogie 200 can be coupled together while automatically correcting the position without requiring high-precision position control of the autonomous mobile device 100. Furthermore, by placing the bogie 200 on the autonomous mobile device 100 and coupling them, the bogie 200 is coupled close to the center of gravity of the autonomous mobile device 100, which makes it possible to suppress vibration, meandering, and the like during travel.

[0076] Furthermore, in the configuration of this embodiment, when the autonomous mobile device 100 is not coupled to the bogie 200, the brake 240 automatically locks the bogie 200 from moving. This prevents the bogie 200 from moving unexpectedly. Furthermore, the above lock can be released by operating the coupling mechanism between the autonomous mobile device 100 and the bogie 200. Furthermore, by combining the locking mechanism and coupling mechanism, costs can be reduced and safety can be improved.

[0077] Furthermore, in the configuration of this embodiment, at the connection portion between the autonomous mobile device 100 and the bogie 200, the first bogie holding portion 142, which is an elastic member formed by bending a metal plate, and the biasing portion 242 of the brake 240 also serve as a mechanism for absorbing vertical positional changes. This allows the autonomous mobile device 100 to travel stably even if the plane of the autonomous mobile device 100 and the plane of the bogie 200 are not level on the floor surface where there is a road step. Furthermore, rather than loading the bogie 200 on the autonomous mobile device 100, the bogie 200 is grounded with four free wheels, and travels while a certain load is released from the bogie 200 to the autonomous mobile device 100 via the connection portion. This facilitates a low center of gravity and stability of the structure even when there is a load, and improves the road grip of the autonomous mobile device 100.

[0078] As can be seen from the explanation so far, the mechanism for coupling (docking) the cart 200 to the autonomous mobile device 100 does not depend on the shape of the autonomous mobile device 100. This mechanism is not limited to the shape of the autonomous mobile device 100 shown in the figure, and can be applied to any device to which the cart 200 is coupled (including not only automatically moving devices but also manually moving devices).

[0079] Next, a description will be given of the functional configuration that controls the autonomous mobile device 100. As shown in Fig. 11, the autonomous mobile device 100 includes a base unit 110, a communication terminal 162, a detection unit 170, and a short-range communication unit 180.

[0080] The base unit 110 includes a control unit 111 , a storage unit 112 , an operation acquisition unit 113 , and a drive unit 114 .

[0081] The control unit 111 includes a processor such as a CPU (Central Processing Unit) and executes various programs stored in the storage unit 112. The execution of the various programs by the control unit 111 causes the autonomous mobile device 100 to perform various processes such as receiving route instructions, moving autonomously, and connecting / disconnecting the cart. For example, the control unit 111 controls the drive unit 114 to cause the autonomous mobile device 100 to travel.

[0082] Furthermore, the control unit 111 rotates the ball screws provided in the first slide unit 141 and the second slide unit 151, thereby sliding the first slide unit 141 and the second slide unit 151 up and down. By sliding the first slide unit 141 up and down, the entire rear slide lock 140 slides up and down. By sliding the second slide unit 151 up and down, the entire front slide lock 150 slides up and down. Therefore, the autonomous mobile device 100 can be coupled to the bogie 200 by retreating to a location where the bogie 200 is installed and then raising the first slide unit 141 and the second slide unit 151 with the control unit 111. Furthermore, the autonomous mobile device 100 coupled to the bogie 200 can move to a location where the bogie 200 is to be installed, and then detach the bogie 200 and install it at that location by lowering the first slide unit 141 and the second slide unit with the control unit 111.

[0083] The storage unit 112 includes memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and stores various programs executed by the control unit 111 and necessary data.

[0084] 1 and other figures, the operation acquisition unit 113 is installed in a position that is easy for a user standing in front of the autonomous mobile device 100 to operate, and is equipped with a joystick, push button switches, etc., and acquires operation instructions from the user and transmits them to the control unit 111. By operating the operation acquisition unit 113, the user can instruct the autonomous mobile device 100 on a route or manually steer the device. Note that the operation acquisition unit 113 is not the only unit that acquires operation instructions from the user; for example, the on-board operation terminal 163 may acquire operation instructions from the user using a touch panel or the like.

[0085] The drive unit 114 moves the autonomous mobile device 100 under instructions (control) from the control unit 111. As shown in FIG. 1 , the drive unit 114 includes independent two-wheel drive wheels 115, a motor 116, and casters 117. The autonomous mobile device 100 can perform forward and backward parallel movement (translational movement) by driving the two wheels 115 in the same direction, rotate on the spot (change of orientation) by driving the two wheels 115 in opposite directions, and turn (translational movement + rotation (change of orientation) movement) by driving the two wheels 115 at different speeds. Note that, although the drive unit 114 includes wheels 115 in this embodiment, crawlers may be included instead of the wheels 115. Furthermore, the drive unit 114 may include any means for moving the autonomous mobile device 100, not limited to wheels 115 or crawlers.

[0086] The communication terminal 162 is an LTE (Long Term Evolution) communication terminal, and as shown in Fig. 12, receives task instructions from a remote control terminal 300 operated remotely by a user and transmits the instructions to the control unit 111. The on-board operation terminal 163 may also function as the communication terminal 162. In this embodiment, an LTE closed network that does not go through the Internet is used as the communication network 350 between the communication terminal 162 and the remote control terminal 300. The use of a closed network eliminates the need to install a wireless LAN (Local Area Network) access point or the like and realizes a secure network environment.

[0087] 3 , the detection unit 170 includes a map path detection unit 171, an upper obstacle detection unit 172, a step detection unit 173, a lower obstacle detection unit 174, a rear obstacle detection unit 175, and a collision detection unit 176. The map path detection unit 171, the upper obstacle detection unit 172, the step detection unit 173, the lower obstacle detection unit 174, and the rear obstacle detection unit 175 each include a scanner-type laser range finder, and can acquire environmental data around the autonomous mobile device 100 and detect surrounding obstacles and steps by LiDAR (Light Detection and Ranging).

[0088] The map route detection unit 171 detects point cloud data covering 360 degrees horizontally and a predetermined angle (e.g., 15 degrees) vertically around the autonomous mobile device 100. When the autonomous mobile device 100 receives a travel route instruction, the control unit 111 creates map data by recording this point cloud data (surrounding environment data indicating the presence of surrounding objects) in the storage unit 112 every time the autonomous mobile device 100 moves a predetermined distance (e.g., 10 cm). When traveling along the instructed route, the control unit 111 compares the point cloud data detected by the map route detection unit 171 with the map data recorded in the storage unit 112, and corrects the position and orientation of the autonomous mobile device 100 according to the degree of match, thereby traveling so as to maximize the degree of match.

[0089] The upper obstacle detection unit 172 detects linear objects (e.g., the side of a vehicle) extending forward for a predetermined length (e.g., 16 m) or more. The upper obstacle detection unit 172 is installed at a predetermined height (e.g., 1.7 m) above the road surface. The upper obstacle detection unit 172 also detects interruptions in linear objects present ahead at train door openings and vehicle couplings. If the length of the interrupted portion (non-linear portion) is less than a predetermined non-linear reference length (e.g., 1 m) and the cumulative length of linear portions (straight portions) extending to the left or right of the non-linear portion is greater than the straight reference length (e.g., 16 m), the control unit 111 recognizes the area combining the non-linear portion and the straight portion as a straight area. For example, as shown in FIG. 13, when the upper obstacle detection unit 172 detects the side surface 400S of the vehicle 400, it recognizes the side surface 400S, including the door opening 401, as a straight area, and the control unit 111 generates a virtual wall 410 a predetermined safety distance s (e.g., 30 cm) in front of the straight area, and controls the autonomous mobile device 100A so that it does not approach the vehicle 400 beyond the virtual wall 410 (i.e., so that the distance from the straight area does not become less than the safe distance).

[0090] In this embodiment, the vehicle 400 is assumed to be a Shinkansen bullet train. Since there are no linear objects extending longer than a predetermined length at the front end 400H (or rear end) of the vehicle 400, no virtual walls are generated, and the autonomous mobile device 100B located in front (or rear) of the vehicle 400 can move forward without any problems, as shown in FIG. 13 . Note that in FIG. 13 , in a right-angled triangle representing the autonomous mobile devices 100A and 100B, the right angle represents the front of the autonomous mobile devices 100A and 100B, and the hypotenuse represents the rear. While the map path detection unit 171 described above functions as a 3D (dimensional) sensor by scanning a laser horizontally and vertically, the upper obstacle detection unit 172 can be realized by a 2D sensor that only scans horizontally. This is because the autonomous mobile device 100 can install the upper obstacle detection unit 172 at a relatively high position (approximately 1.7 m above the road surface).

[0091] 3, the step detection unit 173 is installed so that the laser is emitted downward (for example, at an angle φ of 45 degrees with respect to the vertical direction), and continues to detect the distance from the road surface. If there is a point where the distance from the road surface suddenly increases, the control unit 111 determines that there is a step there, and stops the drive unit 114. Note that the control unit 111 may also determine that there is an obstacle at a point where the distance from the road surface suddenly decreases, and stop the drive unit 114.

[0092] 3, the lower obstacle detection unit 174 is installed at a predetermined height (e.g., 30 cm above the floor) below the autonomous mobile device 100, and detects whether or not there is an obstacle above the predetermined height in the traveling direction. If the lower obstacle detection unit 174 detects an obstacle in the traveling direction, the control unit 111 stops the drive unit 114.

[0093] The rear obstacle detection unit 175 is installed at a predetermined height (for example, 30 cm above the floor) behind the autonomous mobile device 100 as shown in Fig. 3, and is used to detect obstacles when the autonomous mobile device 100 moves backward. When coupling the bogie 200, the autonomous mobile device 100 needs to move backward to the position of the bogie 200, and also when detaching the coupled bogie 200, it needs to move backward to the position where the bogie 200 is to be placed. In such cases, the rear obstacle detection unit 175 checks for safety behind the autonomous mobile device 100.

[0094] When the autonomous mobile device 100 without the dolly 200 coupled thereto moves backward in order to couple the dolly 200, as shown in FIG. 14 , the area in which the rear obstacle detection unit 175 detects objects is set to a first detection area 510 having a width (e.g., 60 cm) narrower than the distance (e.g., 80 cm) between the left and right frames 215L, 215R of the dolly 200. This allows the autonomous mobile device 100 to move backward to a position where the dolly 200 can be coupled to the autonomous mobile device 100, as long as no obstacle is detected in the first detection area 510. Furthermore, when the autonomous mobile device 100 with the dolly 200D coupled thereto moves backward in order to detach the dolly 200D, as shown in FIG. 15 , the area in which the rear obstacle detection unit 175 detects objects is set to a second detection area 520 having a width (e.g., 1 m) wider than the distance (e.g., 80 cm) between the left and right frames 215L, 215R of the dolly 200. This allows the autonomous mobile device 100 to avoid backing up into a location where the cart 200 is already placed. Note that in Figures 14 and 15, in the symbol representing the autonomous mobile device 100, the portion where the operation acquisition unit 113 is located represents the front, and the portion opposite represents the rear. Also, in Figures 14 and 15, the sector 500 is shown merely to make it easier to visualize the detection range of the rear obstacle detection unit 175, and has no relation to the actual detection range of the rear obstacle detection unit 175.

[0095] The collision detection unit 176 is a bumper-like device installed in front of the autonomous mobile device 100, and detects contact with an object. Even if the detection unit 170 cannot detect an obstacle using LiDAR, the autonomous mobile device 100 will physically detect the obstacle using the collision detection unit 176 and stop, thereby preventing harm to other objects or people.

[0096] The short-range communication unit 180 includes, for example, a Bluetooth (registered trademark) device. The control unit 111 can determine whether or not another autonomous mobile device 100 is nearby by causing the short-range communication unit 180 to transmit and receive radio waves.

[0097] The above describes an overview of the functional configuration of the autonomous mobile device 100. However, the autonomous mobile device 100's autonomous movement processing, teaching processing, and the like are similar to those of the autonomous mobile device 100 disclosed in International Publication No. 2021 / 255797. Therefore, route teaching may be performed by having the autonomous mobile device 100 follow a follower (such as a person or another autonomous mobile device), or by manually operating the autonomous mobile device 100 using a joystick or the like of the operation acquisition unit 113. While receiving teaching, the autonomous mobile device 100 creates map data by recording data detected by the map path detection unit 171 (surrounding environment data indicating the presence of surrounding objects) in the memory unit 112 of the base unit 110 each time the autonomous mobile device 100 moves a predetermined distance (e.g., 10 cm). Furthermore, the autonomous mobile device 100 can install the cart 200 at any point or retrieve the cart from any point by having the control unit 111 instruct the location where the first slide unit 141 and the second slide unit 151 should be raised or lowered. Note that the detection unit 31 of the autonomous mobile device 100 disclosed in International Publication No. 2021 / 255797 is described as having a laser irradiation range angle of 270 degrees, but the laser irradiation range angle of the detection unit 170 in this embodiment is 360 degrees. Therefore, the surrounding environment data included in the map data includes point cloud data in all 360-degree directions, and high accuracy can be maintained in determining the current position and driving direction when traveling in the reverse direction along the instructed route.

[0098] In this embodiment, the autonomous mobile device 100 is used to set up and collect linen bins and trash bins on a railway platform, such as that shown in FIG. 16 , to change the linen inside the vehicle and collect trash. In FIG. 16 , eight autonomous mobile devices 100 are parked in their designated parking locations at the AGV (Automatic Guided Vehicle) base ABASE when not in operation. Platforms a, b, c, and d on platforms 1 and 3 are designated as trash bin locations, and platforms e and f are designated as linen bin locations. The locations of the trash bin locations and linen bin locations can be freely set using a configuration file. For example, a configuration is possible in which platform 1 has platform a and b designated as linen bin locations, platform c and d designated as equipment bin locations, and platform e and f designated as trash bin locations, while platform 3 has platform a and b designated as blanket bin locations, platform c and d designated as trash bin locations, and platform e and f designated as linen bin locations.

[0099] In this embodiment, a regular ID (Identification) is assigned to each of the stopping points (stations) of the autonomous mobile device 100 and the unit routes to be taught, thereby enabling automatic generation of a route from the current location to a specified destination. The route is composed of a main line, shown by a solid line in FIG. 16 , and branch lines, shown by dashed lines, that branch off from stopping points on the main line as starting points. The ID of a stopping point on the main line is represented by a pair (e.g., 12-1) consisting of a major category ID indicating the type of main line and a medium category ID indicating the position (order) of the stopping point within that major category ID. The ID of a stopping point on a branch line is represented by a triplet (e.g., 12-1-f) consisting of the ID of the stopping point on the main line that serves as the starting point and a minor category ID indicating the position on the branch line. In other words, the main line is configured by sequentially tracing multiple stopping points (stations) that can serve as starting points for branch lines, and each stopping point is assigned with a regularity such that the number contained in the intermediate classification ID increases by one each time you start from the stopping point that is the starting point of the main line and proceed to the next stopping point (adjacent point).

[0100] Furthermore, when the autonomous mobile device 100 receives instruction for a route on a main line, it receives instruction for each route (unit route) between adjacent stopping points. At this time, adjacent stopping points are taught in a direction in which the medium classification ID increases by one, and the taught unit route is assigned the same ID as the ID of the destination stopping point. Teaching of a unit route on a branch line is performed in a direction in which the branch line moves from a stopping point on the main line that is the starting point of the branch line to a stopping point on the branch line, and the taught unit route is assigned the same ID as the ID of the stopping point on the branch line.

[0101] 16, for example, as stopping points on the main line, point A-0, which serves as the starting point, is first assigned the ID A-0, and points 12-1, 12-2, ..., 12-16, which are stopping points on platforms 1 and 2, are assigned the IDs 12-1, 12-2, ..., 12-16, respectively, and points 34-1, 34-2, ..., 34-16, which are stopping points on platforms 3 and 4, are assigned the IDs 34-1, 34-2, ..., 34-16, respectively. Then, with point A-0 as the starting point, routes to adjacent points (destinations) are represented by the IDs of the destinations. That is, the route from point A-0 to point 12-1 is taught as unit route 12-1, and the route from point 12-1 to point 12-2 is taught as unit route 12-2. Similarly, the route from point X-[n] to point X-[n+1] adjacent to point X-[n] is taught as unit route X-[n+1]. As described above, the autonomous mobile device 100 is capable of traveling in the reverse direction of a taught unit route. Therefore, if unit route X-[n+1], which is the route from point X-[n] to point X-[n+1], is taught, the autonomous mobile device can travel from point X-[n+1] to point X-[n] by tracing that route in the reverse direction. Therefore, in FIG. 16 , such a route that is traced in the reverse direction is represented as unit route X-[n+1]^.

[0102] In the example shown in Figure 16, when teaching the route of the main line, the starting point is point A-0 at AGV base ABASE, and for the route to platforms 1 and 2, the surrounding environment data acquired when traveling from point A-0 to point 12-1 is stored as map data for unit route 12-1, the surrounding environment data acquired when traveling from point 12-1 to point 12-2 is stored as map data for unit route 12-2, and similarly, the surrounding environment data acquired when traveling from point 12-[n] to point 12-[n+1] is stored as map data for unit route 12-[n+1], up to map data for unit route 12-16. Similarly, for the route to platforms 3 and 4, the surrounding environment data acquired when traveling along the route from point A-0 to point 34-1 is stored as map data for unit route 34-1, and similarly, the surrounding environment data acquired when traveling along the route from point 34-[n] to point 34-[n+1] is stored as map data for unit route 34-[n+1], up to map data for route 34-16. Note that in this example, major category ID "12" indicates the platforms for platforms 1 and 2, and major category ID "34" indicates the platforms for platforms 3 and 4, but these major category IDs are merely examples and can be set freely.

[0103] In the example shown in FIG. 16 , branch lines are indicated by dashed lines, and represent routes from a stop point on the main line to a final destination, such as a route to the parking location at AGV base ABASE or a route to the trash can area or linen box area on the platform. As described above, a triplet of IDs is assigned to the stop points on the branch lines, with a subcategory ID added to the ID of the stop point on the main line that serves as the starting point. For example, the ID of the parking location of the first autonomous mobile device 100 is A-0-1. The parking locations of the other autonomous mobile devices 100 are similar, with the ID of the parking location of the [n]th autonomous mobile device 100 being A-0-[n]. The ID of trash can area a near point 12-2 is 12-2-a.

[0104] Because IDs are assigned to each point in this regular manner, the control unit 111 can generate a route from one point to another based on the IDs of the points. For example, let us consider a case where an instruction to travel from stop point X-[n] to stop point X-[m] is given as an instruction to travel between two stop points (stop points with the same major classification ID) on the same main line. If m = n + 1, the autonomous mobile device 100 can perform the instructed movement by traveling along the taught unit path X-[m]. Conversely, if n = m + 1, the autonomous mobile device 100 can perform the instructed movement by traveling along the unit path X-[n]^, since it is sufficient to use the taught unit path X-[n] in the reverse direction.

[0105] Furthermore, if m = n + d (where d > 1), the autonomous mobile device 100 can perform the instructed movement by traveling along the unit routes X-[n+1], X-[n+2], ..., X-[m] in order, while increasing the branch numbers of the unit route IDs (the numerical values ​​of the intermediate category IDs) by one each time. Conversely, if n = m + d (where d > 1), the autonomous mobile device 100 can perform the instructed movement by traveling along the unit routes X-[n]^, X-[n-1]^, ..., X-[m+1]^ in order, while decreasing the branch numbers of the taught unit route IDs (the numerical values ​​of the intermediate category IDs) by one each time, in the reverse direction.

[0106] Furthermore, if the current location is a stopping point on a branch line, the autonomous mobile device 100 first travels a route to a stopping point on the main line that is the starting point of the branch line, enters the main line, and travels on the main line as described above. If the destination point is a stopping point on a branch line, the autonomous mobile device 100 first travels to a stopping point on the main line that is the starting point of the branch line as described above, and then travels a unit route from the stopping point on the main line to the destination point, thereby completing the instructed movement. For example, if a first autonomous mobile device 100 receives an instruction to move from parking position A-0-1 to trash can area 12-2-a, it first travels unit route A-0-1^ to move to point A-0, then travels unit route 12-1 to move to point 12-1, then travels unit route 12-2 to move to point 12-2, and then travels unit route 12-2-a to move to trash can area 12-2-a, thereby completing the instructed movement.

[0107] Therefore, when the autonomous mobile device 100 receives a movement instruction, it generates a route by connecting one or more consecutive unit routes in this manner, allowing it to travel between any of the stop points on the same main line and any of the stop points on branch lines extending from the main line. Furthermore, if it is necessary to travel between different main lines, it is possible to travel between any of the stop points by generating a route that passes through common stop points between the main lines. By assigning a regularity to the IDs of each point and providing instructions for each unit route, it is possible to simplify the navigation process when a movement instruction to a destination point is issued, and also to simplify the management of map data. This allows users to intuitively create and use maps.

[0108] Next, an example of the use of the autonomous mobile device 100 on a Shinkansen platform will be described. As shown on the operation screen 310 of the remote control terminal 300 in FIG. 12 , the autonomous mobile device 100 can move to a predetermined location and install or collect linen boxes and trash cans by coupling or detaching the cart 200 based on instructions from the remote control terminal 300. In the example shown in FIG. 12 , eight autonomous mobile devices 100 are parked in their respective parking positions at the AGV base ABASE with coupled carts 200 carrying linen boxes. The remote control terminal 300 issues a task instruction to "transport and install the linen boxes on platform 1-2, then couple the cart 200 carrying the trash cans, and then return to their original parking positions." Upon receiving this task instruction, the autonomous mobile device 100 interprets the task instruction and can autonomously perform operations such as traveling, coupling, and installing the carts based on the teaching data. Therefore, even if communication with the remote control terminal 300 is interrupted after receiving the task instruction, the autonomous mobile device 100 can execute the content of the task instruction.

[0109] In such a case, if the remote control terminal 300 simply instructs all eight autonomous mobile devices 100 to start traveling at the same time, all eight autonomous mobile devices 100 will start traveling at the same time, resulting in a traffic jam and reduced traveling efficiency. Furthermore, a situation may arise in which two nearby autonomous mobile devices 100 attempt to avoid a collision using their respective detection units 170, causing both to stop. Therefore, the remote control terminal 300 instructs each autonomous mobile device 100 to start traveling at predetermined time intervals (e.g., 30 seconds). In other words, the remote control terminal 300 issues a travel start instruction to the next autonomous mobile device 100 a predetermined time (e.g., 30 seconds) after issuing a travel start instruction to one autonomous mobile device 100. This allows the multiple autonomous mobile devices 100 to travel at a predetermined distance apart, thereby avoiding collisions and traffic jams. This type of blockage control using time intervals is called blockage control using the time interval method.

[0110] Specifically, a case will be described in which the remote control terminal 300 issues an instruction to eight autonomous mobile devices 100 parked at the AGV base ABASE to "Place linen boxes on platform 1-2 and collect trash cans," as shown in Figure 12. In this case, it is assumed that the linen box storage areas on platform 1-2 are set to positions 12-[n]-e and 12-[n]-f (where n = 1, 3, ..., 15), and the trash can storage areas are set to positions 12-[m]-a, 12-[m]-b, 12-[m]-c, and 12-[m]-d (where m = 2, 4, ..., 16). It is also assumed that the user loads linen boxes onto the carriages of the eight autonomous mobile devices 100 before issuing an instruction to the autonomous mobile devices 100 from the remote control terminal 300.

[0111] Then, when instructions are issued collectively to the eight autonomous mobile devices 100 from the remote control terminal 300 via the operation screen 310, the remote control terminal 300 first instructs the first autonomous mobile device 100 to place the linen box in the linen box area at position 12-15-e, collect the trash can from the trash can area at position 12-16-a, and return to position A-0-1. Upon receiving this instruction, the first autonomous mobile device 100 begins traveling from position A-0-1 to position 12-15-e, and thereafter, even without any particular instructions from the remote control terminal 300, it places the linen box, collects the trash can, and then returns to position A-0-1.

[0112] Meanwhile, after a predetermined time (e.g., 30 seconds) has elapsed since the remote control terminal 300 issued the instruction to the first autonomous mobile device 100, the remote control terminal 300 instructs the second autonomous mobile device 100 to place a linen box in the linen box storage area at position 12-13-e, collect a trash can from the trash can storage area at position 12-14-a, and return to position A-0-2. Upon receiving this instruction, the second autonomous mobile device 100 begins traveling from position A-0-2 to position 12-13-e, and thereafter returns to position A-0-2 after placing the linen box and collecting the trash can without any particular instruction from the remote control terminal 300. In this way, by the remote control terminal 300 issuing instructions to each autonomous mobile device 100 at predetermined time intervals (e.g., 30-second intervals), each autonomous mobile device 100 can place a linen box, collect a trash can, and return to AGV base ABASE without congestion.

[0113] In the above description, it was stated that the linen box is placed in the linen box area with subcategory ID e, and the trash can is collected from the trash can area with subcategory ID a. However, in this example, there are two linen box areas with subcategory IDs e and f, and four trash can areas with subcategory IDs a, b, c, and d. In reality, each autonomous mobile device 100 uses these areas in order. That is, the autonomous mobile device 100 remembers whether the linen box was collected from e or f in a previous instruction, and when instructed to place a linen box, it places the linen box in the linen box area from which it was collected most recently (usually not the one that was placed most recently). The autonomous mobile device 100 also remembers whether the trash can was placed in a, b, c, or d in a previous instruction, and when instructed to collect a trash can, it collects the trash can from the trash can area from which it was placed most recently.

[0114] It is possible that the above-described blockage control using the time interval method may not function properly. This may be the case when the autonomous mobile devices 100 have different traveling speeds or when the time required for placing and retrieving a trolley differs. For example, if an autonomous mobile device 100 takes longer than expected to travel or to place and retrieve a trolley, it may end up approaching another autonomous mobile device 100. In this regard, the autonomous mobile device 100 may perform blockage control using the short-range communication unit 180. Specifically, an autonomous mobile device 100 traveling on a priority route (a branch line in this example) continues to transmit beacon radio waves using the short-range communication unit 180, and an autonomous mobile device 100 traveling on a non-priority route (a main line in this example) stops traveling while the beacon radio waves are being received by the short-range communication unit 180. As a result, if an autonomous mobile device 100 traveling on a non-priority route is detected merging from a priority route onto the non-priority route, the autonomous mobile device 100 will wait on the non-priority route, and the autonomous mobile device 100 traveling on the priority route can travel without stopping at a point where a branch line merges with a main line. It is possible to freely change whether the main line or the branch line is the priority route. Such block control using the short-range communication unit 180 is called block control using the spatial interval method.

[0115] Up to this point, we have explained the case where the route is a matrix route (a route where the main line does not form a loop) as shown in Figure 16. Next, we will explain the case where the route is a cyclic route (a route where the main line forms a loop) as shown in Figure 17. The autonomous mobile device 100 is capable of determining whether the route is a matrix route or a cyclic route based on the setting file stored in the storage unit 112.

[0116] A cyclic route is a route in which the main line forms a loop, as shown in Figure 17. In the case of a matrix route, whether to use the taught unit route in the forward direction (the direction taught) or the reverse direction (the reverse direction from the direction taught) is determined based on the IDs of the start point and destination point. In other words, if an instruction is given to move in the direction of an increasing intermediate category ID, the taught unit route will be used in the forward direction, and if an instruction is given to move in the direction of a decreasing intermediate category ID, the taught unit route will be used in the reverse direction.

[0117] In contrast, with a cyclic route, it is always possible to travel to any stop point on the main line by using the unit route in the forward direction. With a cyclic route, in order to form a looped route, it is set in the configuration file that specific stop points on the main line are connected to other specific stop points. For example, in the cyclic route shown in Figure 17, it is recorded in the configuration file that point B-7 is connected to point B-0. Then, the route from point B-7 to point B-0 is taught as unit route B-0.

[0118] Furthermore, in a cyclic route, in addition to the main line shown by the solid line and the branch line shown by the dashed line in FIG. 17 , shortcut routes shown by the dashed line can also be set. In the example shown in FIG. 17 , two shortcut routes are set: one that branches off from the main line at point B-2, passes through relay point C-1, and merges with the main line at point B-6; and one that branches off from the main line at point B-3, passes through relay point D-1, and merges with the main line at point B-4. When teaching a shortcut route, a unit route from the start point of the shortcut to the relay point is stored as a unit route indicated by the relay point ID, and a unit route from the relay point to the end point of the shortcut is stored as a unit route indicated by the relay point ID followed by a "^". Then, a shortcut definition is set in the configuration file indicating that a route that does not use a shortcut route (for example, a route consisting of unit route B-3, unit route B-4, unit route B-5, and unit route B-6) can be replaced with a route that uses a shortcut route (in this case, a route consisting of unit route C-1 and unit route C-1^). The autonomous mobile device 100 can select a shortcut route to travel as needed by referring to the shortcut definition in the configuration file.

[0119] For example, if the autonomous mobile device 100 is stopped at point B-1-a and is instructed to travel to point B-7-a, the autonomous mobile device 100 will generate a route consisting of unit path B-1-a^, unit path B-2, unit path B-3, unit path B-4, unit path B-5, unit path B-6, unit path B-7, and unit path B-7-a using a procedure similar to that for the matrix route described above. Then, due to the shortcut definition in the configuration file, the autonomous mobile device 100 can recognize that "unit path B-3, unit path B-4, unit path B-5, unit path B-6" in this route can be replaced with "unit path C-1, unit path C-1^", and therefore can generate a route consisting of unit path B-1-a^, unit path B-2, unit path C-1, unit path C-1^, unit path B-7, and unit path B-7-a.

[0120] Furthermore, if the autonomous mobile device 100 is stopped at point B-7-a and is instructed to travel to point B-1-a, the configuration file allows the autonomous mobile device 100 to recognize that point B-7 is connected to point B-0, and the autonomous mobile device 100 generates a route consisting of unit route B-7-a^, unit route B-0, unit route B-1, and unit route B-1-a.

[0121] In addition, in a matrix-type route, if there is little difference in the traveling speed of each autonomous mobile device 100 or the time required to place and retrieve the cart, block control can be performed without problems using only the time interval method. However, in a cyclic-type route, since the main line is looped, multiple autonomous mobile devices 100 are likely to approach each other on the main line, and it is considered that block control using the spatial interval method is often better. In the example of the matrix-type route shown in Figure 16 above, the area where the branch line routes to the trash can and linen box areas are located is small, and it is considered that minimizing the time that the autonomous mobile devices 100 spend there will improve overall efficiency, so the branch line is set as the priority route. However, in the cyclic-type route shown in Figure 17, it is considered that avoiding congestion on the loop-shaped main line will improve overall efficiency, so the main line is set as the priority route. That is, each autonomous mobile device 100 continues to transmit beacon radio waves by the short-range communication unit 180 while traveling on the main line, and an autonomous mobile device 100 traveling on a branch line stops traveling while the beacon radio waves are being received by the short-range communication unit 180. As a result, if an autonomous mobile device 100 traveling on a branch line is merging onto the main line and there is another autonomous mobile device 100 traveling on the main line, it will wait on the branch line, allowing the autonomous mobile device 100 traveling on the main line to travel without stopping. However, this is just one example, and there may be cases where it is better to make the branch line a priority route even on a cyclic route, so it is possible to freely set whether the main line or the branch line is to be the priority route.

[0122] Here, an embodiment including a block control terminal that executes block control processing will be described. Each autonomous mobile device 100 registers its own status with this block control terminal and begins operation after checking the status of other autonomous mobile devices 100, thereby achieving more appropriate block control. As shown in FIG. 18 , the group operation control system 1000 according to this embodiment includes an autonomous mobile device 100 equipped with a communication terminal 162, a remote control terminal 300, and a block control terminal 600, and these terminals are capable of communicating with each other via a communication network 350. Although FIG. 18 illustrates only one autonomous mobile device 100, the group operation control system 1000 may actually include any number of autonomous mobile devices 100 (e.g., eight). The remote control terminal 300 and the block control terminal 600 can communicate with each of the multiple autonomous mobile devices 100 (the communication terminals 162 equipped therein) via the communication network 350. The group operation control system 1000 can then integrate and control these multiple autonomous mobile devices 100 as a group.

[0123] The communication terminal 162, remote control terminal 300, and communication network 350 are as described above in the explanation of the functional configuration that controls the autonomous mobile device 100, but to supplement this, the communication terminal 162 functions as an onboard control unit, and the remote control terminal 300 functions as an operation instruction unit. The operation instruction unit can then transmit a common or individual operation program to each communication terminal 162 installed in each autonomous mobile device 100. This allows the operation instruction unit to design an integrated operation plan for the entire group in advance, and execute control instructions for each autonomous mobile device 100 based on this plan.

[0124] The operation instruction unit generates an operation diagram that aligns the operation timing, routes, and cart coupling operations of each autonomous mobile device 100, for example, and transmits instruction commands according to that operation diagram to each onboard control unit, thereby enabling each autonomous mobile device 100 to operate in a synchronized formation. The operation screen 310 shown in Figure 18 shows an example of a user interface for generating an operation diagram, in which eight mobile devices are operated in a group and run on platforms 3 and 4, and the user selects instructions to place a trash cart and collect a supplies cart.

[0125] Note that "synchronized formation" refers to an operational mode in which multiple (e.g., eight) autonomous mobile devices 100 travel along a common route without overtaking each other and while maintaining a predetermined clearance (such as a safe spatial distance). The entire group is deployed at appropriate intervals along the same route, and after each autonomous mobile device 100 completes its designated mission, it regroups at a predetermined location, such as the starting point of travel, while maintaining the clearance. To demonstrate the effectiveness of this "synchronized formation" operation, consider, for example, a single-track operation involving multiple vehicles (e.g., vehicle A and vehicle B), where vehicle B's destination is farther away on the single track than vehicle A's destination, and vehicle B departs the base first, but vehicle A is traveling at a much faster speed than vehicle B. In this case, if vehicle A is not controlled to maintain the predetermined clearance from vehicle B, it will overtake vehicle B, arrive at its destination first, and then attempt to return to the base. However, because the overtaken vehicle B has a destination farther away than vehicle A, there is a risk that vehicle A will collide head-on with vehicle B, which is heading toward its destination, while traveling in the opposite direction along the single track toward the base. Furthermore, even if control were performed to avoid this head-on collision, such control itself could hinder the efficient operation of each autonomous mobile device 100. This type of formation operation, in which each autonomous mobile device 100 travels while maintaining a predetermined clearance without overtaking each other, minimizes the risk of collisions due to overtaking or traveling in the wrong direction, and is extremely effective in improving the consistency, efficiency, and safety of group control in applications such as transportation and logistics.

[0126] Note that the synchronized formation shown here is for serial driving, but this is just one example, and synchronized formations can be applied to a variety of patterns other than serial driving, such as parallel driving (synchronization when multiple vehicles travel back and forth on multiple routes to simultaneously carry out a mission), radial deployment (synchronization when multiple vehicles open in different directions and return to simultaneously carry out a mission), and opposing driving (synchronization where one vehicle waits to pass the other in a narrow space, for example), and are not limited to a specific platoon format. Achieving such a synchronized formation enables consistent operation of the entire group, and enables highly accurate group control while maintaining the independence of each autonomous mobile device 100.

[0127] To perform such control (e.g., synchronized formation operation while maintaining clearance), the blockage control terminal 600 is used as a blockage control unit. The blockage control unit manages (initializes, stores, and checks) the status of each autonomous mobile device 100 during group operation as a status flag, and forms a blockage structure on the route by realizing appropriate synchronous operation of each autonomous mobile device 100. More specifically, the blockage control unit communicates with the outside (each autonomous mobile device 100, remote control terminal 300, etc.) to receive external commands (described below), and initializes, stores (registers), and checks status flags, which are variables indicating the status of each autonomous mobile device 100, based on the received external commands. Each autonomous mobile device 100 accesses the blockage control unit to register and check the status flag before operating, thereby realizing appropriate synchronous operation. In other words, the blockage control unit is a mechanism for managing status flags notified by each autonomous mobile device (autonomous mobile device 100) in group operation, and has a shared data area that allows each autonomous mobile device to refer to the status of other autonomous mobile devices with which it may collide.

[0128] The status flags are stored in the storage area (shared data area) of the blockage control unit, and can be freely initialized, registered, and checked from the outside (each autonomous mobile device 100, remote control terminal 300) by using external commands such as those shown in FIG. 19 . For convenience, initializing or registering the status (status flag) of each autonomous mobile device 100 stored in the storage area of ​​the blockage control unit is also referred to as "registering in the blockage control unit." For convenience, checking the status (status flag) of each autonomous mobile device 100 stored in the storage area of ​​the blockage control unit is also referred to as "querying the blockage control unit." The external commands shown in FIG. 19 are merely examples, and are not limited to these. For example, to initialize the status flag of a device with ID 3, it is sufficient to send "SYNC.REG 3 init" to the blockage control unit. Execution of this external command initializes (clears) the status flag of the device with ID 3.

[0129] In the example shown in FIG. 18 , there are eight autonomous mobile devices 100, and the status flag of each autonomous mobile device 100 is displayed on the display screen 610 of the blockage control terminal 600. In FIG. 18 , the same session ID (session_1a23b in this example) is registered in eight autonomous mobile devices 100 (vehicles 1 to 8), which means that these eight devices are executing a common operation diagram as a group. The session ID is generated for each operation instruction (for example, by the operation instruction unit). Sharing a common session ID among all autonomous mobile devices 100 in the group ensures the uniqueness of the operation diagram. Also, in FIG. 18 , a status flag called leave_garage is registered in the eight autonomous mobile devices 100, which indicates that all eight autonomous mobile devices 100 have left (departed) the AGV base ABASE. 18, a status flag "goto_home" is registered for three autonomous mobile devices 100 (vehicles 6, 7, and 8), which indicates that these three autonomous mobile devices 100 have completed their missions and are on their way home. Also, in FIG. 18, a status flag "complete" is registered for one autonomous mobile device 100 (vehicle 8), which indicates that this one autonomous mobile device 100 has completed its mission and arrived at AGV base ABASE.

[0130] In this way, the status flags are configured so that a status flag specific to each vehicle (each autonomous mobile device 100) in group operation is registered. Furthermore, it is possible to associate and store multiple types of status flags with each vehicle, which makes it possible to express and manage the various operating states of each autonomous mobile device 100 in real time and in detail.

[0131] The following 17 steps can be cited as an example of processing steps when autonomous mobile devices 100 are operated in groups to automatically transport shelf carts. However, since the initial state of the blockage control unit is such that no status flag is registered, when initializing the onboard control unit of each device (each autonomous mobile device 100) (when starting an application executed on the communication terminal 162), SYNC.REG $GOUKI_ID init and SYNC.REG $GOUKI_ID complete are executed to initialize the status flag of that device in the blockage control unit to complete (note that $GOUKI_ID actually contains a specific number indicating the number of each autonomous mobile device 100).

[0132] (1) Each device (each autonomous mobile device 100) checks whether "complete" is registered in the status flags of the blockage control unit for itself and all other devices (the specific command is "SYNC.CHK complete device ID to check"). When "complete" registration is confirmed for all devices, each device proceeds to the next step. If there is a device for which "complete" registration has not been completed, the processing waits and the blockage control unit reconfirms at predetermined intervals (for example, 5 seconds) whether "complete" has been registered. (2) Each device clears all of the status flags of that device registered in the blockage control unit by registering "init" for its own device ID (the specific command is "SYNC.REG $GOUKI_ID init"). (3) Each vehicle receives a new session ID (generated by the operation instruction unit) that is generated for each operation instruction, and registers the received session ID in its status flag (the specific command is "SYNC.REG $GOUKI_ID session ID"). (4) Each vehicle checks whether it and all other vehicles have registered the same session ID (e.g., session_1a23b) in their status flags (the specific command is "SYNC.CHK session ID vehicle ID to check"). If it is confirmed that the same session ID has been registered in all vehicles, the process proceeds to the next step. If there is an unregistered vehicle, the block control unit reconfirms at predetermined intervals (e.g., 5 seconds) whether the same session ID has been registered. (5) Each vehicle waits for a time (e.g., 30 seconds x (8 - vehicle ID)) before starting operation (the specific command is "WAIT number of seconds to wait"). (6) If it is a shelf car docking mission, each vehicle raises the shelf car docking lifter and docks with the shelf car (the specific command is "LIFT UP"). (7) Each vehicle confirms that all vehicles departing before itself have departed normally by checking that the status flag "leave_garage" has been registered (the specific command is "SYNC.CHK leave_garage vehicle ID to be confirmed"). If it is confirmed that all vehicles departing before itself have registered "leave_garage", the process proceeds to the next step.If there is a vehicle for which leave_garage is not registered, the block control unit reconfirms this at predetermined intervals (for example, 5 seconds). Note that this step is skipped for the first vehicle in the group to depart. (8) Each vehicle executes a travel process to a predetermined destination (a location where the item to be installed is placed) (specifically, the command is "GOTO DESTINATION"). (9) Each vehicle lowers the shelf car docking lifter and places the item (specifically, the command is "LIFT DOWN"). (10) Each vehicle executes a travel process to another destination (a location where the item to be retrieved is placed) (specifically, the command is "GOTO DESTINATION"). (11) Each vehicle raises the lifter again to dock with the shelf car to be retrieved (specifically, the command is "LIFT UP"). (12) Each vehicle confirms that all vehicles that departed before itself have begun returning to their home position (e.g., AGV base ABASE) by checking that the status flag "goto_home" has been registered (the specific command is "SYNC.CHK goto_home vehicle ID to be confirmed"). If it is confirmed that all vehicles that departed before itself have registered "goto_home," the process proceeds to the next step. If there is a vehicle that does not have "goto_home" registered, the process reconfirms with the block control unit at predetermined intervals (e.g., 5 seconds). Note that this step is skipped for the first vehicle in the group to begin returning to its home position. (13) Each vehicle registers "goto_home" in the status flag of its own vehicle ID (the specific command is "SYNC.REG $GOUKI_ID goto_home"). (14) Each vehicle begins returning to its home position (the specific command is "GOTO HOME"). (15) After arriving at its home position, each vehicle waits for a predetermined time (for example, one second) (the specific command is "WAIT wait seconds"). (16) Each vehicle ends its autonomous driving control in accordance with an autonomous driving control end command (ESTOP) sent from the onboard control unit. Note that even without executing the ESTTOP command, each vehicle will transition to a standby state upon arriving at its destination (home position). However, by executing the ESTTOP command, the autonomous driving control can be transitioned from a standby state to an end state, ensuring that autonomous driving is terminated.This brings about the effect of, for example, reducing power consumption. (17) Each machine registers "complete" in the status flag of its own machine ID (the specific command is "SYNC.REG $GOUKI_ID complete").

[0133] The above-mentioned processing steps are actually executed in each vehicle by the operation instruction unit generating a specific command sequence based on instructions given by the user via the remote control terminal 300 and transmitting it to each vehicle. For example, in response to operation instructions given on the operation screen 310 shown in Figure 18, the operation instruction unit generates the following command sequence for each vehicle. (Since some of the commands differ for each vehicle, the commands for vehicles 1, 3, and 8 are given here.)

[0134] An example of a command string for Unit 1 is as follows: SYNC.CHK complete 1&2&3&4&5&6&7&8 / SYNC.REG 1 init / SYNC.REG 1 session_1a23b / SYNC.CHK session_1a23b 1&2&3&4&5&6&7&8 / WAIT 210 / LIFT UP / SYNC.CHK leave_garage 2&3&4&5&6&7&8 / GOTO 34-2-CLASS1-E / LIFT DOWN / GOTO 34-2-CLASS3-O / LIFT UP / SYNC. REG 1 goto_home / GOTO HOME / WAIT 1 / ESTOP / SYNC. REG 1 complete

[0135] An example of a command string for Unit 3 is as follows: SYNC.CHK complete 1&2&3&4&5&6&7&8 / SYNC.REG 3 init / SYNC.REG 3 session_1a23b / SYNC.CHK session_1a23b 1&2&3&4&5&6&7&8 / WAIT 150 / LIFT UP / SYNC.CHK leave_garage 4&5&6&7&8 / GOTO 34-6-CLASS1-E / LIFT DOWN / GOTO 34-6-CLASS3-O / LIFT UP / SYNC. CHK goto_home 2&1 / SYNC. REG 3 goto_home / GOTO HOME / WAIT 1 / ESTOP / SYNC. REG 3 complete

[0136] An example of a command string for Unit 8 is as follows: SYNC.CHK complete 1&2&3&4&5&6&7&8 / SYNC.REG 8 init / SYNC.REG 8 session_1a23b / SYNC.CHK session_1a23b 1&2&3&4&5&6&7&8 / WAIT 0 / LIFT UP / GOTO 34-16-CLASS1-E / LIFT DOWN / GOTO 34-16-CLASS3-O / LIFT UP / SYNC.CHK goto_home 7&6&5&4&3&2&1 / SYNC. REG 8 goto_home / GOTO HOME / WAIT 1 / ESTOP / SYNC. REG 8 complete

[0137] In this way, the operation instruction unit can efficiently issue operation instructions to the entire group by sending the commands generated for each vehicle to each vehicle in a batch. Although an example in which these commands are sent to all vehicles in a batch has been shown here, the present invention is not limited to batch transmission. The operation instruction unit may send commands to each vehicle one step at a time (or several steps at a time). For example, a command sequence corresponding to all steps may be sent in a batch to a normal vehicle, but to a vehicle that is known to occasionally have malfunctions, the command sequence may be sent one step at a time (or several steps at a time). This can have the effect of making it easier for the user to check the operation of the vehicle in question one by one.

[0138] Each vehicle (autonomous mobile device 100) checks the status flags held by the blockage control unit to determine whether it is permitted to execute its next traveling operation. This allows each vehicle (autonomous mobile device 100) to move autonomously and cooperatively while avoiding physical or logical interference with other vehicles. With this configuration, the blockage control unit ensures synchronized operation of the entire group and functions as a control mechanism for forming a logical "blockage structure" on the route. This blockage structure forms logical divisions to maintain appropriate front-to-rear spacing (clearance) between each vehicle. Each vehicle travels according to this blockage structure, preventing rear-end collisions and overtaking while achieving unified and safe operation as a group. Furthermore, the logical or physical divisions may be, but are not limited to, a matrix-type route or a cyclic-type route.

[0139] As described above, the group operation control system 1000 comprises a plurality of autonomous mobile devices 100, a blockage control unit that manages the status of each autonomous mobile device 100, and an operation instruction unit that instructs each autonomous mobile device 100 to operate, and the operation instruction unit causes each of the plurality of autonomous mobile devices 100 to register its own status with the blockage control unit, inquire about the status of the autonomous mobile devices 100 other than itself with the blockage control unit, and transmit an operation instruction to each of the autonomous mobile devices 100 to begin operation after confirming that a predetermined condition is met (for example, all autonomous mobile devices 100 that should depart before itself have departed). As a result, the plurality of autonomous mobile devices 100 operating in a group operate in a synchronized formation while maintaining appropriate clearance from each other.

[0140] In the above description, the communication terminal 162 functions as an onboard control unit, and the remote control terminal 300 functions as an operation instruction unit. However, this is not limited to this. The onboard control terminal 163 may function as an onboard control unit, or either the communication terminal 162 or the onboard operation terminal 163 may function as an operation instruction unit. Furthermore, when performing blockage control, the blockage control terminal 600 is not a required component, and another terminal (e.g., the remote control terminal 300, the communication terminal 162, or the onboard operation terminal 163) may also function as a blockage control unit. Furthermore, for example, when the remote control terminal 300 is configured to also function as a blockage control unit, the remote control terminal 300 may simultaneously display the operation screen 310 as an operation instruction unit and the display screen 610 as a blockage control unit, or may switch between them.

[0141] Next, the function of disengaging an obstructing vehicle will be described. This is a function that, when an abnormality (including poor communication or physical failure) occurs in any of the vehicles, the operator (user) checks the surrounding safety (following vehicles, surrounding obstacles, etc.), then moves the obstructing vehicle to an evacuation station (an area that does not interfere with the movement of autonomous mobile devices 100 that are operating normally), and disengages (separates) the obstructing vehicle from the group by the operator's own action. For example, as shown in FIG. 20 , by providing a disengagement command button 167 on the display unit 166 of the on-board operation terminal 163, disengagement can be immediately executed by the operator with a single operation (for example, by pressing the disengagement command button 167 on a smartphone app running on the on-board operation terminal 163).

[0142] If the operator notices an abnormality in the autonomous mobile device 100, the operator can disconnect the autonomous mobile device 100 from the blockage control by pressing "(2) Disengage midway" on the disconnect command button 167 displayed on the display unit 166 of the onboard operation terminal 163 of the autonomous mobile device 100. In this case, the operator must manually evacuate the autonomous mobile device 100 to a location where it will not interfere with the travel of other autonomous mobile devices 100. Alternatively, the operator may reset the travel of the autonomous mobile device 100 and have it start traveling from the home position (AGV base ABASE). In this case, the operator presses "(1) Initialize current position to garage" on the disconnect command button 167 and manually return the autonomous mobile device 100 to the AGV base ABASE.

[0143] Examples of commands that are executed when these departure command buttons 167 are pressed are as follows. All of these commands are based on the premise that the operator manually moves the autonomous mobile device 100 to an appropriate position, but executing these commands changes the status flag of the blockage control unit to an appropriate value. Furthermore, the "OCC.USE_CANCEL *" command releases blockage control (for example, exclusive control over a route that only one vehicle can enter), preventing the operation of other autonomous mobile devices 100 from being disrupted due to the autonomous mobile device 100 being unable to operate normally.

[0144] Example of a command when "(1) Initialize current location to garage" is pressed: INTERRUPT / SETPOS HOME / SYNC. REG $GOUKI_ID init / SYNC. REG $GOUKI_ID leave_garage / SYNC. REG $GOUKI_ID goto_home / SYNC. REG $GOUKI_ID complete / OCC. USE_CANCEL *

[0145] Example of a command when "(2) Leave mid-operation" is pressed: INTERRUPT / SHOW OPERATION_NOTICE / SYNC. REG $GOUKI_ID leave_garage / SYNC. REG $GOUKI_ID goto_home / OCC. USE_CANCEL *

[0146] In the above command example, the "INTERRUPT" command is a command to delete all queued tasks (all commands received up to that point) and overwrite them with new tasks (putting the command given thereafter into the queue and executing it).

[0147] Furthermore, "SETPOS HOME" is a command for setting the current position of the autonomous mobile device 100 to the home position (AGV base ABASE). This is based on the premise that the autonomous mobile device 100 that was left midway will be manually moved to the AGV base ABASE by a person.

[0148] The "SHOW OPERATION_NOTICE" command is a command that displays a dialogue box urging caution on the screen of the on-board operation terminal 163. In order to cause the autonomous mobile device 100 to leave mid-route, a person must manually move the autonomous mobile device 100. Therefore, this command is used to warn the person to prevent the autonomous mobile device 100 from erroneously evacuating (for example, placing it in a location where it may collide with a following vehicle) the autonomous mobile device 100.

[0149] The group operation control system 1000 causes a malfunctioning autonomous mobile device 100 to leave the group by registering the departure of the malfunctioning autonomous mobile device 100 in the blockage control unit using the above-mentioned command sequence. This allows the remaining autonomous mobile devices 100 to successfully complete their missions even if a malfunction occurs in one of the autonomous mobile devices 100 in the group.

[0150] Furthermore, if an obstructing vehicle breaks away, a person must manually evacuate the obstructing vehicle to a safe location from the travel route, but if the vehicle makes a mistake in choosing the evacuation location and is placed in the blind spot of a following vehicle, there is a possibility of a collision. To deal with such a situation, when at least one autonomous mobile device 100 in the group is registered as having broken away in the blockage control unit, the other autonomous mobile devices 100 in the group (basically all of them, but in some cases some of them may be the case (for example, if some of the autonomous mobile devices 100 have already completed their missions and returned to the AGV base ABASE)) may be configured to transition to a collision alert mode (a safety assurance mode in which the autonomous mobile devices travel while being more vigilant than usual about any new potential hazards that may have arisen as a result of the breakaway event).

[0151] While the method for transitioning to collision alert mode is arbitrary, an example will be presented below. For example, in the above-described example of a command for withdrawal (the command sequence when "(1) Initialize current location to garage" or "(2) Leave midway" is pressed), the "OCC.USE_CANCEL *" command is executed (sent to the blockage control unit) at the end. Although not explained further, the "OCC.USE_CANCEL *" command is only executed in the above-described command sequence for withdrawing an obstructing vehicle. Therefore, in this example, upon receiving "OCC.USE_CANCEL *," the blockage control unit identifies the autonomous mobile device 100 that sent this command and transmits commands to transition to collision alert mode to the other autonomous mobile devices 100 (those that did not leave midway). This allows the other autonomous mobile devices 100 to transition to collision alert mode when a leaving vehicle occurs.

[0152] Each autonomous mobile device 100 uses the detection unit 170 to detect physical proximity to other autonomous mobile devices 100 or obstacles, but in normal mode, the detection unit 170 detects obstacles, etc. at normal sensitivity to prevent erroneous detection. When transitioning to collision alert mode, emphasis is placed on reliably detecting obstacles, etc. rather than preventing erroneous detection. In other words, the sensitivity of the detection unit 170 is increased to detect obstacles, etc. Furthermore, if the detection unit 170 detects an approaching vehicle while traveling and determines that there is a risk of collision, the autonomous mobile device 100 may perform an emergency stop, or may be configured to send an emergency stop command to the other autonomous mobile devices 100 via communication, thereby causing the other autonomous mobile devices 100 to stop in a complementary manner.

[0153] Furthermore, during the collision warning mode, each autonomous mobile device 100 may be equipped with a forced low-speed travel means that forcibly reduces the travel speed to reduce the risk of a collision, or an alarm means that drives the autonomous mobile device while emitting an alarm to alert the user. Of course, the means for ensuring safety in the collision warning mode are not limited to these. In this way, in the group operation control system 1000, when at least one autonomous mobile device 100 belonging to the group leaves the group, the blockage control unit transitions all or some of the autonomous mobile devices 100 belonging to the group to the collision warning mode, thereby minimizing collision accidents and the like caused by the departure of some of the autonomous mobile devices 100.

[0154] Furthermore, the blockage control is not limited to the time interval method or the space interval method described above. For example, by providing the blockage control unit with a binary semaphore (or mutex) mechanism, blockage control that applies exclusive control to areas where only one vehicle can enter (e.g., a merging point where only one vehicle can pass at a time, or a stopping position (station) where only one vehicle can stop) may be used in combination. In this case, each autonomous mobile device 100 transmits an entry request for the blocked section to the blockage control terminal when entering a blocked section, such as a certain section near a merging point or a branch line section to a stopping point (station). The blockage control terminal manages the entry requests from each autonomous mobile device 100 for each blocked section, determines which autonomous mobile devices 100 are permitted to enter, and transmits entry permission only to the determined autonomous mobile devices 100. Then, the autonomous mobile device 100 that receives the entry permission continues traveling and enters the blocked section, and transmits an exit report to the blockage control terminal when exiting the blocked section. While it is unable to receive entry permission, the other autonomous mobile devices 100 remain stopped on the spot. Then, the blockage control terminal that has received the exit report determines the next autonomous mobile device 100 to be permitted to enter, and transmits permission to enter to the determined autonomous mobile device 100 .

[0155] For example, if exclusive control is to be applied to route routeA, the autonomous mobile device 100 scheduled to travel that route executes OCC.USE routeA to the blockage control unit. The blockage control unit returns a response issuing exclusive permission to the autonomous mobile device 100 that first executed the OCC.USE command for routeA, but returns a response commanding the second and subsequent autonomous mobile devices 100 to wait. Then, when the autonomous mobile device 100 that previously issued exclusive permission has finished traveling that route (for example, when it receives OCC.USE CANCEL routeA from that autonomous mobile device 100), the blockage control unit issues exclusive permission to that autonomous mobile device 100 based on the OCC.USE routeA from the autonomous mobile device 100 that sent the next OCC.USE command earliest.

[0156] This exclusive control can be applied not only to routes but also to specific points, and for example, exclusive control can be performed for the destination of the destination (control that causes a later-arriving autonomous mobile device 100 to wait when only one autonomous mobile device 100 can be present at the destination).

[0157] Even in the case of blockage control that performs such exclusive control, the exclusive control can be released by pressing the "(1) Initialize current location to garage" button or the "(2) Leave mid-way" button (to release all exclusive control, the command "OCC.USE_CANCEL *" is executed).

[0158] In this way, by performing block control using the block control terminal in combination with exclusive control, it is possible to perform block control more reliably than the simple time interval method or space interval method. As mentioned above, if the block control process is also executed on the remote control terminal 300, it is possible to perform such block control without providing a separate block control terminal.

[0159] As described above, the group operation control system 1000 is equipped with a blockage control function and a manual release function for a faulty vehicle, which enhance safety and availability in group control of multiple mobile vehicles. When operating a group of mobile vehicles traveling along the same route, it is necessary to implement a function to prevent collisions between the mobile vehicles through blockage control. However, in the past, if even one vehicle in a group undergoing blockage control had a malfunction (including poor communication or physical failure), the blockage state continued, causing the entire group to stop moving, which could disrupt the entire mission, making it difficult to achieve both overall safety and availability. In particular, in group control for transportation and logistics applications, multiple vehicles are typically deployed to transport goods. Therefore, even if a malfunction occurs in one vehicle, it is strongly required that the remaining undamaged vehicles continue their mission.

[0160] The group operation control system 1000 according to this embodiment provides a blockage control configuration that allows an aircraft that detects a fault during group control to immediately withdraw from the group with a simple operation (e.g., by pressing a button on the onboard operation terminal 163 (smartphone)), allowing the remaining normal aircraft to continue operation. Furthermore, the blockage control function enables the autonomous mobile devices 100 to withdraw from the blockage structure in the event of a fault while maintaining safe spacing between each autonomous mobile device 100 and maintaining the group structure, thereby maintaining high levels of availability and safety for the entire system. Therefore, even if a malfunction occurs in one of the aircraft operating in group operation, the affected aircraft can be quickly separated from group operation control, minimizing the impact of an interruption to the entire group's operations. This enables the continuous execution of missions and improves the availability of the entire system. Furthermore, the present invention achieves both real-time safety and flexibility in group operation, significantly reducing the risk of operational shutdowns due to malfunctions.

[0161] The functions realized by the control unit 111 and the storage unit 112 of the autonomous mobile device 100 can also be implemented by a computer such as an ordinary PC (Personal Computer). Specifically, in the above embodiment, the program executed by the control unit 111 of the autonomous mobile device 100 is pre-stored in the ROM of the storage unit 112. However, the program may be stored and distributed on a computer-readable recording medium such as a flexible disk, CD-ROM (Compact Disc Read Only Memory), DVD (Digital Versatile Disc), MO (Magneto-Optical Disc), memory card, or USB (Universal Serial Bus) memory, and the program may be read and installed on a computer to configure a computer that can realize the above-described functions. Furthermore, the program may be distributed via a communication network such as the Internet, and the program may be read and installed on a computer to configure a computer capable of implementing each of the above-described functions.

[0162] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these specific embodiments, and the present invention includes the inventions described in the claims and their equivalents. The inventions described in the original claims of this application are appended below.

[0163] (Supplementary Note 1) An autonomous mobile device comprising: a first carriage holding unit having a slope that slopes downward from the left and right toward the center; a second carriage holding unit having a slope that slopes downward from the front and rear toward the center; and a first slide unit that connects carriages by raising the first carriage holding unit and the second carriage holding unit.

[0164] (Supplementary Note 2) A bogie connected to the autonomous mobile device described in Supplementary Note 1, comprising: a first connecting portion held by the first bogie holding portion; a second connecting portion held by the second bogie holding portion; and a lifting portion connected to at least one of the first connecting portion and the second connecting portion and having a braking member at its bottom.

[0165] (Supplementary Note 3) An autonomous mobile device as described in Supplementary Note 1, comprising: a third carriage holding unit that is installed at a position closer to the center of gravity than the first carriage holding unit and the second carriage holding unit; and a second slide unit that, when connecting the carriage with the first slide unit, raises the third carriage holding unit to ensure connection with the carriage.

[0166] (Supplementary Note 4) The autonomous mobile device according to Supplementary Note 1, further comprising: a control unit that controls the first sliding unit and the driving unit based on an instruction from a remote control terminal received via a closed network.

[0167] (Appendix 5) An autonomous mobile device as described in Appendix 4, comprising a detection unit having a scanner-type laser rangefinder, wherein the control unit, when the detection unit detects a straight area having a predetermined length or more, controls the drive unit so that the distance to the straight area does not become less than a safe distance.

[0168] (Supplementary Note 6) The autonomous mobile device according to Supplementary Note 5, wherein the control unit, when instructed to travel a route, moves along unit routes that are routes from each stopping point to an adjacent stopping point that is the next stopping point to the stopping point, and stores data detected by the detection unit each time the control unit moves a predetermined distance during the movement, thereby constructing map data for each unit route; and when instructed to travel to a destination point, if the route from the current point to the destination point is not a single unit route, divides the route into a plurality of adjacent unit routes, refers to the map data for each unit route, and travels to the destination point by repeatedly moving along the adjacent unit routes from the current point.

[0169] (Supplementary Note 7) A control method for an autonomous mobile device, wherein a control unit of an autonomous mobile device having a detection unit with a scanner-type laser rangefinder, when instructed to move a route, causes the autonomous mobile device to move along a unit route, which is a route from each stopping point to an adjacent stopping point that is the next stopping point to the stopping point, and constructs map data for each unit route by storing data detected by the detection unit each time the autonomous mobile device moves a predetermined distance during the movement; and, when instructed to move to a destination point, if the route from a current point to the destination point is not a single unit route, divides the route into a plurality of adjacent unit routes, refers to the map data for each unit route, and moves the autonomous mobile device to the destination point by repeatedly making the autonomous mobile device move along the adjacent unit routes from the current point.

[0170] (Supplementary Note 8) A program that causes a control unit of an autonomous mobile device that includes a detection unit having a scanner-type laser rangefinder to execute the following process: when instructed to move a route, cause the autonomous mobile device to move along unit routes that are routes from each stopping point to an adjacent stopping point that is the next stopping point to that stopping point, and construct map data for each unit route by storing data detected by the detection unit each time the autonomous mobile device moves a predetermined distance during the movement; when instructed to move to a destination point, if the route from the current point to the destination point is not a single unit route, divide the route into a plurality of adjacent unit routes, refer to the map data for each unit route, and move the autonomous mobile device to the destination point by repeatedly making the autonomous mobile device move along the adjacent unit routes from the current point.

[0171] (Supplementary Note 9) A group operation control system comprising: an autonomous mobile device according to Supplementary Note 6; a blockage control unit that manages the status of the autonomous mobile device; and an operation instruction unit that instructs the autonomous mobile device to operate, wherein the operation instruction unit sends operation instructions to each of the autonomous mobile devices, causing each of the plurality of autonomous mobile devices to register its own status with the blockage control unit, inquire about the status of autonomous mobile devices other than itself with the blockage control unit, and begin operation only after confirming that predetermined conditions are met, thereby causing the plurality of autonomous mobile devices operated in a group to operate in a synchronized formation.

[0172] (Supplementary Note 10) The group operation control system according to Supplementary Note 9, wherein the autonomous mobile device in which a malfunction has occurred is caused to leave the group by registering the departure of the autonomous mobile device in the blockage control unit.

[0173] (Supplementary Note 11) The group operation control system described in Supplementary Note 10, wherein when at least one of the autonomous mobile devices belonging to the group is caused to leave the group, the blockage control unit transitions all or some of the autonomous mobile devices belonging to the group to a collision warning mode.

[0174] This application is based on Japanese Patent Application No. 2024-100147, filed on June 21, 2024. The entire specification, claims, and drawings of Japanese Patent Application No. 2024-100147 are incorporated herein by reference.

[0175] The present invention is applicable to an autonomous mobile device, a bogie, a control method for an autonomous mobile device, a program, and a group operation control system that can couple bogies while automatically correcting their positions even if the installation position of the bogie is misaligned.

[0176] 100, 100A, 100B...autonomous mobile device, 110...base unit, 111...control unit, 112...memory unit, 113...operation acquisition unit, 114...drive unit, 115, 213...wheels, 116...motor, 117...caster, 120...frame unit, 121...horizontal unit, 122...front slide lock installation unit, 123...rear slide lock installation unit, 124...battery installation unit, 125...communication terminal installation unit, 126...operation terminal installation unit, 127...route sensor installation unit, 128...status indicator light installation unit, 129...input device installation unit, 132...upper obstacle sensor sensor installation section, 133...step sensor installation section, 134...lower obstacle sensor installation section, 135...rear obstacle sensor installation section, 140...rear slide lock, 141...first slide section, 142...first carriage holding section, 142a, 143a, 143e, 152a...mounting section, 142b, 142d, 143b, 143d, 152b, 152d...inclined section, 142c, 143c, 152c...groove section, 143...second carriage holding section, 150...front slide lock, 151...second slide section, 152...third carriage holding section, 161...charger / discharger, 162...communication terminal, 163 ...on-board operation terminal, 164...battery, 165...status indicator light, 166...display unit, 167...detachment command button, 170...detection unit, 171...map route detection unit, 172...upper obstacle detection unit, 173...step detection unit, 174...lower obstacle detection unit, 175...rear obstacle detection unit, 176...collision detection unit, 180...short-range communication unit, 200, 200D...cart, 210...cart main body unit, 211, 212...step unit, 215, 215L, 215R...frame, 221, 222...luggage platform, 231, 232...cover, 240...brake, 241...lifting unit, 24 Reference numerals 1a, 241b...slide member, 241c...brake end, 242...urging portion, 242a...spring, 242b...outer cylinder, 243...brake member, 244, 245...mounting member, 251...first connecting portion, 251a, 252a...roller member, 252...second connecting portion, 253...third connecting portion, 300...remote control terminal, 310...operation screen, 350...communication network, 400...vehicle, 400H...tip, 400S...side, 401...opening, 410...wall, 500...sector shape, 510, 520...detection area, 600...blocking control terminal, 610...display screen, 1000...group operation control system

Claims

1. An autonomous mobile device comprising: a first carriage holding unit having a slope that descends from the left and right sides toward the center; a second carriage holding unit having a slope that descends from the front and rear sides toward the center; and a first slide unit that connects carriages by raising the first carriage holding unit and the second carriage holding unit.

2. A bogie connected to the autonomous mobile device described in claim 1, comprising: a first connecting portion held by the first bogie holding portion; a second connecting portion held by the second bogie holding portion; and a lifting portion connected to at least one of the first connecting portion and the second connecting portion and having a braking member at its bottom.

3. An autonomous mobile device as described in claim 1, comprising: a third carriage holding unit that is installed at a position closer to the center of gravity than the first carriage holding unit and the second carriage holding unit; and a second slide unit that, when connecting the carriage with the first slide unit, raises the third carriage holding unit to ensure connection with the carriage.

4. The autonomous mobile device according to claim 1, further comprising a control unit that controls the first sliding unit and the driving unit based on instructions from a remote control terminal received via a closed network.

5. An autonomous mobile device as described in claim 4, comprising a detection unit having a scanner-type laser rangefinder, wherein the control unit, when the detection unit detects a straight area of ​​a predetermined length or more, controls the drive unit so that the distance to the straight area does not become less than a safe distance.

6. The autonomous mobile device according to claim 5, wherein the control unit, when instructed to travel a route, moves along a unit route, which is a route from each stopping point to an adjacent stopping point that is the next stopping point to that stopping point, and creates map data for each unit route by storing data detected by the detection unit each time the control unit moves a predetermined distance during the movement; and when instructed to travel to a destination point, if the route from the current point to the destination point is not a single unit route, divides the route into a plurality of adjacent unit routes, refers to the map data for each unit route, and travels to the destination point by repeatedly moving from the current point along the adjacent unit routes.

7. A control method for an autonomous mobile device, comprising: a control unit of an autonomous mobile device equipped with a detection unit having a scanner-type laser rangefinder, when instructed to move a route, causes the autonomous mobile device to move along unit routes, which are routes from each stopping point to an adjacent stopping point that is the next stopping point to that stopping point, and stores data detected by the detection unit each time the autonomous mobile device moves a predetermined distance during the movement, thereby constructing map data for each unit route; and when instructed to move to a destination point, if the route from the current point to the destination point is not a single unit route, divides the route into a plurality of adjacent unit routes, refers to the map data for each unit route, and moves the autonomous mobile device to the destination point by repeatedly making the autonomous mobile device move along the adjacent unit routes from the current point.

8. A program that causes a control unit of an autonomous mobile device equipped with a detection unit having a scanner-type laser rangefinder to execute the following process: when instructed to move a route, cause the autonomous mobile device to move along unit routes, which are routes from each stopping point to the adjacent stopping point next to that stopping point, and construct map data for each unit route by storing data detected by the detection unit each time the autonomous mobile device moves a predetermined distance during its movement; and when instructed to move to a destination point, if the route from the current point to the destination point is not a single unit route, divide the route into a plurality of adjacent unit routes, refer to the map data for each unit route, and move the autonomous mobile device to the destination point by repeatedly making the autonomous mobile device move along the adjacent unit routes from the current point.

9. A group operation control system comprising: an autonomous mobile device according to claim 6; a blockage control unit that manages the status of the autonomous mobile device; and an operation instruction unit that instructs the autonomous mobile device to operate, wherein the operation instruction unit sends operation instructions to each of the autonomous mobile devices, causing each of the plurality of autonomous mobile devices to register its own status with the blockage control unit, inquire about the status of autonomous mobile devices other than itself with the blockage control unit, and begin operation only after confirming that predetermined conditions are met, thereby causing the plurality of autonomous mobile devices operated in a group to operate in a synchronized formation.

10. The group operation control system according to claim 9, wherein an autonomous mobile device that has developed a malfunction is caused to leave the group by registering the departure of the autonomous mobile device in the blockage control unit.

11. The group operation control system described in claim 10, wherein when at least one of the autonomous mobile devices belonging to the group is caused to leave the group, the blockage control unit transitions all or some of the autonomous mobile devices belonging to the group to a collision warning mode.

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