Control system, control method, and control program

Abstract

A control system according to the present invention has a processor and controls platooning of a plurality of autonomous devices capable of performing autonomous travel. The processor is configured so as to perform acquisition of size information pertaining to a plurality of autonomous devices scheduled to pass through an opening / closing which is opened / closed by an opening / closing door in a warehouse that is internally adjusted to a temperature different from the outside. The processor is configured so as to perform, for a plurality of autonomous devices which form a platoon according to each piece of size information and pass through the opening / closing, control of the platoon formation such that heat loss, which is generated internally via an opened area opened by the opening / closing door in the opening / closing, falls within an allowable range.

Description

Control System, Control Method, Control Program Cross - reference to Related Applications

[0001] This application is based on Japanese Patent Application No. 2024 - 174627 filed in Japan on October 3, 2024, and the content of the base application is incorporated herein by reference in its entirety.

[0002] This disclosure relates to a control technology for controlling an autonomous device capable of performing autonomous driving.

[0003] Patent Document 1 discloses a logistics control system for controlling logistics by an intelligent mobile robot. This logistics control system plans a driving route for the intelligent mobile robot via an automatic door. When the extra travel of the intelligent mobile robot with respect to the automatic door on the driving route is smaller than a threshold value, the logistics control system controls the automatic door to open, and when the passage of the robot through the automatic door is completed, the logistics control system controls the automatic door to close. When there is another intelligent mobile robot that follows the intelligent mobile robot passing through the automatic door, the logistics control system controls the door to close after the passage of the following intelligent mobile robot is completed.

[0004] Japanese Patent No. 7250179

[0005] Regarding a plurality of autonomous devices capable of autonomous driving, there may be a case where they enter and exit through an opening / closing port opened by an opening / closing door of a warehouse whose internal environment is adjusted to a different temperature from the external environment. In this case, there is a risk that the change in the internal temperature will become large because the opening / closing port is open while the plurality of autonomous devices pass through the opening / closing port. Patent Document 1 does not disclose the control of autonomous devices corresponding to such internal temperature changes.

[0006] An object of the present disclosure is to provide a control system capable of suppressing a temperature change inside a warehouse through which a plurality of autonomous devices enter and exit. Another object of the present disclosure is to provide a control device. Another object of the present disclosure is to provide a control method. Still another object of the present disclosure is to provide a control program.

[0007] The following describes the technical means of solving the problem described in this disclosure. The symbols in parentheses in the claims indicate the correspondence with the specific means described in the embodiments which will be detailed later, and do not limit the technical scope of this disclosure.

[0008] A first aspect of this disclosure is a control system for controlling platooning of a plurality of autonomous devices having a processor and capable of autonomous driving, wherein the processor is configured to acquire size information of a plurality of autonomous devices that are to pass through an opening that is opened and closed by an opening door in a warehouse in which the internal temperature is adjusted to be different from the external temperature, and to control the platoon configuration of the plurality of autonomous devices that pass through the opening in a platoon according to the size information, so as to keep the heat loss generated inside through the open area opened by the opening door at the opening within an acceptable range.

[0009] A second aspect of this disclosure is a control method performed by a processor for controlling platooning of multiple autonomous devices capable of autonomous driving, comprising: acquiring size information of multiple autonomous devices that are to pass through an opening that is opened and closed by an opening door in a warehouse whose interior temperature is adjusted to be different from the outside temperature; and controlling the platoon configuration of the multiple autonomous devices that pass through the opening in a platoon according to the size information, such that the heat loss generated inside through the open area opened by the opening door at the opening is kept within an acceptable range.

[0010] A third aspect of this disclosure is a control program stored in a storage medium and including instructions to be executed by a processor for controlling platooning of a plurality of autonomous devices capable of autonomous driving, the program including instructions to acquire size information relating to a plurality of autonomous devices that are to pass through an opening that is opened and closed by an opening door in a warehouse whose interior is regulated to a temperature different from the exterior, and to control the platoon configuration of the plurality of autonomous devices that pass through the opening in a platoon according to the size information, in such a way that the heat loss generated inside through the open area opened by the opening door at the opening is kept within an acceptable range.

[0011] According to these first to fourth embodiments, the formation of the autonomous devices is controlled in order to keep heat loss within an acceptable range, according to the size information of the multiple autonomous devices that are scheduled to pass through the warehouse opening. Therefore, heat loss inside the warehouse when the formation passes through the opening can be suppressed to an acceptable range. Consequently, temperature changes inside the warehouse are suppressed when passing through the opening.

[0012] This is a block diagram showing the overall configuration of the first embodiment. This is a schematic diagram showing the configuration of the autonomous device in the first embodiment. This is a schematic diagram showing the configuration of the control system according to the first embodiment. This is a block diagram showing the functional configuration of the processing unit according to the first embodiment. This is a flowchart showing the control flow according to the first embodiment. This is a schematic diagram showing an example of a convoy configuration according to the first embodiment. This is a schematic diagram showing the outer peripheral area in the open area. This is a graph showing an example of the time change of the open height and convoy height according to the first embodiment. This is a schematic diagram showing an example of a convoy configuration according to the second embodiment. This is a graph showing an example of the time change of the open height and convoy height according to the second embodiment. This is a schematic diagram showing an example of a convoy configuration according to the third embodiment.

[0013] Hereinafter, several embodiments of this disclosure will be described with reference to the drawings. In each embodiment, the same reference numerals will be used for corresponding components, and redundant explanations may be omitted. Furthermore, if only a part of the configuration is described in each embodiment, the configuration of other embodiments described earlier may be applied to the other parts of that configuration. Moreover, not only the combinations of configurations explicitly stated in the description of each embodiment, but also the configurations of multiple embodiments may be partially combined even if not explicitly stated, as long as there are no particular problems with the combination.

[0014] (First Embodiment) The control system 1 of the first embodiment shown in Figure 1 is constructed in a facility such as a center to control a plurality of autonomous robots 2 capable of autonomous driving. The control system 1 performs driving support or driving control to enable the plurality of autonomous robots 2 to perform tasks within a specific driving area.

[0015] Autonomous device 2 is an autonomous device that is a mobile body capable of autonomously driving in any direction, including forward, backward, left, and right. Autonomous device 2 can also be referred to as an autonomous vehicle. For example, autonomous device 2 is an automated guided vehicle (AGV) that performs a transport task of transporting goods G within a driving area. The transport task includes driving to a destination with goods G loaded, and driving back to receive the next goods G. Autonomous device 2 performs the transport task in a driving area where a warehouse 3 capable of storing goods G is installed. The driving area is, for example, a logistics facility. Different sized autonomous devices 2 can operate within the driving area.

[0016] As shown in Figure 2, the autonomous device 2 comprises a body 20, a sensor system 21, a communication system 24, a map database 25, a drive system 26, and a control system 29. The body 20 is formed from, for example, metal, resin, or a combination thereof.

[0017] The autonomous device 2 has a loading space S on which the item G is loaded. The loading space S may be a space formed on the upper surface of the body 20, for example. This loading space S may be formed by surrounding the front, rear, left, and right sides with a part of the body 20. Alternatively, the loading space S may be formed as a cargo compartment space inside the body 20 that can be closed to the outside by a door. Alternatively, the loading space S may be formed as a cargo compartment space that is always open to the outside without a door. Furthermore, the loading space S formed as a cargo compartment space that can be closed to the outside may be adjustable to a different temperature (for example, low temperature) relative to the outside.

[0018] The sensor system 21 acquires sensing information usable by the autonomous device 2 through sensing of the external and internal environments by the autonomous device 2. For this purpose, the components of the sensor system 21 are mounted on the body 20. Specifically, the sensor system 21 consists of an external sensor 22 and an internal sensor 23.

[0019] The external sensor 22 acquires external information as sensing information from the external environment surrounding the autonomous device 2. The external sensor 22 acquires external information by detecting objects present in the external environment of the autonomous device 2. The object detection type external sensor 22 is at least one of the following: a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, and sonar. The communication system 24 may be a positioning type that receives positioning signals from GNSS (Global Navigation Satellite System) satellites present in the external environment of the autonomous device 2. The positioning type communication system 24 is, for example, a GNSS receiver.

[0020] The internal environment sensor 23 acquires internal environment information as sensing information from the internal environment, which is the internal environment of the autonomous device 2. The internal environment sensor 23 may acquire internal environment information by detecting an object G on the loading space S of the autonomous device 2. An object detection type internal environment sensor 23 is at least one of the following: a weight sensor, a pressure sensor, a camera, and an RFID (Radio Frequency Identifier) ​​reader. The internal environment sensor 23 may acquire internal environment information by detecting a specific kinetic physical quantity in the internal environment of the autonomous device 2. A motion detection type internal environment sensor 23 is at least one of the following: a velocity sensor, an acceleration sensor, and a yaw rate sensor. The internal environment sensor 23 may acquire internal environment information by detecting the state of equipment mounted on the autonomous device 2. An equipment detection type internal environment sensor 23 is at least one of the following: a battery sensor that detects the remaining charge of the battery 26a, and an actuator sensor that detects the driving state of the drive system 26.

[0021] The communication system 24 acquires usable communication information via wireless communication from the control system 29. The communication system 24 may be a V2X type that transmits and receives communication signals with a V2X system existing in the outside world of the autonomous device 2. A V2X type communication system 24 is at least one of the following: a DSRC (Dedicated Short Range Communications) communication device, a cellular V2X (C-V2X) communication device, etc. The communication system 24 may also be a terminal communication type that transmits and receives communication signals with a terminal existing in the inside world of the autonomous device 2. A terminal communication type communication system 24 is at least one of the following: a Bluetooth® device, a Wi-Fi device, an infrared communication device, etc.

[0022] The map database 25 stores map information usable by the control system 29. The map database 25 is configured to include at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, and an optical medium. The map database 25 may also be a database for a locator that estimates the self-state quantities, including the self-position of the autonomous device 2. The map database 25 may also be a database for a navigation unit that navigates the driving route of the autonomous device 2. The map database 25 may be configured by a combination of multiple types of these databases.

[0023] The map database 25 acquires and stores the latest map information, for example, through communication with an external center via a V2X type communication system 24. Here, the map information is digitized in three dimensions as information representing the driving environment of the autonomous device 2. In particular, it is preferable to use high-precision digital map data as the three-dimensional map data. The map information may include driving path information that represents at least one type of thing, such as the location, shape, and road surface condition of the driving path within the driving area. The map information may also include structural information that represents at least one type of thing, such as the location and shape of buildings or installations within the driving area.

[0024] The drive system 26 includes a battery 26a, an electric actuator 26b, and wheels 26c. The battery 26a is mounted, for example, in the lower part of the body 20. The battery 26a is mainly composed of a rechargeable battery, such as a lithium-ion battery. The battery 26a stores power supplied to the electrical components mounted on the autonomous device 2 by external charging through discharge. The battery 26a may also store regenerative power from the electric actuator 26b. The battery 26a is connected to the electric actuator 26b, sensor system 21, communication system 24, and control system 29 so as to be able to supply power via wire harnesses or the like.

[0025] The electric actuator 26b is mounted inside the body 20. The electric actuator 26b is mainly composed of individual electric motors corresponding to each wheel 26c. The electric actuator 26b independently rotates multiple wheels 26c. The electric actuator 26b rotates the wheels 26c at a motor speed corresponding to the control command from the control system 29. The electric actuator 26b may be equipped with a brake unit that applies braking to each wheel 26c while it is rotating. The electric actuator 26b may be equipped with a lock unit that locks each wheel 26c while it is stopped.

[0026] Multiple wheels 26c are supported by the body 20. Each wheel 26c is configured to rotate independently. The wheels 26c are, for example, Mecanum wheels or omni wheels, and are capable of turning due to the difference in rotational speed between the wheels 26c. Some of the wheels 26c may not be driven by the electric actuator 26b, but may be driven wheels that rotate in conjunction with the other driven wheels 26c.

[0027] The control system 29 is connected to the sensor system 21, communication system 24, map database 25, and drive system 26 via at least one of the following: a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line. The control system 29 is configured to include at least one dedicated computer.

[0028] The dedicated computer constituting the control system 29 has at least one memory 29a and one processor 29b. The memory 29a is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, magnetic medium, and optical medium, which non-temporarily stores programs and data that can be read by the computer. Here, storage may be storage in which data is retained even when the autonomous device 2 is turned off, or temporary storage in which data is erased when the autonomous device 2 is turned off. The processor 29b includes at least one type as a core, such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), RISC (Reduced Instruction Set Computer)-CPU, CISC (Complex Instruction Set Computer)-CPU, DFP (Data Flow Processor), and GSP (Graph Streaming Processor).

[0029] In the control system 29, the processor 29b executes a number of instructions included in the driving control program stored in the memory 29a to control the driving of the autonomous device 2. As a result, the control system 29 performs platoon driving in accordance with the control commands from the control system 1, which will be described later. In platoon driving, the control system 29 drives in cooperation with other autonomous devices 2 at its position within the platoon P based on the control commands, based on sensor information, communication information, map information, etc. For example, the control system 29 acts as a lead device that leads other autonomous devices 2 within the platoon P and performs lead driving based on the control commands. Alternatively, the control system 29 acts as a follow device that follows the lead device within the platoon P and performs follow driving based on the control commands.

[0030] As shown in Figure 1, the warehouse 3 located in the travel area where the autonomous device 2 travels is equipped with an opening / closing 30 through which the autonomous device 2 can enter and exit, an opening / closing door 31, and a door control device 32. The opening / closing door 31 is configured to open and close the opening / closing 30. The opening / closing door 31 of the first embodiment is configured to be driveable to open and close the opening / closing 30 in the height direction DH. Specifically, the opening / closing door 31 closes the opening / closing 30 by lowering its lower end, which is the opening / closing end, so that it contacts the lower edge of the opening / closing 30, and opens the opening / closing 30 by raising the lower end so that it separates from the lower edge. The opening / closing door 31 may be a shutter door with multiple slats connected together, or it may be a flat sliding door. With the opening / closing door 31 of the first embodiment, the opening / closing 30 is of the vertical opening / closing type.

[0031] The door control device 32 is configured to include a dedicated computer having at least one memory 32a and one processor 32b. The processor 32b executes a plurality of instructions included in the opening and closing control program stored in the memory 32a to control the opening and closing operation of the opening and closing door 31. As a result, the door control device 32 performs opening and closing control in accordance with the control commands from the control system 1, which will be described later. The door control device 32 receives control commands from the control system 1 via a communication device (not shown).

[0032] Furthermore, the door control device 32 maintains the opening 30 in a closed state during periods when there are no autonomous devices 2 passing through the opening 30. When the convoy P passes through the opening 30, the door control device 32 controls the opening door 31 to open the opening 30, and then close it again once the convoy has passed.

[0033] The control system 1, which manages the status of the autonomous device 2 and the opening / closing door 31, is configured to include a communication system 11 and a processing unit 100, as shown in Figure 3, for example.

[0034] The communication system 11 is mainly composed of communication equipment that forms at least a part of the V2X system capable of communicating with the communication system 24 of each autonomous device 2. The communication system 11 is connected to the processing unit 100 via at least one of the following: a LAN line, a wire harness, an internal bus, and a wireless communication line. The communication system 11 acquires information transmitted from the autonomous device 2 via wireless communication. The communication system 11 also transmits control commands output from the processing unit 100 to the autonomous device 2 and the door control device 32 via wireless communication. Regarding the future travel of each autonomous device 2, target travel information acquired through the communication system 11, including, for example, destination information, travel route information, and schedule information related to travel control such as acceleration / deceleration control and turning control, is provided to the processing unit 100 as needed. Alternatively, the target travel information may be planned by the processing unit 100 as needed.

[0035] The processing unit 100 is configured to include at least one dedicated computer. The dedicated computer constituting the processing unit 100 is, for example, a management server that comprehensively manages the operation of multiple autonomous devices 2 within a driving area. The dedicated computer constituting the processing unit 100 may be composed of multiple servers, and its functions may be distributed.

[0036] The dedicated computer constituting the processing unit 100 has at least one memory 101 and at least one processor 102. The memory 101 is at least one type of non-transitional physical storage medium, such as a semiconductor memory, magnetic medium, and optical medium, which non-temporarily stores programs and data that can be read by the computer. Here, storage may be accumulation in which data is retained even when the control system 1 is turned off, or it may be temporary storage in which data is erased when the control system 1 is turned off. The processor 102 includes at least one type as a core, such as a CPU, GPU, RISC-CPU, CISC-CPU, DFP, and GSP.

[0037] In the processing unit 100, the processor 102 executes multiple instructions included in the control program stored in the memory 101 to control the convoy driving of multiple autonomous devices 2. This allows the processing unit 100 to construct multiple functional blocks for managing the operation of the autonomous devices 2. As shown in Figure 4, the multiple functional blocks constructed in the processing unit 100 include an acquisition block 110, a setting block 120, and a remote control block 130.

[0038] The acquisition block 110 acquires information usable for platoon control of the autonomous devices 2 via the communication system 11. The acquisition block 110 acquires at least size information (described later) for multiple autonomous devices 2 that are scheduled to pass through the opening 30.

[0039] The setting block 120 sets the formation configuration for the formation of a convoy P according to the size information of each of the multiple autonomous devices 2 that are scheduled to pass through the opening 30. The setting block 120 also sets the opening / closing configuration, which is the manner in which the opening and closing operation of the opening / closing door 31 occurs when the convoy P passes through the opening 30. Details of the convoy configuration and opening / closing configuration will be described later.

[0040] The remote control block 130 outputs a control command for platooning, corresponding to the platoon configuration set by the setting block 120, to at least one of the autonomous devices 2 that make up the platoon P. In this way, the remote control block 130 remotely controls the platoon configuration of the multiple autonomous devices 2 that form the platoon P. Furthermore, the remote control block 130 outputs a control command for opening and closing the door 31, corresponding to the opening and closing mode set by the setting block 120, to the door control device 32. In this way, the remote control block 130 remotely controls the opening and closing operation of the door 31.

[0041] Through the combined action of these blocks 110, 120, and 130, the control method by which the control system 1 controls the convoy movement of multiple autonomous devices 2 is executed according to the control flow shown in Figure 5. This control flow is executed repeatedly while the control system 1 is running. In this control flow, each "S" represents multiple steps executed by multiple instructions included in the control program.

[0042] First, in S10, the acquisition block 110 determines whether or not there is a scheduled passage device, which is an autonomous device 2 that is scheduled to pass through the opening 30. In the determination process, the acquisition block 110 acquires target driving information for each autonomous device 2 that is operating within the driving area, and performs a search for scheduled passage devices based on said target driving information.

[0043] Specifically, acquisition block 110 extracts from among multiple autonomous devices 2 those for which a travel path passing through the opening / closing 30 has been set, as devices scheduled to pass. Acquisition block 110 may also extract as devices scheduled to pass any autonomous device 2 for which a travel path passing through the opening / closing 30 has been set and which is predicted to reach the opening / closing 30 within a set time. If the search results indicate that there are devices scheduled to pass, this flow proceeds to S20.

[0044] In S20, the acquisition block 110 acquires size information for the opening 30 of the device to be passed through. When passing through an opening 30 of the vertical opening type, the size information includes the length, which is the size in the front-to-back direction of the autonomous device 2, the width, which is the size in the lateral direction, and the height, which is the size in the vertical direction.

[0045] Furthermore, if the device scheduled to pass through is an autonomous device 2 whose size changes depending on the loading state of the item G, the acquisition block 110 acquires size information corresponding to the loading state. An autonomous device 2 having an open loading space S corresponds to an autonomous device 2 whose size changes. For example, if the autonomous device 2 places an item G on the top surface of the body 20, its height may change depending on the loading state of the item G. In the case of such a device scheduled to pass through, the acquisition block 110 acquires the overall size information, including the size of the loaded item G, when there are no plans to load any new items G before passing through the opening 30. In other words, even with the same autonomous device 2, the acquisition block 110 acquires new size information each time it passes through the opening 30.

[0046] The acquisition block 110 may acquire the size information of the devices scheduled to pass by by referring to data (e.g., a table) that defines the correspondence between the identification information and size information of each autonomous device 2, which is stored in advance in a storage medium such as the memory 101. Alternatively, the acquisition block 110 may acquire the size information held by the devices scheduled to pass by from the devices via wireless communication or the like.

[0047] In S30, the remote control block 130 executes standby control for the device scheduled to pass through, instructing it to wait before passing through the opening 30. Specifically, the remote control block 130 generates a control command to the device scheduled to pass through, instructing it to travel within the standby distance range from the opening 30 and then stop within that standby distance range. The standby distance range is the range within or less than the threshold distance from the opening 30.

[0048] Furthermore, the waiting positions of devices scheduled to pass within the waiting distance range may be set so that those that arrive earlier are closer to the opening 30. Alternatively, the waiting positions of devices scheduled to pass may be defined according to size information. For example, the waiting positions may be provisionally based on the convoy configuration described later. Specifically, among the operating autonomous devices 2, devices scheduled to pass that are relatively tall may have their waiting positions set in the middle region within the waiting distance range, while devices scheduled to pass that are relatively short may have their waiting positions set in the forward or backward region relative to the middle region.

[0049] If a negative result is made in S10, or after processing in S30, this flow proceeds to S40. In S40, the acquisition block 110 determines whether the passage conditions for the scheduled passage device to perform passage through the opening 30 are met. For example, the passage conditions are met by the fulfillment of either a numerical condition relating to the number of autonomous devices 2 waiting within the waiting distance range, or a time condition relating to the waiting time of the autonomous devices 2 that are waiting. Here, the numerical condition is that the number of autonomous devices 2 waiting within the waiting distance range reaches the allowable waiting number. The time condition is that the waiting time of any of the autonomous devices 2 that are waiting exceeds the allowable waiting time.

[0050] If it is determined that the passing condition is not met, this flow returns to S10. On the other hand, if it is determined that the passing condition is met, this flow proceeds to S50.

[0051] In S50, the setting block 120 sets the formation configuration for the formation P of the autonomous devices 2. In this embodiment, the formation P is composed of multiple horizontal rows of autonomous devices 2 arranged in the horizontal direction DW, arranged in the vertical direction DD. Here, the vertical direction DD is the direction that coincides with the direction of travel of the formation P. The vertical direction DD is, for example, the direction perpendicular to the width direction of the opening 30. The horizontal direction DW is the direction perpendicular to the vertical direction DD, for example, the direction along the horizontal plane. The direction perpendicular to the vertical direction DD and the horizontal direction DW is the height direction DH.

[0052] In the formation configuration, the placement position of each of the multiple autonomous devices 2 constituting the formation P in the vertical direction DD and horizontal direction DW within the formation is defined. In the following, the i-th horizontal row from the front in the vertical direction DD will be referred to as the i-th row. Furthermore, the width of the horizontal direction DW of the i-th row will be referred to as the formation width w. ｉ This is how it is written. And the maximum width of the lateral DW in formation P is expressed as the maximum formation width w. ｆ This is how it is expressed. In addition, the longest length of the column, which is the length from the front end to the rear end of the column P in the vertical direction DD, is expressed as the maximum column length l. ｆ This is expressed as follows. Furthermore, the height of the highest autonomous device 2 in the i-th column is expressed as the column height h in the i-th column. ｉ This is how it is written. And the maximum column height h in the entire column. ｉ The maximum column height h ｆ This is how it is written.

[0053] The setting block 120 sets the arrangement of the warehouses such that the heat loss generated inside the warehouse 3 through the open area 33, which is the part of the opening 30 that is opened by the opening door 31, is kept within an acceptable range. Heat loss is the amount of heat that flows in or out, which changes the internal temperature of the warehouse 3 to the external temperature relative to the set temperature. In other words, in the case of a warehouse 3 where the internal temperature is adjusted to be lower than the external temperature, heat loss is the amount of heat that flows in from the outside through the open area 33. The acceptable range is the range in which the heat loss is below or less than the threshold.

[0054] More specifically, the heat loss is the amount of heat flowing into the interior from the area within the open area 33 that is not occupied by the passing autonomous device 2 during the period from the start to the completion of the passage of the queue P. In other words, the heat loss correlates with the area of the outer peripheral region Ao of the autonomous device 2 within the open area 33 and the passage time, which is the time from the start to the completion of the passage of the queue P in the open area 33. Here, the outer peripheral region Ao is the region that occupies the outer periphery of the passing autonomous device 2 within the open area 33 and is the region indicated by the diagonal hatching in FIG. 7.

[0055] In order to keep such heat loss within an allowable range, the setting block 120 sets a queue form in which the cumulative value of the area (outer peripheral area) in the outer peripheral region Ao for the passage time is less than or equal to a predetermined threshold cumulative value. The setting block 120 sets a queue form correlated with the opening and closing direction of the opening and closing door 31. For example, the setting block 120 sets a queue form in which the queue P can start passing through the opening 30 during the execution of the opening operation and the closing operation can be started before the queue P completes passing through the opening 30.

[0056] In the case of the vertically opening and closing type opening 30 as in the present embodiment, the queue form is set to a height form in which the queue height h decreases from the middle part of the queue P in the vertical direction DD toward the front and rear ends of the queue P. ｉ In addition, the queue form is set to a width form that becomes the maximum queue width w that can pass through the opening 30. ｆ Further, the queue form is set to a length form in which the maximum queue length l is minimized under the above-described height form and width form. ｆ That is, the setting block 120 searches for a length form in which the maximum queue length l is minimized within the range where the above-described width form and height form are satisfied as constraint conditions. Thereby, the setting block 120 optimizes the queue form.

[0057] That is, the setting block 120 uses the above-described width form and height form as constraint conditions and searches for a length form in which the maximum queue length l is minimized within the range where the constraint conditions are satisfied. ｆ Thereby, the setting block 120 optimizes the queue form.

[0058] The constraint condition of the width form is defined, for example, by the following mathematical formula (1). Here, w ｄ is the width of the opening 30. That is, the constraint condition of the width form is that the maximum queue width w ｆThe opening is 30mm wide. ｄ It means being less than [a certain value].

[0059] The constraints on height form are defined, for example, by the following equations (2) and (3). Here, the i ｈａｌｆ The column is the central column, corresponding to the middle of the formation P in the vertical direction DD. If the number of horizontal columns is even, the central column may be defined as the two middle columns in the vertical direction DD. Alternatively, either one of the two middle columns may be defined as the central column.

[0060] As shown in equations (2) and (3), the constraints on the height configuration are that the row height h is greater for the front row than for the back row from the front row to the middle row. ｉ As a result, the front row has a greater vertical height than the back row from the center row to the last row. ｉ This is the result. The setting block 120 satisfies these equations (1) to (3) while having a maximum column length l ｆ The formation that minimizes is set as the formation that passes through the opening 30. Due to this constraint, the i ｈａｌｆ h height of the column ｉ However, the maximum column height h ｆ This is the result.

[0061] Figure 6 shows an example of a formation configuration set as a result of optimization. In Figure 6, autonomous devices 2 in the same row are given the same density of dot hatching. Alternatively, autonomous devices 2 in the same row may not be given the same dot hatching. In this example, a formation configuration of 5 rows arranged in the vertical direction DD is set. In this formation configuration, the formation height h of the third row, which is the central row in the vertical direction DD, is set. ３ However, this is the highest. And in this formation, the formation height h is in the order of the first row, second row, and so on, in front of the third row. ｉ The height increases. Furthermore, in this formation, behind the third row, the formation height h increases in the order of the fourth row and the fifth row. ｉ The value will decrease.

[0062] Next, in S60, the setting block 120 sets the opening / closing mode for the opening / closing door 31, which is the mode of opening and closing operation. For example, the setting block 120 sets the opening start timing t as the opening / closing mode, which is the time when the opening operation of the opening / closing door 31, which is in a closed state, begins. ｏｓ and the closing start timing t when the closing operation of the opening / closing door 31 is initiated. ｃｓ Set the following. In the following explanation, the time when the opening operation of the opening door 31 is completed is called the opening completion timing t. ｏｅ The time at which the closing operation of the opening / closing door 31 is completed is called the closing completion timing t. ｃｅ This is how it is written.

[0063] The setting block 120 sets the opening and closing mode in such a way that, under specific constraints, the heat loss while the train P passes through the opening 30 in the set train configuration is minimized within an acceptable range. Specifically, the setting block 120 sets the opening start timing t ｏｓ From the timing of completion of occlusion t ｃｅ The time integral of the outer perimeter area in the open area 33 up to this point, and the volume V of the formation P. ｆ The opening and closing mode that minimizes the difference between and is set.

[0064] In other words, the setting block 120 achieves the minimum release start timing t defined by the following formula (4). ｏｓ and occlusion completion timing t ｃｅ We search for f. ｈ (t) is the height of the open area 33 at time t, which is the open height h. ｔ This is a time function that shows and is defined by equation (5). Note that v ｄ is the operating speed of the opening and closing door 31. In this embodiment, v ｄ This is a pre-set fixed value.

[0065] However, the setting block 120 is the queue height h of the i-th column that passes directly beneath the opening / closing door 31 at any given time t. ｉ Rather than the opening height h at the same time t, ｔ One constraint is that the value becomes large. Then, the setting block 120 calculates the volume V of the formation P from the time integral of the outer perimeter area.ｆ Another constraint is that the difference after subtracting is greater than 0.

[0066] Through the parameter search described above, the setting block 120 is set to release start timing t ｏｓ and occlusion start timing t ｃｓ Optimize the timing of blockage onset. ｃｓ The searched blockage completion timing t ｃｅ and operating speed v ｄ It is sufficient if the parameters are obtained based on this. Also, the open height h ｔ The maximum value is the maximum column height h. ｆ The value should be calculated by adding a margin to that value.

[0067] Figure 8 shows the opening height h at time t based on the optimized opening and closing mechanism. ｔ and a horizontal line of players passing through the open area 33, height h ｉ This shows an example. In this opening / closing mode and convoy configuration, the opening height h ｔ The maximum column height h ｆ The formation P is able to begin passing through the opening 30 before reaching the opening. Furthermore, in this opening and closing mode, the opening height h at which closure begins ｔ The maximum formation height h before the formation P has passed is reached. ｆ It is possible to reach this point.

[0068] In the subsequent step S70, the remote control block 130 controls the multiple autonomous devices 2 that are in standby mode to drive in a platoon according to the set platoon configuration. Specifically, the remote control block 130 outputs a control command to form a platoon P according to the platoon configuration and execute platoon driving.

[0069] The remote control block 130 may output a corresponding control command to each of the autonomous devices 2 that make up the convoy P. Alternatively, the remote control block 130 may output a control command to a specific autonomous device 2 among the multiple autonomous devices 2 that make up the convoy P. In this case, the autonomous device 2 that receives the control command outputs a driving instruction based on the control command to the other autonomous devices 2. In either case, the multiple autonomous devices 2 in standby form the convoy P by driving to their respective positions according to the convoy configuration. The multiple autonomous devices 2 in the convoy P then perform convoy driving such that the leading autonomous device 2 starts passing through the opening 30 at the start timing and the last autonomous device 2 completes its passage at the completion timing. The multiple autonomous devices 2 perform convoy driving while appropriately performing wireless communication with other autonomous devices 2 and the door control device 32 in order to achieve convoy driving.

[0070] In S80, which runs parallel to S70, the remote control block 130 controls the opening and closing of the door 31 in the set opening and closing pattern to the door control device 32. Specifically, the remote control block 130 controls the opening start timing t ｏｓ and occlusion start timing t ｃｓ The system outputs a control command to the door control device 32 to execute the opening and closing operation. The autonomous device 2 that receives the control command outputs a driving instruction based on the control command to other autonomous devices 2.

[0071] According to the first embodiment described above, the formation of the autonomous devices 2 is controlled in order to keep heat loss within an acceptable range, according to the size information of the multiple autonomous devices 2 that are scheduled to pass through the opening 30 of the warehouse 3. Therefore, when the formation P passes through the opening 30, the heat loss inside the warehouse 3 can be suppressed to an acceptable range. Consequently, temperature changes inside the warehouse 3 are suppressed when passing through the opening 30.

[0072] Furthermore, according to the first embodiment, the formation is controlled considering the outer perimeter area of ​​the autonomous devices 2 passing through the open area 33 and the passage time of the formation P. Therefore, the formation can be further optimized in order to suppress heat loss, which is correlated with the outer perimeter area and passage time, to an acceptable range. Specifically, the formation can be controlled to minimize the outer perimeter area of ​​the open area 33 and the passage time. Consequently, temperature changes inside the warehouse 3 can be suppressed more effectively.

[0073] Furthermore, according to the first embodiment, the opening and closing operation of the opening / closing door 31 is controlled so as to minimize heat loss within an acceptable range. Therefore, temperature changes when passing through the opening / closing 30 can be further suppressed, and the temperature inside the warehouse 3 can be made more stable.

[0074] In addition, according to the first embodiment, when passing through the opening 30 that opens and closes in the height direction, the formation is controlled so that the height decreases from the middle of the formation P towards the front and rear ends. This makes it possible to effectively suppress temperature changes at the opening 30 that opens and closes in the height direction.

[0075] (Second Embodiment) As shown in Figures 9 and 10, the second embodiment is a modification of the first embodiment.

[0076] In the second embodiment, as shown in Figure 9, the opening / closing door 31 is configured to be driveable to open and close the opening / closing opening 30 in the left-right direction. Specifically, the opening / closing door 31 is a left-right opening type, comprising a pair of door members that close the opening / closing opening 30 when in contact and open the opening / closing opening 30 by moving laterally to separate them. The opening / closing door 31 may be a shutter door or a sliding door. With the opening / closing door 31 of the second embodiment, the opening / closing opening 30 becomes a left-right opening / closing type.

[0077] In the case of a left-right opening / closing type opening 30, the acquisition block 110 in S20 only needs to acquire at least the length and width as size information.

[0078] In S50 of this embodiment, the formation is the maximum formation width w that can pass through the opening 30. ｆThe width configuration is set to be such that... In addition, the formation configuration is such that the formation width w increases from the middle of the formation P in the vertical direction DD towards the front and rear ends of the formation P. ｉ The width configuration is set to decrease. Furthermore, the formation configuration satisfies the above-mentioned width configuration and has a maximum formation length l ｆ It is set to the length form that minimizes it.

[0079] In other words, the setting block 120 is constrained by the width configuration described above, and the maximum column length l within the range where this constraint is met. ｆ The formation configuration is optimized by searching for the length configuration that minimizes [the specified value]. The constraints on the width configuration are defined, for example, by equation (1) and the following equations (6) and (7).

[0080] The constraints shown in equations (6) and (7) are that the row width from the front row to the middle row is greater for the front row than for the back row. ｉ As a result, the front row is wider than the back row from the center row to the last row. ｉ This means that the setting block 120 satisfies equations (1), (6), and (7) while having a maximum column length l ｆ The formation that minimizes is set as the formation that passes through the opening 30. Due to this constraint, the i ｈａｌｆ The width of the line lol ｉ But the maximum column width lol ｆ This is the result.

[0081] Furthermore, the position of each row in the lateral direction DW in the formation configuration is set according to the opening and closing end position of the opening / closing door 31 in the closed state. For example, the position of each row in the lateral direction DW is set to a position where the formation length decreases as you move from the opening / closing end position in the closed state toward the opening direction side of the opening / closing door 31. In this embodiment, when the midpoint in the width direction of the opening / closing opening 30 is the opening / closing end position in the closed state, the formation length at the center of the formation P in the lateral direction DW is the maximum formation length l ｆ The position of autonomous device 2 in each row is set so that the length of the formation decreases as you move towards the right and left sides.

[0082] Figure 9 shows an example of a formation configuration set as a result of optimization. In this example, a formation is set with five horizontal rows arranged vertically DD. In this formation configuration, the formation width w of the third column, which is the center column in the vertical direction DD, is... ３ However, this becomes the largest. And in this formation, the formation width is greater in front of the third row, in the order of the first row, second row, and so on. ｉ The width increases. Furthermore, in this formation, behind the third row, the column width increases in the order of the fourth row and fifth row. ｉ It becomes smaller.

[0083] In S60, the setting block 120 sets the opening and closing mode of the opening and closing door 31, and the opening start timing t ｏｓ and occlusion start timing t ｃｓ Set the volume V from the time integral of the outer perimeter area, similar to the first embodiment. ｆ The timing at which the release starts t minimizes the difference after subtracting the difference. ｏｓ and occlusion start timing t ｃｓ Set it.

[0084] Specifically, the setting block 120 achieves the minimum release start timing t defined by the following formula (8). ｏｓ and occlusion completion timing t ｃｅ We search for f. ｗ (t) is the width of the open area 33 at time t, which is the opening width w. ｔ This is a time function that shows the relationship between the two, and is defined by equation (9).

[0085] However, the setting block 120 is the column width w of the i-th column that passes directly beneath the opening / closing door 31 at any given time t. ｉ Rather, the opening width at the same time t lol ｔ One constraint is that the value becomes large. Then, the volume V of the setting block 120 is calculated from the time integral of the outer perimeter area. ｆ Another constraint is that the difference after subtracting is greater than 0. Through the search process described above, the setting block 120 is set to release start timing t ｏｓ and occlusion start timing t ｃｓOptimize it. Note that the opening width w ｔ the maximum value of which may be the value obtained by adding a margin to the maximum queue width w ｆ .

[0086] Figure 10 shows the opening width w at time t based on the optimized opening and closing mode ｔ and the queue width w of the horizontal row passing through the opening area 33 ｉ as an example. In this opening and closing mode and queue form, the opening height h ｔ before reaching the maximum queue width w ｆ the queue P can start passing through the opening / closing port 30. And in this opening and closing mode, the opening width w at which the closing starts ｔ can reach the maximum queue width w ｆ before the passing of the queue P is completed.

[0087] According to the above second embodiment, in the passage of the opening / closing port 30 that opens and closes in the width direction, the queue form is controlled in such a form that the queue width decreases from the middle part of the queue in the traveling direction toward the front and rear ends of the queue. Thereby, in the opening / closing port 30 that opens and closes in the width direction, it may be possible to effectively suppress the effect of temperature change.

[0088] (Third Embodiment) As shown in FIG. 11, the third embodiment is a modification of the second embodiment.

[0089] In the third embodiment, the opening / closing door 31 is configured to be drivable to open and close the opening / closing port 30 in the left-right direction. Specifically, the opening / closing door 31 is of a single-leaf type in which a single door member moves in the horizontal direction to open and close the opening / closing port 30. With this opening / closing door 31, the opening / closing port 30 of the third embodiment also becomes a left-right opening / closing type.

[0090] Even when the opening / closing door 31 is of a single-leaf type, the setting block 120 of S50, similar to the second embodiment, sets the queue form that satisfies the mathematical formulas (1), (6), and (7) and has the minimum maximum queue length l ｆ . However, when one end in the horizontal direction DW of the opening / closing port 30 is in the open / close end position in the closed state as in this embodiment, the queue length of the queue end on the side corresponding to the end in the horizontal direction DW is the maximum queue length l ｆThe position of the autonomous device 2 in each row is set such that the length of the column decreases as it moves towards the opposite end of the column from the end of the column in question.

[0091] Furthermore, the setting block 120 in S60 achieves the minimum release start timing t defined by formula (8), similar to the second embodiment. ｏｓ and occlusion completion timing t ｃｅ To search for it. However, in the case of a single-leaf opening door 31, f ｗ (t) is defined by the following formula (10).

[0092] According to the third embodiment described above, even with a single-leaf opening door 31, it is possible to control the arrangement in a configuration that keeps the heat loss inside the warehouse 3 within an acceptable range. Therefore, it is possible to effectively suppress temperature changes in the opening 30 that is opened and closed in the width direction by the single-leaf opening door 31.

[0093] (Other Embodiments) Although several embodiments have been described above, this disclosure is not to be construed as being limited to those embodiments, and can be applied to various embodiments and combinations without departing from the spirit of this disclosure.

[0094] In the modified examples, the passing conditions may consist only of numerical conditions, or only of time conditions, or may include subconditions other than numerical and time conditions.

[0095] In the modified example, the warehouse 3 may be configured such that its internal temperature is higher than the external temperature. In such a warehouse 3, the heat loss is the amount of heat that flows out from the outside through the open area 33.

[0096] In the modified example, the dedicated computer constituting the processing unit 100 may have at least one of the digital circuit and the analog circuit as a processor. Here, the digital circuit is at least one of the following, for example, ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Furthermore, such a digital circuit may have a memory that stores a program.

[0097] In a modified example, the processing unit 100 in the control system 1 may be implemented as a control device configured to be mounted on the autonomous device 2 and having at least one processor 102 and one memory 101. Specifically, the above-described embodiments and modifications may be implemented in the form of a processing circuit (e.g., a processing ECU) or a semiconductor device (e.g., a semiconductor chip).

[0098] (Disclosure of Technical Ideas) This specification discloses several technical ideas as described in the following paragraphs. Some paragraphs may be written in a multiple dependent form, where subsequent paragraphs optionally refer to preceding paragraphs. Furthermore, some paragraphs may be written in a multiple dependent form, where they refer to other multiple dependent forms. These paragraphs written in multiple dependent forms define several technical ideas.

[0099] (Technical Concept 1) A control system for controlling platooning of a plurality of autonomous devices (2) having a processor (102) and capable of autonomous driving, wherein the processor is configured to acquire size information of a plurality of autonomous devices that are scheduled to pass through an opening (30) that is opened and closed by an opening door (31) in a warehouse (3) whose interior temperature is adjusted to be different from the outside temperature, and to control the platoon configuration of the plurality of autonomous devices that form a platoon (P) according to each of the size information and pass through the opening, such that the heat loss generated inside through the open area (33) opened by the opening door at the opening is kept within an acceptable range.

[0100] (Technical Concept 2) The control system according to Technical Concept 1, which controls the formation of the convoy to such an extent that the heat loss, which is correlated with the area of ​​the region occupying the outer periphery of the autonomous device passing through the open area and the passage time of the convoy through the open area, is kept within an acceptable range.

[0101] (Technical Concept 3) The control system according to Technical Concept 1 or Technical Concept 2, wherein the processor is configured to control the opening and closing door to an opening and closing operation that minimizes the heat loss within an acceptable range.

[0102] (Technical Idea 4) A control system according to any one of Technical Ideas 1 to 3, wherein controlling the formation of the convoy includes controlling the formation such that, when passing through the opening that opens and closes in the height direction, the height of the convoy decreases from the middle of the convoy in the direction of travel toward the front and rear ends of the convoy.

[0103] (Technical Idea 5) A control system according to any one of Technical Ideas 1 to 4, wherein controlling the formation of the convoy includes controlling the formation such that, when passing through the opening that opens and closes in the width direction, the width of the convoy decreases from the middle of the convoy in the direction of travel toward the front and rear ends of the convoy.

[0104] Furthermore, the above technical concepts 1 to 5 may be implemented in the form of control methods and control programs.

Claims

1. A control system having a processor (102) for controlling platooning of a plurality of autonomous devices (2) capable of autonomous driving, wherein the processor is configured to: acquire size information of a plurality of autonomous devices that are scheduled to pass through an opening (30) opened and closed by an opening door (31) in a warehouse (3) whose interior temperature is adjusted to be different from the outside temperature; and control the platoon configuration of the plurality of autonomous devices that form a platoon (P) according to each of the size information and pass through the opening, such that the heat loss generated inside through the open area (33) opened by the opening door at the opening is kept within an acceptable range.

2. The control system according to claim 1, which includes controlling the formation of the convoy to keep within an acceptable range the heat loss, which is correlated with the area of ​​the region occupying the outer periphery of the autonomous device passing through the open area and the passage time of the convoy in the open area.

3. The control system according to claim 1, wherein the processor is configured to control the opening and closing door to an opening and closing operation that minimizes the heat loss within an acceptable range.

4. The control system according to claim 1, wherein controlling the formation of the convoy includes controlling the formation such that, when passing through the opening that opens and closes in the height direction, the height of the convoy decreases from the middle of the convoy in the direction of travel towards the front and rear ends of the convoy.

5. The control system according to claim 1, wherein controlling the formation of the convoy includes controlling the formation such that, when passing through the opening that opens and closes in the width direction, the width of the convoy decreases from the middle of the convoy in the direction of travel toward the front and rear ends of the convoy.

6. A control method performed by a processor (102) to control platooning of a plurality of autonomous devices (2) capable of autonomous driving, the control method comprising: acquiring size information of a plurality of autonomous devices that are scheduled to pass through an opening (30) opened and closed by an opening door (31) in a warehouse (3) whose interior temperature is adjusted to be different from the outside temperature; and controlling the platoon configuration of the plurality of autonomous devices that form a platoon (P) according to each of the size information and pass through the opening, such that the heat loss generated inside through the open area (33) opened by the opening door at the opening is kept within an acceptable range.

7. A control program stored in a storage medium (101) and including instructions to be executed by a processor (102) for controlling platooning of a plurality of autonomous devices (2) capable of autonomous driving, the control program including instructions to: acquire size information relating to a plurality of autonomous devices that are scheduled to pass through an opening (30) opened and closed by an opening door (31) in a warehouse (3) whose interior is adjusted to a temperature different from the outside; and control the platoon configuration of the plurality of autonomous devices that form a platoon (P) according to each of the size information and pass through the opening, such that the heat loss generated inside through the open area (33) opened by the opening door at the opening is kept within an acceptable range.

Images