CN116203939A

CN116203939A - Management system, map management device, management method, management program, map information data structure, and mobile object

Info

Publication number: CN116203939A
Application number: CN202210237227.2A
Authority: CN
Inventors: 高井真人
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2021-11-30
Filing date: 2022-03-10
Publication date: 2023-06-02
Also published as: JP7160171B1; JP2023080711A

Abstract

A management system, a map management device, a management method, a management program, a data structure of map information, and a mobile body can suppress unintentional entry of the mobile body into a forbidden area. The management system (1) has a map management device (4) and a mobile body (3). The map management device includes a 1 st communication unit (6). The 1 st communication unit distributes map information of the facility (2). Map information of facilities is stored in a 1 st storage unit (5). The mobile body moves in the facility based on the map information received directly or indirectly from the 1 st communication unit. The map information includes a permitted area, a prohibited area, and an attention area. The permission area is an area in which the mobile body can move in a normal mode. The prohibition area is an area in which the mobile body is prohibited from entering. The attention area is disposed between the permission area and the prohibition area. The attention area is an area in which the mobile body can pass in the attention mode. The attention mode is an operation mode in which the possibility of entering the prohibition area is suppressed.

Description

Management system, map management device, management method, management program, map information data structure, and mobile object

Technical Field

The present invention relates to a management system, a map management apparatus, a management method, a management program, a data structure of map information, and a mobile object.

Background

Patent document 1 discloses an example of a reading system for reading a wireless tag using an autonomous mobile robot having an antenna. In the reading system, an entry prohibition area of the autonomous mobile robot is set according to a user's specification.

Patent document 1: japanese patent laid-open No. 2020-184348

In the reading system of patent document 1, in a map of a facility such as a store, an entry-prohibited area and a binary value other than the entry-prohibited area are set in accordance with a user's specification. Outside the no entry area, the mobile body can freely pass. Therefore, when a mobile body such as an autonomous mobile robot passes near the boundary of the no-entry area as usual, the mobile body may unintentionally enter the no-entry area due to the influence of surrounding conditions or the like.

Disclosure of Invention

The present invention relates to solving such problems. The invention provides a management system, a map management device, a management method, a map management program, a data structure of map information and a mobile body, which can restrain the mobile body from unconsciously entering a forbidden area.

The management system of the present invention comprises: a map management device including a 1 st communication unit for distributing map information of facilities stored in a storage unit; and a moving body that moves in the facility according to the map information received directly or indirectly from the 1 st communication section, the map information including: a permission area in which the mobile body can move in a normal mode; a prohibition area in which the mobile body is prohibited from entering; and an attention area that is arranged between the permission area and the prohibition area and through which the mobile body can pass in an attention mode that suppresses a possibility of entering the prohibition area.

The map management device of the present invention comprises: a storage unit that stores map information of a facility; and a 1 st communication unit that directly or indirectly distributes the map information stored in the storage unit to a mobile body that moves in the facility according to the map information, the map information including: a permission area in which the mobile body can move in a normal mode; a prohibition area in which the mobile body is prohibited from entering; and an attention area that is arranged between the permission area and the prohibition area and through which the mobile body can pass in an attention mode that suppresses a possibility of entering the prohibition area.

The management method of the invention comprises the following steps: a reading step of reading map information from a storage unit storing the map information, the map information including: a permitted area in which a mobile body moving in a facility can pass in a normal mode, a prohibited area in which the mobile body is prohibited from entering, and an attention area which is arranged between the permitted area and the prohibited area and in which the mobile body can pass in an attention mode in which a possibility of entering the prohibited area is suppressed; and a distribution step of directly or indirectly distributing the map information read in the reading step to the mobile body moving in the facility according to the map information.

The management program of the present invention causes a computer to execute the steps of: a reading step of reading map information from a storage unit storing the map information, the map information including: a permitted area in which a mobile body moving in a facility can pass in a normal mode, a prohibited area in which the mobile body is prohibited from entering, and an attention area which is arranged between the permitted area and the prohibited area and in which the mobile body can pass in an attention mode in which a possibility of entering the prohibited area is suppressed; and a distribution step of directly or indirectly distributing the map information read in the reading step to the mobile body moving in the facility according to the map information.

The data structure of the present invention is a data structure of map information issued directly or indirectly to a mobile body moving in a facility according to map information of the facility, the data structure including: a permission area in which the mobile body can pass in a normal mode; a prohibition area in which the mobile body is prohibited from entering; and an attention area that is arranged between the permission area and the prohibition area and through which the mobile body can pass in an attention mode that suppresses a possibility of entering the prohibition area.

The moving body according to the present invention is a moving body that moves in a facility, the moving body including: a 2 nd communication unit that directly or indirectly receives map information from a map management device that manages the map information, the map information including: a permission area in which a mobile body can pass in a normal mode, an inhibition area in which the mobile body is inhibited from entering, and an attention area which is arranged between the permission area and the inhibition area and in which the mobile body can pass in an attention mode in which a possibility of entering the inhibition area is inhibited; and a control unit that causes a mobile body to pass in the normal mode in the permission area and causes a mobile body to pass in the attention mode in the attention area, based on the map information received by the 2 nd communication unit.

According to the management system, the map management apparatus, the management method, the management program, the data structure of the map information, or the moving body of the present invention, the moving body can be restrained from unintentionally entering the prohibited area.

Drawings

Fig. 1 is a configuration diagram of a management system according to embodiment 1.

Fig. 2 is a diagram showing an example of map information in embodiment 1.

Fig. 3 is a diagram showing an example of map information in embodiment 1.

Fig. 4 is a flowchart showing an example of the operation of the management system according to embodiment 1.

Fig. 5 is a flowchart showing an example of the operation of the management system according to embodiment 1.

Fig. 6 is a flowchart showing another example of the operation of the management system according to embodiment 1.

Fig. 7 is a hardware configuration diagram of a main part of the management system according to embodiment 1.

Fig. 8 is a hardware configuration diagram of a main part of the management system of embodiment 1.

Description of the reference numerals

1: a management system; 2: a facility; 3: a moving body; 4: a map management device; 5: a 1 st storage unit; 6: a 1 st communication unit; 7: a 1 st detection unit; 8: a generating unit; 9: an updating unit; 10: an arithmetic unit; 11: a facility side sensor; 12: a 2 nd communication unit; 13: a 2 nd storage unit; 14: a mobile body side sensor; 15: a 2 nd detection unit; 16: a control unit; 17: a mobile body management device; 18: a 3 rd communication unit; 19: a 3 rd storage unit; 100a, 100b: a processing circuit; 110a, 110b: a processor; 120a, 120b: a memory; 130b: dedicated hardware.

Detailed Description

The manner in which the objects of the present invention are implemented will be described with reference to the accompanying drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals, and repetitive description thereof will be appropriately simplified or omitted. The object of the present invention is not limited to the following embodiments, and modifications of any of the components of the embodiments or omission of any of the components of the embodiments may be made without departing from the scope of the present invention.

Embodiment 1

Fig. 1 is a configuration diagram of a management system 1 according to embodiment 1.

The management system 1 is applied to a facility 2. The facility 2 is, for example, an indoor facility, an outdoor facility, a facility formed by combining them, or the like. The facility 2 is constituted by, for example, 1 or more buildings and the like. The facility 2 may be a part of a building or the like, for example. The management system 1 includes 1 or more mobile objects 3 and a map management device 4.

In this example, the management system 1 includes a plurality of mobile units 3. Each mobile body 3 is a device that moves in the facility 2. The moving body 3 is an autonomous moving body such as a robot or a moving body. Here, the movement of the moving body 3 includes, for example, passing and evading actions. The passage of the moving body 3 indicates movement along a path from the departure point to the destination point of the moving body 3. In this example, the mobile body 3 passes through the facility 2 at a predetermined passing speed. The avoidance action of the moving body 3 means a movement of avoiding collision with an object in the facility 2, another moving body 3, or an obstacle such as a person. In this example, the mobile unit 3 switches between a plurality of operation modes and moves through the facility 2. The operation mode of the mobile body 3 includes a normal mode. The normal mode is an operation mode in normal times that is not restricted by the management system 1 related to movement or the like. The mobile body 3 moves in the facility 2 based on the map information of the facility 2.

The map information of the facility 2 contains information of a permitted area, a prohibited area, and an attention area. The permitted area is an area in which the mobile body 3 can move in the normal mode in the facility 2. In the permitted area, the mobile body 3 passes without being restricted by the management system 1 regarding movement. The prohibited area is an area in the facility 2 into which the mobile body 3 is prohibited from entering. In the facility 2, the mobile body 3 moves so as not to enter the prohibited area. The notice area is arranged between the permission area and the prohibition area as a buffer area of the permission area and the prohibition area. The attention area is an area in which the mobile body 3 can move in the attention mode in the facility 2. The attention mode is one of the operation modes of the mobile body 3 in which the possibility of entering the prohibition area is suppressed. In the attention mode, for example, the mobile body 3 passes in the attention area at a lower pass speed than that when passing in the permission area. The passage speed at the time of passing through the permission area and the passage speed at the time of passing through the attention area are set in advance for each moving body 3, for example. In the attention mode, for example, the mobile body 3 may preferentially select another action than the movement to the prohibition area side at the time of the avoidance action. Here, the other actions of the moving body 3 moving to the prohibited area side in the avoidance action are, for example, moving to the permitted area side, moving backward, stopping at the place, and the like. In the attention area, the movement of the mobile body 3 in the normal mode is restricted. In the attention area of this example, the movement of the mobile body 3 in the normal mode is prohibited. Alternatively, in the attention area, for example, if within a certain time or a certain distance, the movement of the mobile body 3 in the normal mode may be allowed.

The map management device 4 is, for example, 1 or more server computers or the like. Some or all of the functions of the map management device 4 may be mounted on 1 or more devices disposed inside or outside the facility 2. Alternatively, part or all of the functions of the map management device 4 may be installed by a resource or the like stored or processed on the cloud service. The map management device 4 manages map information of the facility 2, and the like. The map management device 4 includes a 1 st storage unit 5, a 1 st communication unit 6, a 1 st detection unit 7, a generation unit 8, an update unit 9, and an arithmetic unit 10.

The 1 st storage unit 5 is a part on which a function of storing information is mounted. The 1 st storage unit 5 is mounted, for example, by a storage device incorporated in the map management device 4, a storage device removable from the map management device 4, a storage medium removable from the map management device 4, or a combination thereof. The 1 st storage unit 5 stores map information and the like of the facility 2. The 1 st storage unit 5 is an example of a storage unit that stores map information of the facility 2.

The 1 st communication unit 6 is a part of a function of performing information communication with a device or apparatus or the like external to the map management apparatus 4. The devices outside the map management apparatus 4 are, for example, the respective moving bodies 3 and the like. The 1 st communication unit 6 performs wired or wireless communication. The 1 st communication unit 6 is connected to a communication network such as a LAN (Local Area Network: local area network) or a WAN (Wide Area Network: wide area network) to communicate with external devices and the like. The 1 st communication unit 6 distributes map information of the facility 2 read from the 1 st storage unit 5 to each mobile unit 3. The 1 st communication unit 6 issues map information at a predetermined regular or irregular time, or issues map information in response to a request from the mobile unit 3, for example.

The 1 st detection unit 7 is a part that carries a function of detecting the position of each mobile body 3 in the facility 2. The 1 st detection unit 7 detects the position of the mobile body 3 based on information obtained by the facility-side sensor 11 disposed at the facility 2, for example. The facility-side sensor 11 is constituted by, for example, a camera, a LiDAR (Light Detection and Ranging: laser radar), an acoustic wave sensor, an infrared sensor, or a combination thereof. The facility-side sensor 11 may be configured by other sensors. The 1 st detection unit 7 acquires information from the facility-side sensor 11, for example, via the 1 st communication unit 6.

The generating unit 8 is a part for mounting a function of generating an environment map of the facility 2. The environment map is a map showing the environment in which the mobile body 3 moves in the facility 2. The environment map includes information such as the position and shape of a portion of the wall, column, door, etc. of the facility 2 that may be an obstacle to movement of the mobile body 3. The environment map is represented by, for example, an occupancy grid map, a two-dimensional point group map, a three-dimensional point group map, or another form that can be recognized by the mobile body 3.

The generating unit 8 generates an environment map of the facility 2, for example, from the configuration data of the facility 2. The configuration data of the facility 2 is, for example, data including information on the positional relationship and internal structure of each part of each floor of the building of the facility 2. The arrangement data of the facility 2 is, for example, data including information on absolute coordinates of each part in the facility 2, such as a structure of a building of the facility 2 and a three-dimensional or two-dimensional arrangement of devices provided in the facility 2. From the arrangement data of the facility 2, it is possible to determine whether or not the movable body 3 is a movable position for each position of the facility 2. The generating unit 8 obtains the configuration data of the facility 2 from an external device or the like via the 1 st communication unit 6, for example. The generating unit 8 obtains the arrangement data of the facility 2 from, for example, a personal computer or a server computer used for designing the facility 2. The configuration data of the facility 2 may be, for example, BIM data (BIM: building Information Modeling: building information model) or other CAD data (CAD: computer-Aided Design) used for designing the facility 2.

Here, the BIM data is data such as a model of the BIM system. The BIM system is applied to the design of the facility 2 using corresponding CAD software, and the like. In the BIM system, BIM data including information of the facility 2 is shared by, for example, a plurality of practitioners concerning the design of the facility 2 and the like. The information of the facility 2 included in the BIM data includes, for example, data of a three-dimensional shape of a structure of a building of the facility 2, equipment in the facility 2, and the like, data of manufacturing specifications such as components and materials of each part, data of performances such as weight, strength, and functions of each part, and adjustment data between practitioners such as construction time, and the like. In this regard, the construction of BIM data corresponds to, for example, a virtual building of facility 2 on the data. In the BIM system, for example, the relevance and matching of each part of the facility 2 can be confirmed based on the BIM data.

The updating unit 9 is a part for mounting a function of updating the map information of the facility 2 stored in the 1 st storage unit 5. The updating unit 9 updates map information using, for example, information such as the position of the mobile body 3 detected by the 1 st detecting unit 7. The updating unit 9 updates the map information by adding information of the permitted area, the prohibited area, and the attention area to the environment map of the facility 2 generated by the generating unit 8, for example. Here, the prohibited area is set, for example, according to a designation by an administrator or the like of the facility 2. The update unit 9 obtains the specified information from a terminal device such as a personal computer to which the administrator inputs the specification of the prohibited area, for example, via the 1 st communication unit 6. Alternatively, the updating unit 9 may automatically designate, as the prohibited area, an area of a structure such as a wall or a column of a building where the facility 2 exists, which may be an obstacle to the mobile body 3. The updating unit 9 automatically designates, for example, an area that meets the outside of the boundary of the prohibited area as the attention area. The updating unit 9 automatically designates, for example, an area in the facility 2, which is not designated as either one of the prohibited area and the attention area, that is movable by the mobile body 3 as the permitted area. The permission area may be set, for example, by a designation of an administrator or the like of the facility 2.

The computing unit 10 is a part equipped with a function of calculating the position error of the mobile body 3. The position error of the mobile body 3 calculated by the calculation unit 10 is used by the update unit 9 to update map information, for example.

Each mobile unit 3 includes a 2 nd communication unit 12, a 2 nd storage unit 13, a mobile unit side sensor 14, a 2 nd detection unit 15, and a control unit 16.

The 2 nd communication unit 12 of the mobile unit 3 is a part of a function of performing information communication with equipment, devices, or the like outside the mobile unit 3. The device outside the mobile body 3 is, for example, the map management device 4 or the like. The 2 nd communication unit 12 performs wireless communication. The 2 nd communication unit 12 is connected to a communication network such as LAN or WAN, for example, and communicates with an external device or the like. The 2 nd communication unit 12 receives map information of the facility 2 distributed from the map management device 4.

The 2 nd storage unit 13 is a part on which a function of storing information is mounted. The 2 nd storage unit 13 is mounted, for example, by a storage device incorporated in the mobile body 3, a storage device removable from the mobile body 3, a storage medium removable from the mobile body 3, or a combination thereof. The 2 nd storage unit 13 stores map information and the like of the facilities 2 distributed from the map management device 4.

The moving body side sensor 14 of the moving body 3 is a device that acquires information on the surrounding situation of the moving body 3. The mobile body side sensor 14 is constituted by, for example, a camera, a LiDAR, an acoustic sensor, an infrared sensor, a combination thereof, or the like. The mobile body side sensor 14 may be configured by another sensor type.

The 2 nd detection unit 15 of the mobile body 3 is a part that carries a function of detecting the position of the mobile body 3 itself in the facility 2. The 2 nd detection unit 15 detects the position of the mobile body 3 based on, for example, the map information stored in the 2 nd storage unit 13 and the information acquired by the mobile body side sensor 14. The 2 nd detection unit 15 detects the self-position of the mobile body 3 by a self-position estimation method using, for example, SLAM (Simultaneous Localization and Mapping: instantaneous positioning and map construction) technology, map matching technology, or the like. In this example, the own position of the mobile body 3 detected by the 2 nd detection unit 15 is notified to the map management device 4 via the 2 nd communication unit 12.

The control unit 16 of the mobile body 3 is a part that carries a function of controlling the operation of the mobile body 3. The control unit 16 performs, for example, movement control of the mobile body 3 in the facility 2. The control unit 16 performs, for example, control such as route generation from the departure point to the destination point of the moving body 3, passage of the moving body 3 on the generated route, and avoidance actions for avoiding collision with an obstacle.

In this example, the management system 1 includes a mobile management device 17. The mobile management device 17 is, for example, 1 or more server computers or the like. Some or all of the functions of the mobile body management device 17 may be mounted on 1 or more devices disposed inside or outside the facility 2. Alternatively, part or all of the functions of the mobile management device 17 may be installed by a resource or the like stored or processed on the cloud service. The mobile body management device 17 manages a part or all of the plurality of mobile bodies 3. The mobile body management device 17 has a 3 rd communication unit 18 and a 3 rd storage unit 19.

The 3 rd communication unit 18 is a part of a function of performing information communication with a device or equipment and the like external to the mobile body management device 17. The device or equipment outside the mobile body management device 17 is, for example, the map management device 4 or the mobile body 3 managed by the mobile body management device 17. The 3 rd communication unit 18 performs wired or wireless communication. The 3 rd communication unit 18 is connected to a communication network such as LAN or WAN, for example, and communicates with an external device or equipment. The 3 rd communication unit 18 receives map information of the facility 2 distributed by the map management device 4, for example. At this time, the 3 rd communication unit 18 may transmit the received map information to the mobile unit 3 to be managed, thereby relaying communication of the map information between the map management apparatus 4 and the mobile unit 3.

The 3 rd storage unit 19 is a part on which a function of storing information is mounted. The 3 rd storage unit 19 is mounted, for example, by a storage device incorporated in the mobile body management device 17, a storage device removable from the mobile body management device 17, a storage medium removable from the mobile body management device 17, or a combination thereof. The 3 rd storage unit 19 stores, for example, map information of the facility 2 distributed by the map management device 4.

The mobile object management device 17 may control the movement of the mobile object 3 to be managed in the facility 2. At this time, the mobile body management device 17 performs, for example, generation of a route from the departure point to the destination point of the mobile body 3, and control of the passage of the mobile body 3 on the generated route. At this time, for example, the mobile body management device 17 acquires the own position detected by the 2 nd detection unit 15 of the mobile body 3 via the 3 rd communication unit 18. For example, information of the generated route, a control signal for moving the mobile body 3, and the like are transmitted to the mobile body 3 through the 3 rd communication unit 18. At this time, the control unit 16 of the mobile body 3 moves the mobile body 3 in accordance with the control signal transmitted from the mobile body management device 17.

Next, an example of map information of the facility 2 of the application management system 1 will be described with reference to fig. 2 and 3.

Fig. 2 and 3 are diagrams showing examples of map information according to embodiment 1.

As shown in fig. 2, the map information of the facility 2 includes a prohibited area, an attention area, and a permitted area. In this example, the prohibited area is a rectangular area. The attention area is bordered outside the boundary of the prohibition area. In this example, the attention area is an area of a certain width surrounding the boundary of the prohibition area. The width of the attention area is updated by the updating section 9, for example. In this example, the permitted area is an area other than the prohibited area and the attention area among the areas in the facility 2 in which the mobile body 3 can move. In this example, the licensed region does not border the forbidden region. An attention area is set as a buffer area between the prohibition area and the permission area.

Further, as shown in fig. 3, the map information of the facility 2 may include a plurality of prohibition areas separated from each other. At this time, the attention area is set for each prohibition area. Note that the width of the region may also be different for each prohibited region.

In addition, the prohibited area may not be a rectangular area. The prohibited area may be an area including a wall or the like of a building of the facility 2 or an area along the wall or the like.

Further, the width of the attention area in the direction from the boundary of the prohibition area to the outside may not be fixed in the entire boundary of the prohibition area. That is, the width of the attention direction may be different for each place of the prohibition area. Note that the attention areas set for the plurality of prohibition areas may overlap with each other.

Next, an example of the operation of the management system 1 will be described with reference to fig. 4 and 5.

Fig. 4 and 5 are flowcharts showing an example of the operation of the management system 1 according to embodiment 1.

Fig. 4 shows an example of processing performed by the map management device 4 for each mobile unit 3.

In step S101, the generating unit 8 obtains the configuration data of the facility 2 through the 1 st communication unit 6. The 1 st storage unit 5 may store the configuration data acquired by the generation unit 8. In this case, when the configuration data of the facility 2 is already stored in the 1 st storage unit 5, the generating unit 8 may acquire the configuration data by reading in the configuration data from the 1 st storage unit 5. Then, the map management apparatus 4 proceeds to the process of step S102.

In step S102, the generating unit 8 generates an environment map of the facility 2 based on the acquired configuration data. The environment map is generated in such a manner that the mobile object 3 can recognize, for example, a occupied grid map, a two-dimensional point group map, or a three-dimensional point group map. Then, the map management apparatus 4 proceeds to the process of step S103.

In step S103, the update unit 9 obtains information specifying the prohibited area or the permitted area from the manager or the like of the facility 2 through the 1 st communication unit 6. The update unit 9 assigns information of an area such as a prohibited area or a permitted area to the generated environment map as an attribute of each place on the environment map, for example, according to a designation by an administrator or the like. Then, the map management apparatus 4 proceeds to the process of step S104.

In step S104, the 1 st detection unit 7 collects information acquired by the facility-side sensor 11 through the 1 st communication unit 6. The 1 st detection unit 7 detects the position of the mobile body 3 in the facility 2 based on the collected information. The computing unit 10 collects information on the position of the mobile body 3 detected by the 1 st detecting unit 7. The computing unit 10 collects information on the own position of the mobile body 3 detected by the 2 nd detecting unit 15 of the mobile body 3 through the 1 st communication unit 6. Then, the map management apparatus 4 proceeds to the process of step S105.

In step S105, the computing unit 10 calculates a position error of the moving body 3 using the position of the moving body 3 detected by the 1 st detecting unit 7 and the own position of the moving body 3 detected by the 2 nd detecting unit 15 of the moving body 3. The positional error of the moving body 3 indicates a deviation between the position of the moving body 3 based on the 1 st detection unit 7 and the position of the moving body 3 itself based on the 2 nd detection unit 15. Then, the map management apparatus 4 proceeds to the process of step S106.

In step S106, the updating unit 9 determines the extent of the attention area using the position error of the mobile body 3 calculated by the calculating unit 10. The updating unit 9 determines the width of the attention area in the outward direction from the boundary of the prohibition area, for example, and thereby determines the breadth of the attention area. The width of the attention area is determined using the position error of the moving body 3. The updating unit 9 determines that the larger the position error of the moving body 3, the larger the width of the attention area for the moving body 3. Then, the map management apparatus 4 advances to the process of step S107.

In step S107, the updating unit 9 assigns information of the attention area, which determines the extent, to the environment map of the facility 2 as, for example, attributes of each place on the environment map. The updating unit 9 also updates the information of the permitted areas together so that the adjacent permitted areas also change in extent in accordance with the change in extent of the noted areas. Thereby, the map information of the facility 2 is updated. The updated map information is stored in the 1 st storage unit 5. Then, the map management apparatus 4 proceeds to the process of step S108.

In step S108, the 1 st communication unit 6 reads map information of the facility 2 from the 1 st storage unit 5. When the map information of the facility 2 has been updated, the 1 st communication unit 6 reads the updated map information. Then, the map management apparatus 4 proceeds to the process of step S109.

In step S109, the 1 st communication unit 6 distributes the map information read by the facility 2 to the mobile unit 3. Then, the map management apparatus 4 proceeds to the process of step S104.

The control unit 16 of the mobile body 3 generates a route from the departure point to the destination point of the mobile body 3 using the map information received from the map management device 4. The control unit 16 generates a route which does not pass through the prohibited area as a route from the departure point to the destination point. The control unit 16 may generate a route passing through the attention area as a route from the departure point to the destination point. The control unit 16 causes the mobile body 3 to pass along the generated route.

When the mobile body 3 moves in the facility 2, the 2 nd detection unit 15 detects its own position, for example, at a predetermined cycle. The 2 nd communication unit 12 notifies the map management device 4 of the own position of the mobile body 3 detected by the 2 nd detection unit 15, for example, at each detection.

The control unit 16 of the mobile body 3 determines which area, such as the permission area or the attention area, the current self-position is located using, for example, the self-position of the mobile body 3 detected by the 2 nd detection unit 15 and map information or the like issued from the map management device 4.

The control unit 16 of the mobile body 3 causes the mobile body 3 to pass in the normal mode when the position of the mobile body 3 itself is located in the permission area. At this time, the control unit 16 causes the mobile body 3 to pass at a passing speed in the normal mode. In the avoidance operation of the moving object 3, the control unit 16 selects any operation such as turning right, turning left, moving backward, or stopping at the place in the traveling direction, for example, and moves the moving object 3. At this time, the control unit 16 selects the movement of the moving body 3 according to the movement efficiency of the moving body 3 and the like. When the mobile body 3 enters the attention area from the permission area, the control unit 16 switches the operation mode of the mobile body 3 from the normal mode to the attention mode.

The control unit 16 of the mobile body 3 causes the mobile body 3 to pass through in the attention mode when the position of the mobile body 3 itself is located in the attention area. At this time, the control unit 16 causes the mobile body 3 to pass at the pass speed of the attention mode. When the moving object 3 is performing the avoidance operation, the control unit 16 selects any operation such as turning right in the traveling direction, turning left, moving backward, or stopping at the place, for example, and moves the moving object 3. At this time, the control unit 16 preferentially selects another action than moving to the prohibition region side. For example, when the movable body 3 moves along the boundary of the prohibition area so that the prohibition area is positioned on the left side of the movable body 3, another movable body 3 that moves in the opposite direction may be avoided. In this case, the control unit 16 of the mobile body 3 that moves so that the prohibition area is located on the left side preferably selects turning to the right side, moving backward, stopping at the place, or the like, as compared with turning to the left side. When the mobile body 3 enters the permission area from the attention area, the control unit 16 switches the operation mode from the attention mode to the normal mode.

Fig. 5 shows an example of the processing in step S105 of fig. 4 related to the calculation unit 10 calculating the position error of the mobile body 3.

In step S201, the computing unit 10 calculates a difference between the position of the mobile body 3 detected by the 1 st detecting unit 7 and the position of the mobile body 3 itself detected by the 2 nd detecting unit 15. For example, the position of the mobile body 3 detected by the 1 st detection unit 7 at a certain time t is a coordinate (x ₁ ,y ₁ ) And the position of the moving body 3 detected by the 2 nd detecting unit 15 at the same time t is the coordinate (x ₂ ,y ₂ ) In the case of (2), the arithmetic unit 10 calculates the difference Δl by the following equation (1). The difference Δl corresponds to a distance of erroneous entry of the moving body 3, which may occur due to a positional error, when either one of the position of the moving body 3 detected by the 1 st detecting unit 7 and the own position of the moving body 3 detected by the 2 nd detecting unit 15 is located on the boundary between the prohibited area and the attention area. In transitAfter the calculation unit 10 calculates the difference Δl, the map management device 4 proceeds to the process of step S202.

[ math 1 ]

In step S202, the computing unit 10 calculates the difference Δl at each time. The calculating unit 10 calculates statistical information of the difference Δl calculated at each time. The statistical information of the difference Δl calculated here is an example of the position error of the mobile body 3. The calculating unit 10 calculates the average false entry distance of the moving body 3 by, for example, arithmetic average of the differences Δl at each time. Alternatively, the calculation unit 10 may calculate the estimated false entry distance of the mobile body 3 by counting the difference Δl at each time, estimating a probability distribution related to the false entry distance by using a nuclear density distribution estimation or the like, for example. The average false entry distance or the estimated false entry distance of the moving body 3 calculated by the calculating unit 10 is used, for example, to update the width of the attention area by the updating unit 9. The average false entry distance or the estimated false entry distance of the moving body 3 is used as the width of the attention area by the updating section 9, for example. After the calculation unit 10 calculates the statistical information of the difference Δl, the map management device 4 ends the processing related to the calculation of the position error of the mobile body 3.

Fig. 6 is a flowchart showing another example of the operation of the management system 1 according to embodiment 1.

Fig. 6 shows another example of the processing in step S105 of fig. 4 related to the calculation unit 10 calculating the position error of the mobile body 3.

The 1 st detection unit 7 detects the position of the mobile body 3 from information acquired by the facility-side sensor 11 provided in the facility 2, and therefore, the position error of the mobile body 3 may be different for each location of the facility 2. Therefore, the computing unit 10 of this example calculates the position error of the mobile body 3 for 1 or more prohibited areas. The calculation unit 10 calculates a general position error as a position error of the mobile body 3 in a place separated from an arbitrary prohibited area.

In step S301, the computing unit 10 calculates a difference Δl between the position of the mobile body 3 detected by the 1 st detecting unit 7 and the position of the mobile body 3 detected by the 2 nd detecting unit 15, based on the expression (1) and the like. Then, the map management apparatus 4 advances to the process of step S302.

In step S302, the computing unit 10 calculates the distance between the prohibited area and the mobile body 3. When the map information includes a plurality of prohibited areas, the arithmetic unit 10 calculates the distance to the mobile body 3 for each prohibited area. Here, the center of the forbidden area is the coordinate (x ₃ ,y ₃ ) In the case of (2), for example, the distance L between the forbidden region and the mobile body 3 is calculated as shown in the following equation (2) _avg As the average euclidean distance. The calculation unit 10 calculates the distance L between the forbidden area and the moving object 3 _avg After that, the map management apparatus 4 advances to the process of step S303.

[ formula 2 ]

In step S303, the arithmetic unit 10 determines whether or not the mobile body 3 is located in the vicinity of an arbitrary prohibited area. Here, the vicinity of the prohibition region is a distance L from the prohibition region _avg Compared with a preset threshold distance L _th Short areas. The arithmetic unit 10 determines the distance L from the moving body 3 from 1 or more prohibited areas _avg The shortest forbidden area. At a distance L from the mobile body 3 in the determined forbidden area _avg Distance from threshold value L _th When the time is short, the computing unit 10 determines that the mobile unit 3 is located in the vicinity of the prohibition region. At this time, the map management apparatus 4 advances to the process of step S304. On the other hand, in the determined forbidden area, the distance L from the mobile body 3 _avg For a threshold distance L _th In the above, the arithmetic unit 10 determines that the mobile unit 3 is not located in the vicinity of any prohibited area. At this time, the map management apparatus 4 advances to the process of step S305.

In step S304, the computing unit 10 calculates statistical information of the difference Δl in the time when the mobile body 3 moves in the vicinity of the specified prohibited area as a position error related to the prohibited area. The position error calculated by the arithmetic unit 10 for the prohibited area is used, for example, to update the attention area that is in contact with the prohibited area by the updating unit 9. After the calculation unit 10 calculates the statistical information of the difference Δl, the map management device 4 ends the processing related to the calculation of the position error of the mobile body 3.

In step S305, the computing unit 10 calculates statistical information of the difference Δl at each time as a general position error. The general position error calculated by the calculation unit 10 is used, for example, to update the attention area that is in contact with the prohibited area in the vicinity of the mobile body 3 that has not been brought into the vicinity before, by the update unit 9. After the calculation unit 10 calculates the statistical information of the difference Δl, the map management device 4 ends the processing related to the calculation of the position error of the mobile body 3.

As described above, the management system 1 of embodiment 1 includes the map management device 4 and the mobile body 3. The map management device 4 includes a 1 st communication unit 6. The 1 st communication unit 6 distributes map information of the facility 2. Map information of the facility 2 is stored in the 1 st storage unit 5. The mobile body 3 moves in the facility 2 based on the map information received directly or indirectly from the 1 st communication unit 6. The map information includes a permitted area, a prohibited area, and an attention area. The permission area is an area in which the mobile body 3 can move in the normal mode. The prohibition area is an area in which the mobile body 3 is prohibited from entering. The attention area is disposed between the permission area and the prohibition area. The attention area is an area in which the mobile body 3 can pass in the attention mode. The attention mode is an operation mode in which the possibility of entering the prohibition area is suppressed.

The map management device 4 according to embodiment 1 includes a 1 st storage unit 5 and a 1 st communication unit 6. The 1 st storage unit 5 stores map information of the facility 2. The 1 st communication unit 6 directly or indirectly distributes the map information stored in the 1 st storage unit 5 to the mobile unit 3.

The mobile body 3 according to embodiment 1 moves in the facility 2. The mobile unit 3 includes a 2 nd communication unit 12 and a control unit 16. The 2 nd communication unit 12 receives map information directly or indirectly from the map management device 4 that manages map information of the facility 2. The control unit 16 causes the mobile unit 3 to pass through the permission area in the normal mode and causes the mobile unit 3 to pass through the attention area in the attention mode based on the map information received by the 2 nd communication unit 12.

The management method of embodiment 1 includes a reading step and a distribution step. The reading step is a step of reading map information from the 1 st storage unit 5 storing the map information of the facility 2. The distribution step is a step of directly or indirectly distributing the map information read in the reading step to the mobile body 3 moving in the facility 2 based on the map information.

The management program according to embodiment 1 causes a computer to execute a reading step and a distribution step.

The data structure of the map information in embodiment 1 is a data structure of map information that is directly or indirectly distributed to the mobile body 3 moving in the facility 2 according to the map information of the facility 2. The data structure of the map information includes a permission area, a prohibition area, and an attention area.

According to this structure, the moving body 3 passes in the attention mode in the attention area provided adjacent to the prohibition area, and therefore, unintentional entry of the moving body 3 into the prohibition area due to a positional error, a control error, or the like of the moving body 3 can be suppressed. Here, unintentional entry of the moving body 3 means that the moving body 3 enters the prohibited area due to a positional error, a control error, or the like although there is no plan or reservation for the moving body 3 to enter the prohibited area, that is, that the moving body 3 enters the prohibited area by mistake or the like. The plan or the reservation of the mobile body 3 is represented by, for example, a route generated from the departure point to the destination point of the mobile body 3.

In addition, the mobile body 3 passes in the attention area at a lower pass speed than that when passing in the permission area in the attention mode.

According to this structure, in the attention area, the moving body 3 is easily stopped. Thus, even when the surrounding condition of the mobile body 3 changes rapidly, such as an obstacle, the mobile body 3 is likely to take a stopping or avoidance action. This can suppress unintentional entry of the mobile body 3 into the prohibition region due to unexpected circumstances or the like. Further, since the moving speed of the moving body 3 is slow, detection errors in the position of the moving body 3 are easily suppressed. Therefore, erroneous entry into the prohibition region due to a positional error or the like can be suppressed.

In addition, in the attentive mode, the mobile body 3 preferentially selects another action than the movement to the forbidden area side at the time of the avoidance action.

According to this structure, in the attention area, the moving body 3 does not easily access the prohibition area, and therefore, the moving body 3 can be restrained from unintentionally entering the prohibition area also at the time of evasive action.

The map management device 4 further includes an updating unit 9. The updating unit 9 updates the attention area of the map information stored in the 1 st storage unit 5 according to the movement state of the mobile body 3.

According to this configuration, the attention area suitable for the movement condition of the mobile body 3 is set, and therefore, the mobile body 3 can be more effectively restrained from unintentionally entering the prohibition area.

The updating unit 9 updates the attention area of the map information for the location corresponding to the position of the mobile body 3 when the mobile body 3 moves in the vicinity of the prohibited area. The updating unit 9 updates the moving object according to the moving state of the moving object 3 in the place. Here, the vicinity of the prohibited area is an area whose distance from the prohibited area is shorter than a preset threshold distance.

According to this configuration, since the attention area suitable for the situation of the place where the mobile body 3 is moving is set, the mobile body 3 can be more effectively prevented from unintentionally entering the prohibition area.

The map management device 4 further includes a 1 st detection unit 7 and an arithmetic unit 10. The 1 st detection unit 7 detects the position of the mobile body 3 in the facility 2 based on information acquired by the facility-side sensor 11 disposed in the facility 2. The calculation unit 10 calculates a position error of the mobile body 3. The mobile body 3 has a 2 nd detection unit 15 and a 2 nd communication unit 12. The 2 nd detection unit 15 detects the position of the mobile body 3 in the facility 2. The 2 nd communication unit 12 directly or indirectly transmits the position of the mobile body 3 detected by the 2 nd detection unit 15 to the map management device 4. The calculating unit 10 calculates a positional error of the mobile body 3 based on the own position of the mobile body 3 received from the 2 nd communication unit 12 and the position of the mobile body 3 detected by the 1 st detection unit 7. The updating unit 9 updates the attention area of the map information based on the position error of the mobile body 3 calculated by the calculating unit 10.

According to this configuration, as the movement state of the moving body 3, the attention area is updated according to the position error. For example, if the positional error is larger, a wider attention area is set, and the attention area is wider based on the positional error, so that erroneous entry into the prohibition area due to the positional error can be more effectively suppressed. Depending on the arrangement of the facility-side sensors 11, the position error of the mobile body 3 may be different for each location of the facility 2. Therefore, since the attention area of the location is set according to the position error of the location where the mobile body 3 is located, erroneous entry into the prohibition area due to the position error or the like can be more effectively suppressed. Further, since a wide attention area is not easily set wastefully, the moving efficiency of the moving body 3 is not easily lowered.

The calculation unit 10 calculates an average false entry distance of the moving object 3 into the prohibited area. The updating unit 9 updates the attention area of the map information based on the average false entry distance of the mobile body 3 calculated by the calculating unit 10.

The calculation unit 10 calculates a probability distribution of a difference between the position of the mobile body 3 detected by the 1 st detection unit 7 and the position of the mobile body 3 itself detected by the 2 nd detection unit 15. The updating unit 9 updates the attention area of the map information based on the probability distribution calculated by the calculating unit 10.

According to this configuration, as the movement state of the moving body 3, the attention area is updated according to the average false entry distance or the probability distribution based on the difference between the position of the 1 st detection unit 7 and the own position of the 2 nd detection unit 15. Since the attention area is set based on the statistical property of the movement of the moving body 3, erroneous entry into the prohibition area can be more effectively suppressed.

The map management device 4 further includes a generation unit 8. The generating unit 8 generates an environment map of the facility 2 from the configuration data of the facility 2. The updating unit 9 updates the map information by adding information of the permitted area, the prohibited area, and the attention area to the environment map of the facility 2 generated by the generating unit 8.

According to this configuration, information such as absolute coordinates of each part in the facility 2 is accurately reflected on the map information based on the arrangement data, and thus erroneous entry into the prohibited area due to the map information being different from the actual situation can be suppressed.

The updating unit 9 may update the attention area of the map information for a location corresponding to the trajectory of the moving body 3 when the moving body 3 moves in the vicinity of the prohibition area along the boundary of the prohibition area. Here, the trajectory of the moving body 3 is generated by connecting a plurality of positions of the moving body 3. For example, the arithmetic unit 10 determines whether or not the mobile body 3 is located in the vicinity of a prohibited area that is determined to be the area where the distance Lavg from the mobile body 3 is shortest. When the moving body 3 is located in the vicinity of the prohibition region, the arithmetic unit 10 determines whether or not the moving body 3 is moving along the boundary of the prohibition region. When the prohibited area is a polygonal area, for example, the computing unit 10 determines whether or not the movement of the moving body 3 is along the boundary based on whether or not the movement direction based on the trajectory of the moving body 3 is along the side closest to the moving body 3 among the sides of the prohibited area. When the movement of the moving body is along any side of the boundary of the prohibition region, the updating unit 9 updates the width of the portion of the attention region corresponding to the prohibition region that meets the side.

According to this configuration, since the attention area suitable for the situation of the place where the mobile body 3 is moving is set, unintentional entry of the mobile body 3 into the prohibition area can be more effectively suppressed.

In addition, the distance between the prohibited area and the mobile body 3 may not be the distance from the center of the prohibited area. The distance between the prohibited area and the mobile body 3 may be, for example, a minimum value of the distance between any position included in the prohibited area and the mobile body 3.

Next, an example of a hardware configuration of the management system 1 will be described with reference to fig. 7 and 8.

Fig. 7 and 8 are hardware configuration diagrams of main parts of the management system 1 according to embodiment 1.

Fig. 7 shows an example of a hardware configuration of a main part of the map management apparatus 4.

The map management device 4 has a processing circuit 100a including a processor 110a and a memory 120a as hardware resources. The processing circuit 100a may also include a plurality of processors 110a. The processing circuit 100a may also include a plurality of memories 120a.

The functions of the respective sections in the map management apparatus 4 are installed by software, firmware, or a combination of software and firmware described as a program. The program is stored in the memory 120a. The map management device 4 realizes the functions of each unit by executing a program stored in the memory 120a by the processor 110a, for example.

The processor 110a is also called a CPU (Central Processing Unit: central processing unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP, or the like. As the memory 120a, a semiconductor memory, a magnetic disk, a floppy disk, an optical disk, a high-density disk, a mini disk, or a DVD may be used. The semiconductor memory that can be employed includes RAM, ROM, flash memory, EPROM, EEPROM, and the like.

Fig. 8 shows another example of the hardware configuration of the main part of the map management apparatus 4.

The map management device 4 has a processing circuit 100b including a processor 110b, a memory 120b, and dedicated hardware 130b as hardware resources. Some or all of the functions of each part in the map management apparatus 4 may be installed by dedicated hardware 130 b. As the dedicated hardware 130b, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof, or the like can be employed.

The hardware resources of the mobile unit 3 are the same as those of the example shown in fig. 7 or 8. For example, the mobile body 3 has a processing circuit including a processor and a memory as hardware resources. The mobile unit 3 executes a program stored in the memory by the processor, thereby realizing the functions of each section. The mobile body 3 may have a processing circuit including a processor, a memory, and dedicated hardware as hardware resources. Part or all of the functions of each part in the mobile body 3 may be mounted by dedicated hardware.

The hardware resources of the mobile management device 17 are the same as those of the example shown in fig. 7 or 8. For example, the mobile management device 17 has a processing circuit including a processor and a memory as hardware resources. The mobile body management device 17 executes a program stored in the memory by the processor, thereby realizing the functions of each section. The mobile body management device 17 may have a processing circuit including a processor, a memory, and dedicated hardware as hardware resources. Some or all of the functions of each part in the mobile body management device 17 may be installed by dedicated hardware.

The hardware resources of the sensors such as the facility side sensor 11 and the mobile body side sensor 14 are the same as those of the example shown in fig. 7 and 8. For example, the sensor has a processing circuit as a hardware resource that includes a processor and a memory. The sensor executes a program stored in the memory by the processor, thereby realizing the functions of each section. The sensor may also have a processing circuit as a hardware resource comprising a processor, a memory and dedicated hardware. Some or all of the functions of the various parts of the sensor may be installed by dedicated hardware.

Claims

1. A management system, the management system having:

a map management device including a 1 st communication unit for distributing map information of facilities stored in a storage unit; and

a mobile body that moves in the facility according to the map information received directly or indirectly from the 1 st communication section,

the map information includes:

a permission area in which the mobile body can move in a normal mode;

a prohibition area in which the mobile body is prohibited from entering; and

an attention area that is arranged between the permission area and the prohibition area and through which the mobile body can pass in an attention mode that suppresses a possibility of entering the prohibition area.

2. The management system of claim 1, wherein,

the moving body passes in the attention area at a lower pass speed than that when passing in the permission area in the attention mode.

3. The management system according to claim 1 or 2, wherein,

when the moving body performs the avoidance action in the attention mode, the moving body preferentially selects another action than the movement toward the prohibition area side.

4. A management system according to any one of claim 1 to 3, wherein,

the map management apparatus includes an updating unit that updates the attention area of the map information stored in the storage unit according to a movement state of the moving body.

5. The management system of claim 4, wherein,

the updating unit updates the attention area of the map information for a location corresponding to a position of the mobile body when the mobile body moves in the vicinity of the prohibited area whose distance from the prohibited area is shorter than a preset threshold distance.

6. The management system of claim 5, wherein,

the updating unit updates the attention area of the map information for a location corresponding to a locus where a plurality of positions of the moving body are connected when the moving body moves in the vicinity of the prohibition area along a boundary of the prohibition area.

7. The management system according to any one of claims 4 to 6, wherein,

the map management device includes:

a 1 st detection unit that detects a position of the mobile body in the facility based on information acquired by a facility-side sensor disposed in the facility; and

a calculation unit that calculates a position error of the moving body,

the moving body has:

a 2 nd detection unit that detects a self-position in the facility; and

a 2 nd communication unit configured to directly or indirectly transmit the own position detected by the 2 nd detection unit to the map management device,

the calculation unit calculates a position error of the mobile body based on the own position of the mobile body received directly or indirectly from the 2 nd communication unit and the position of the mobile body detected by the 1 st detection unit,

the updating unit updates the attention area of the map information using the position error of the mobile body calculated by the calculating unit.

8. The management system of claim 7, wherein,

the calculation unit calculates an average false entry distance of the moving body into the prohibition region,

the updating unit updates the attention area of the map information based on the average false entry distance of the moving body calculated by the calculating unit.

9. The management system of claim 7, wherein,

the calculation unit calculates a probability distribution of a difference between the position of the mobile body detected by the 1 st detection unit and the position of the mobile body detected by the 1 st detection unit,

the updating unit updates the attention area of the map information based on the probability distribution calculated by the calculating unit.

10. The management system according to any one of claims 4 to 9, wherein,

the map management device has a generation unit that generates an environment map of the facility based on configuration data of the facility,

the updating unit updates the map information by adding the permission area, the prohibition area, and the attention area to the environment map of the facility generated by the generating unit.

11. A map management apparatus, the map management apparatus comprising:

a storage unit that stores map information of a facility; and

a 1 st communication unit that distributes the map information stored in the storage unit directly or indirectly to a mobile body that moves in the facility based on the map information,

the map information includes:

a permission area in which the mobile body can move in a normal mode;

A prohibition area in which the mobile body is prohibited from entering; and

12. A management method, the management method having the steps of:

a reading step of reading map information from a storage unit storing the map information, the map information including: a permitted area in which a mobile body moving in a facility can pass in a normal mode, a prohibited area in which the mobile body is prohibited from entering, and an attention area which is arranged between the permitted area and the prohibited area and in which the mobile body can pass in an attention mode in which a possibility of entering the prohibited area is suppressed; and

and a distribution step of directly or indirectly distributing the map information read in the reading step to the mobile body moving in the facility according to the map information.

13. A management program that causes a computer to execute the steps of:

14. A data structure, wherein,

the data structure is a data structure of map information issued directly or indirectly to a mobile body moving in a facility according to map information of the facility,

the data structure includes:

a permission area in which the mobile body can move in a normal mode;

a prohibition area in which the mobile body is prohibited from entering; and

15. A moving body, wherein,

the moving body is a moving body moving in a facility,

the moving body has:

a 2 nd communication unit that directly or indirectly receives map information from a map management device that manages the map information, the map information including: a permission area in which a mobile body can pass in a normal mode, an inhibition area in which the mobile body is inhibited from entering, and an attention area which is arranged between the permission area and the inhibition area and in which the mobile body can pass in an attention mode in which a possibility of entering the inhibition area is inhibited; and

And a control unit that causes the mobile body to pass in the normal mode in the permission area and causes the mobile body to pass in the attention mode in the attention area, based on the map information received by the 2 nd communication unit.