JP2019101916A - Moving object control device - Google Patents

Abstract

To provide a moving object control device that reduces a workload of arithmetic processing while enabling a plurality of moving objects to move at an intersection in order of arrival.SOLUTION: A moving object control device 1 comprises a moving object number counting unit 62, an intersection passage determination unit 63, a moving object number changing unit 64, and a movement control unit 80. When an environment recognition unit 30 detects another moving object, the moving object number counting unit 62 counts the number Nm of moving objects, which is the number of different moving objects stopped or moving in the intersection. The intersection passage determination unit 63 determines whether another moving object has passed through the intersection. The moving object number changing unit 64 changes the moving object number Nm when another moving object passes through the intersection. When the moving object number Nm is changed by the moving object number changing unit 64 and the moving object number Nm reaches a predetermined number, the movement control unit 80 controls a moving unit 20 so that the moving unit 20 passes through the intersection.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a mobile control device.

  Conventionally, as described in Patent Document 1, there is known a moving object control device in which entry is permitted in the order in which vehicles arrive first.

Unexamined-Japanese-Patent No. 2017-21735

  In the configuration of Patent Document 1, the determination area is provided in front of the vehicle. Priorities are determined using whether or not other vehicles exist in the determination area. In this configuration, when the determination area is too small, there is a possibility that other vehicles can not be detected. In addition, when the determination area is excessive, there is a possibility that a plurality of vehicles may be detected. Furthermore, since the determination area is multidimensional data, there is a possibility that the load of the processing to be calculated may increase.

  The present invention has been made in view of such a point, and an object thereof is to provide a mobile control apparatus capable of reducing the load of arithmetic processing while making it possible to move intersections in the order of arrival of a plurality of mobiles. It is to do.

  The mobile unit control device according to the present invention includes a mobile unit (20, 220), an environment recognition unit (30), a mobile unit count unit (62), an intersection pass determination unit (63), a mobile unit change unit (64), A movement control unit (80, 280) is provided.

The moving part is movable at an intersection (13) in which the first passage (11), the second passage (12) intersecting the first passage, and the range where the first passage and the second passage intersect.
The environment recognition unit can detect another mobile unit (71, 72, 73, 271, 272, 273) on the front, rear, left, right or top side with respect to the mobile unit.

When the environment recognition unit detects another mobile object, the mobile object number accounting section counts the number of mobile objects (Nm) which is the number of other mobile objects stopped or moving in the intersection.
The intersection passage determination unit determines whether another moving object has passed through the intersection.
The moving object number changing unit changes the moving object number when another moving object passes through the intersection.
The movement control unit controls the moving unit such that the moving unit moves the intersection when the moving object number is changed by the moving object number changing unit and the moving object number reaches a predetermined number.

  The mobile unit count unit counts the mobile unit count, and the mobile unit change unit changes the mobile unit count. When the number of moving objects reaches a predetermined number, the movement control unit controls the moving unit such that the moving unit passes through the intersection. Thus, the moving unit can pass the intersection in the order of arrival. In addition, it is not necessary to use a large amount of data such as two-dimensional data, and processing using one-dimensional data can reduce the calculation load.

BRIEF DESCRIPTION OF THE DRAWINGS The schematic diagram of the installation where the mobile control apparatus by 1st Embodiment is used. BRIEF DESCRIPTION OF THE DRAWINGS The perspective view of the mobile body control apparatus by 1st Embodiment. FIG. 2 is a block diagram of a mobile control device according to the first embodiment. FIG. 5 is a schematic view for explaining the first stop position and the second stop position of the mobile-body control device according to the first embodiment. FIG. 7 is a schematic view for explaining control by the movement control unit when the moving unit of the moving object control device according to the first embodiment stops at the first stop position or the second stop position. FIG. 5 is a schematic view for explaining a moving object number counting unit of the moving object control device according to the first embodiment. The schematic diagram for demonstrating the intersection passage determination part of the mobile body control apparatus by 1st Embodiment. The schematic diagram for demonstrating the intersection passage determination part of the mobile body control apparatus by 1st Embodiment. The schematic diagram for demonstrating the moving body number change part of the moving body control apparatus by 1st Embodiment. FIG. 6 is a schematic view for explaining the same number detection unit of the mobile control device according to the first embodiment. FIG. 5 is a schematic view for explaining a moving object number correction unit of the moving object control device according to the first embodiment. 5 is a flowchart for explaining control of the mobile control apparatus according to the first embodiment. FIG. 7 is a block diagram of a mobile control device according to a second embodiment. The schematic diagram for demonstrating the relationship of the moving part of the mobile control apparatus by 2nd Embodiment, and another mobile. The flowchart for demonstrating control of the mobile control apparatus by 2nd Embodiment. The schematic diagram for demonstrating the relationship between the moving part of the mobile control apparatus by another embodiment, and another mobile. The schematic diagram for demonstrating the relationship between the moving part of the mobile control apparatus by another embodiment, and another mobile. The schematic diagram for demonstrating the 1st stop position of the mobile control device by other embodiment, and a 2nd stop position.

  Hereinafter, a mobile control device according to an embodiment of the present invention will be described based on the drawings. In the description of the plurality of embodiments, substantially the same configurations will be described with the same reference numerals. When referred to as the present embodiment, a plurality of embodiments are included.

As shown in FIG. 1, the mobile control device 1 of the present embodiment is used, for example, in facilities such as a factory having a first passage 11, a second passage 12 and an intersection 13.
The first passage 11 and the second passage 12 cross each other. The first passage 11 and the second passage 12 define the site in the facility with a plurality of facilities 16 and line tapes or the like. The width of the first passage 11 is referred to as a first passage width Wp1. The width of the second passage 12 is referred to as a second passage width Wp2. In the drawing, a passage extending to the left and right with respect to the paper surface is described as a first passage 11. A passage extending up and down with respect to the paper surface is described as a second passage 12.

  The intersection 13 is a range where the first passage 11 and the second passage 12 intersect. The outer edge of the intersection 13 is referred to as an intersection edge 14. Further, separate mobile bodies 71 to 73 which are mobile bodies different from the mobile body control device 1 can pass through the first passage 11, the second passage 12 and the intersection 13. The separate moving bodies 71 to 73 have the same configuration as the moving body control device 1 described later, and can perform the same control as the moving body control device 1. The speed of the different mobiles 71 to 73 is taken as another mobile speed Vd.

  The separate moving bodies 71 to 73 are respectively referred to as a first separate moving body 71, a second separate moving body 72, and a third separate moving body 73. In FIG. 1, the first separate mobile body 71 is described above the paper surface. The second separate moving body 72 is described on the right side with respect to the paper surface. The third separate mobile body 73 is described below the paper surface.

First Embodiment
As shown in FIG. 2, the mobile control device 1 includes a mobile unit 20, an environment recognition unit 30, a mobile monitor 40, a mobile operation unit 45, and a control unit 50.

  The moving unit 20 is capable of loading a transported object. The moving unit 20 also has four wheels 21 and an electric motor 22, and can move the first passage 11, the second passage 12, and the intersection 13. The forward direction of the moving unit 20 is "front". The backward direction of the moving unit 20 is "rear". The upper side is referred to as "heaven" when viewed from the advancing direction of the moving unit 20. The lower side is referred to as "ground" when viewed from the forward direction of the moving unit 20. The right side is referred to as “right” when viewed from the forward direction of the moving unit 20. Let the left side be “left” when viewed from the forward direction of the moving unit 20.

The wheel 21 is a Mecanum wheel and includes four or more cylinders 24.
The cylinder 24 is barrel shaped and is provided on the circumference of the wheel 21. The cylinder 24 is provided such that the axis of the cylinder 24 is inclined 45 degrees with respect to the axis of the wheel 21. Furthermore, the cylinder 24 is freely rotatable relative to the wheel 21.

  The motor 22 is a motor and can be rotated by being energized. The motor 22 is connected to each wheel 21. The wheels 22 can be rotated by the motor 22. The moving unit 20 can move in all directions by the combination of the rotational directions of the wheels 21. The moving unit 20 can move in all directions by the wheel 21 and the motor 22. The motor 22 is provided with an encoder, and the wheel rotation number e which is the rotation number of the wheel 21 is detected.

  The environment recognition unit 30 has a radar, a sonar or a camera, and can detect another mobile unit 71-73. A range in which the environment recognition unit 30 can detect an object is taken as an object detection range Ao. The object detection range Ao includes a range on the front and rear, right and left, or top and bottom sides with respect to the moving unit 20, and includes the periphery of the moving unit 20.

  When the environment recognition unit 30 detects another mobile unit 71-73, the environment recognition unit 30 outputs another mobile unit detection signal Sa to the mobile unit count unit 62. Furthermore, the environment recognition unit 30 includes a gyro sensor, an acceleration sensor, an encoder, a torque sensor, a temperature sensor, an air pressure sensor, a gas sensor, and the like. The environment recognition unit 30 can recognize the situation around the moving unit 20 as the environment information Ie.

  The mobile monitor 40 has a screen 41. The mobile monitor 40 can display on the screen 41 the operation state of the moving unit 20, the state of the transported object loaded on the loading unit, the state of the mobile control device 1, and the like. On the screen 41, for example, an image of the environment recognition unit 30, a name of a conveyed object, an abnormality or a warning regarding the mobile control device 1, and the like are displayed.

  The mobile operating unit 45 is integrated with the mobile monitor 40, and the mobile monitor 40 is a touch panel. The mobile monitor 40 and the mobile operating unit 45 may be separate units. The movable body operation unit 45 is a teaching pendant or the like, and can change the control of the control unit 50. The movable body monitor 40 and the movable body operation unit 45 are not limited to being provided on the front side of the moving unit 20, and may be provided on the rear side, the right side or the left side of the moving unit 20. The movable body monitor 40 and the movable body operation unit 45 may be rotatable by an actuator or the like.

  The control unit 50 is configured mainly of a microcomputer, and includes a CPU, a readable non-transitory tangible recording medium, a ROM, an I / O, and a bus line connecting these components. Each processing of the control unit 50 may be software processing by executing a program stored in advance in a tangible memory device such as a ROM by the CPU, or hardware processing by a dedicated electronic circuit. Good.

As shown in FIG. 3, the control unit 50 includes a map management unit 51, a moving object purpose setting unit 52, a route planning unit 53, a state management unit 54, a self position estimation unit 55, and a movement control unit 80.
The map management unit 51 can set a map M of a range in which the moving unit 20 and the different moving bodies 71 to 73 move. In the map M, the first passage 11, second passage 12, intersection 13, facilities 16, people, manned vehicles, unmanned vehicles, routes of different mobiles 71-73, etc. are set in detail. In addition, in the map M, the routes of the first passage 11, the second passage 12, the intersection 13, the equipment 16 persons, the manned vehicle, the unmanned vehicle, and the different mobiles 71 to 73 are dynamically updated and held.

  The moving object goal setting unit 52 can set a moving object departure place Sm and a moving object destination Gm on the map M. The mobile body departure place Sm and the mobile body destination Gm can be arbitrarily set, and are set according to the purpose. The path of the moving unit 20 from the mobile body departure place Sm to the mobile body destination Gm in the map M is taken as a mobile body path Rm.

  The route planning unit 53 can set the mobile route Rm based on the mobile starting point Sm and the mobile destination Gm. The path planning unit 53 sets a path using spline interpolation or a clothoid curve based on the geometrical relationship of the map M. Also, the route planning unit 53 may set a route using the Dijkstra method or the A * algorithm.

  The state management unit 54 is a gyro sensor, an acceleration sensor, and an encoder. It is used in combination with the encoder of the motor 22. Note that the gyro sensor and the acceleration sensor used in the state management unit 54 may be used in combination with that of the environment recognition unit 30. The state management unit 54 can detect the angular velocity ω, the acceleration a, and the wheel rotation number e of the moving unit 20. The detected angular velocity ω, acceleration a and wheel rotation number e are output to self position estimation unit 55 and movement control unit 80.

  The self position estimation unit 55 estimates the position or the orientation of the moving unit 20 in the map M based on the environment information Ie, the map M, the moving body route Rm, the angular velocity ω, the acceleration a and the wheel rotation number e. The estimated position of the moving unit 20 is taken as an estimated moving object position Ep. The mobile object estimated position Ep is a position at which the center of the moving unit 20 is estimated. The estimated direction of the moving unit 20 is taken as a moving object estimation direction Ed. The mobile estimated position Ep and the mobile estimated direction Ed are output to the movement control unit 80.

  The movement control unit 80 can control the movement of the moving unit 20 by controlling the wheels 21 and the motor 22. The movement control unit 80 includes environment information Ie, a map M, a moving object departure point Sm, a moving object destination Gm, a moving object route Rm, a moving object estimation position Ep, a moving object estimation direction Ed, an angular velocity ω, an acceleration a, and a wheel rotation. The moving unit 20 is controlled based on the number e. The movement control unit 80 allows the movement unit 20 to move autonomously.

  As described in Patent Document 1, there is known a moving object control device in which entry is permitted in the order in which vehicles arrive first. In the configuration of Patent Document 1, the determination area is provided in front of the vehicle. Priorities are determined using whether or not other vehicles exist in the determination area. In this configuration, when the determination area is too small, there is a possibility that other vehicles can not be detected. In addition, when the determination area is excessive, there is a possibility that a plurality of vehicles may be detected. Furthermore, since the determination area is multi-dimensional data such as the position of the determination area, each length of the determination area, or the area of the determination area, the load of processing to be calculated may increase. Therefore, the moving object control apparatus 1 according to the present embodiment reduces the load of the arithmetic processing while making the intersection 13 movable in the order in which the plurality of moving objects arrived first.

  Returning to FIG. 3, the control unit 50 includes a stop position detection unit 61, a moving object counting unit 62, an intersection passage determining unit 63, a moving object number changing unit 64, a simultaneous movement detecting unit 65, an identical number detecting unit 66, and a moving object. It further includes a number correction unit 67.

  As shown in FIG. 4, a position away from the intersection edge 14 in the first passage 11 outside the intersection 13 is taken as a first stop position P1. A distance from the intersection edge 14 to the first stop position P1 is taken as a first distance L1. In the second passage 12 outside the intersection 13, the position away from the intersection edge 14 is taken as a second stop position P2. A distance from the intersection edge 14 to the second stop position P2 is taken as a second distance L2. The first stop position P1, the second stop position P2, the first distance L1, and the second distance L2 are set to the map M, the first passage 11, and the second passage 12 based on the object detection range Ao.

  The stop position detection unit 61 can detect the first stop position P1 or the second stop position P2. The stop position detection unit 61 detects the first stop position P1 and the second stop position P2 by detecting the traffic light or the line tape provided in the first passage 11 and the second passage 12. In addition, the stop position detection unit 61 may detect the first stop position P1 or the second stop position P2 from the map M, the mobile body route Rm, the mobile body estimated position Ep, and the mobile body estimated direction Ed.

  The movement control unit 80 controls the moving unit 20 such that the moving unit 20 stops at the first stop position P1 or the second stop position P2. When the position of the front end of the moving unit 20 including the environment recognition unit 30, the mobile monitor 40, and the mobile operation unit 45 matches the position of the first stop position P1 or the second stop position P2, the first stop position It is assumed that the moving unit 20 stops at P1 or the second stop position P2.

  As shown in FIG. 5, the movement control unit 80 moves to the end 17 of the first passage 11 or the end 18 of the second passage 12 when the moving unit 20 stops at the first stop position P1 or the second stop position P2. The moving unit 20 is controlled so that the unit 20 approaches. When the moving unit 20 stops at the first stop position P1 or the second stop position P2, the environment recognition unit 30 detects another moving object 71-73. In FIG. 5, the front object detection range Ao is indicated by hatching.

  As shown in FIG. 6, the number of other moving bodies 71-73 moving toward or at the intersection 13 and stopping at the first stop position P1 or the second stop position P2 The number of different mobiles 71 to 73 is referred to as the number of mobiles Nm. The mobile unit count unit 62 can count the number of mobile units Nm based on the separate mobile units 71 to 73 detected by the environment recognition unit 30. In FIG. 6, three other mobiles 71 to 73 are detected, and the number of mobiles Nm is three. In FIG. 6, the third separate mobile body 73 is passing through the intersection 13.

  The counted mobile object number Nm is output to the mobile object monitor 40, the mobile object number change unit 64, and the movement control unit 80. When the mobile number counting unit 62 counts the mobile number Nm, the mobile monitor 40 displays the mobile number Nm. Further, the number of mobiles counted by the other mobiles 71 to 73 is taken as the number of mobiles Nm_D. The number of mobile units Nm_D is counted in the same manner as the number of mobile units Nm.

  The intersection passage determination unit 63 determines whether or not another mobile object 71-73 has passed the intersection 13. When the intersection passage determination unit 63 determines that the different mobile bodies 71 to 73 have passed the intersection 13, the intersection passage determination unit 63 outputs the other mobile object passage signal Sf to the moving object number change unit 64.

  As shown in FIG. 7, the intersection passage determination unit 63 moves toward the separating direction Ds, which is the direction in which the separate mobile bodies 71 to 73 move away from the intersection 13, and the separate mobile bodies 71 to 73 from the intersection edge 14 When leaving, it is determined that another mobile unit 71-73 has passed the intersection 13. When the separate mobile bodies 71-73 move away from the intersection edge 14, the rear end of the separate mobile bodies 71-73 coincides with the intersection edge 14, or the rear end of the separate mobile bodies 71-73 forms an intersection edge Away from 14 FIG. 7 shows the case where the third separate mobile body 73 passes the intersection 13.

At the intersection passage determination unit 63, when another moving object 71-73 moves in the direction approaching the intersection 13, or when the other moving object 71-73 does not pass the intersection edge 14, the other moving object 71-73 does not pass the intersection 13 It is determined that
As shown in FIG. 8, the intersection passage determination unit 63 is based on the first passage width Wp 1, the second passage width Wp 2, the length of the moving objects 71-73 traveling in the intersection 13 and the moving object velocity Vd. Then, it is determined whether or not another mobile unit 71-73 has passed the intersection 13. The intersection passage determination unit 63 calculates an intersection completion time Tf which is a time taken to move in the separation direction Ds and to pass the first stop position P1 or the second stop position P2. In the figure, the separating direction Ds and the moving object speed Vd are indicated by arrows.

  The intersection passage determination unit 63 determines that the different mobile bodies 71 to 73 have passed the intersection 13 after the intersection completion time Tf. When the intersection completion time Tf has not elapsed, the intersection passage determination unit 63 determines that the different mobile bodies 71 to 73 do not pass through the intersection 13.

  As shown in FIG. 9, the mobile object number changing unit 64 changes the mobile object number Nm when the other mobile object passing signal Sf is acquired. In the first embodiment, the moving object number changing unit 64 subtracts 1 from the moving object number Nm when acquiring another moving object passage signal Sf. When the moving object number changing unit 64 subtracts the moving object number Nm, the moving object monitor 40 displays the subtracted moving object number Nm. FIG. 9 shows subtraction by the moving object number changing unit 64 when the third separate moving object 73 passes through the intersection 13. The moving object number changing unit 64 may subtract a predetermined number from the moving object number Nm. The predetermined number is arbitrarily set.

  When the mobile number change unit 64 subtracts the mobile number Nm, the mobile number counting unit 62 counts the mobile number Nm again, and determines whether the mobile number Nm is zero or not. When the moving object number Nm becomes 0, the movement control unit 80 controls the moving unit 20 so that the moving unit 20 passes the intersection 13. When the moving unit 20 or another moving body 71-73 moves toward the intersection 13, the movement control unit 80 outputs the movement signal St to the simultaneous movement detection unit 65.

  The simultaneous movement detecting unit 65 determines whether or not the moving unit 20 or the different moving bodies 71 to 73 simultaneously move toward the intersection 13 based on the movement signal St of the moving unit 20 or the different moving bodies 71 to 73. In the present specification, "simultaneous" includes a common sense error range.

  The simultaneous movement detection unit 65 determines that the movement unit 20 or another movement body 71-73 simultaneously moves toward the intersection 13 when two or more movement signals St of the movement unit 20 or another movement body 71-73 are simultaneously obtained. Do. At this time, the simultaneous movement detection unit 65 outputs the simultaneous movement signal Ss to the moving body number correction unit 67. When the simultaneous movement detection unit 65 acquires only the movement signal St of the movement unit 20, the simultaneous movement detection unit 65 determines that the movement unit 20 or the different movement bodies 71 to 73 do not simultaneously move.

  As shown in FIG. 10, the same number detection unit 66 has the number of mobile units Nm counted by the mobile unit number counting unit 62 and the number of mobile units Nm_D as the number of mobile units Nm counted by another mobile unit 71-73. It is determined whether or not there is a match. When the moving object number Nm and the moving object number Nm_D coincide with each other, the same number detection unit 66 outputs the same number signal Sn to the moving object number correction unit 67. For example, when the moving unit 20 and the different moving bodies 71 to 73 simultaneously stop at the first stop position P1 or the second stop position P2, the number Nm of moving objects and the number Nm_D of moving objects match. When the mobile object number Nm and the mobile object number Nm_D do not match, the same number detection unit 66 does not perform the process.

  The moving object number correction unit 67 corrects the moving object number Nm or the moving object number Nm_D when the simultaneous movement signal Ss or the same number signal Sn is acquired. The moving object number correction unit 67 adds 1 to the moving object number Nm or the moving object number Nm_D when the simultaneous movement signal Ss or the same number signal Sn is acquired. The moving object number correction unit 67 may add a predetermined number to the moving object number Nm or the moving object number Nm_D. The predetermined number is arbitrarily set. The moving object number correction unit 67 adds a predetermined number to the moving object number Nm or the moving object number Nm_D of the moving object based on the estimated moving object position Ep and the positions of the other moving objects 71-73.

  As shown in FIG. 11, 1 is added to the number Nm of mobile objects or the number Nm_D of mobile objects of mobile objects located on the right side as viewed from the mobile unit 20 or another mobile object 71-73. In FIG. 11, 1 is added to the number Nm of mobile objects by the moving unit 20 positioned on the right side as viewed from the first separate mobile object 71.

  When the moving object number Nm becomes 0, all of the other moving objects 71 to 73 pass through the intersection 13. The movement control unit 80 controls the moving unit 20 so that the moving unit 20 passes through the intersection 13. The movement control unit 80 may control the moving unit 20 so that the moving unit 20 passes the intersection 13 when the number Nm of moving objects reaches a predetermined number. The predetermined number is arbitrarily set.

The control of the mobile control device 1 and the control of the other mobiles 71 to 73 will be described with reference to the flowchart of FIG. In the flowchart, "S" means a step.
In step 101, the stop position detection unit 61 determines whether the first stop position P1 or the second stop position P2 has been detected.
When the first stop position P1 or the second stop position P2 is detected, the process proceeds to step 102.
When the first stop position P1 and the second stop position P2 are not detected, the process proceeds to step 112.

In step 102, the movement control unit 80 controls the moving unit 20 such that the moving unit 20 stops at the first stop position P1 or the second stop position P2.
In step 103, the environment recognition unit 30 detects another mobile unit 71-73. The mobile number counting unit 62 counts the number Nm of mobile units from the different mobile units 71 to 73 detected by the environment recognition unit 30.

In step 104, the same number detection unit 66 determines whether the number Nm of mobile units and the number Nm_D of mobile units match.
When the mobile object number Nm and the mobile object number Nm_D coincide with each other, the processing proceeds to step 105.
If the mobile object number Nm and the mobile object number Nm_D do not match, the process proceeds to step 106.

In step 105, the moving object number correction unit 67 adds 1 to the moving object number Nm or the moving object number Nm_D.
In step 106, the intersection passage determination unit 63 determines whether or not another mobile object 71-73 has passed the intersection 13.
When another moving object 71-73 passes through the intersection 13, the process proceeds to step 107. The intersection passage determination unit 63 outputs another mobile object passage signal Sf to the moving object number change unit 64.
If another mobile object 71-73 has not passed the intersection 13, the process returns to step 103.

In step 107, the mobile unit number change unit 64 subtracts 1 from the mobile unit number Nm to change the mobile unit number Nm. In the figure, k represents a natural number. Nm (k) represents the number Nm of mobile units as recorded. Nm (k + 1) represents the changed number of mobile objects Nm.
In step 108, the mobile unit count unit 62 determines whether the mobile unit number Nm is zero.
If the mobile object number Nm is 0, the process proceeds to step 109.
If the mobile object number Nm is not 0, the process returns to step 103.

In step 109, the movement control unit 80 controls the moving unit 20 such that the moving unit 20 moves toward the intersection 13 and the moving unit 20 passes the intersection 13.
In step 110, the simultaneous movement detection unit 65 determines whether or not two or more movement signals St have been acquired simultaneously.
When two or more movement signals St are acquired simultaneously, the process proceeds to step 111.
When only the movement signal St is acquired, the process proceeds to step 112.

In step 111, the mobile unit number correction unit 67 adds 1 to the mobile unit number Nm or the mobile unit number Nm_D based on the mobile unit estimated position Ep and the positions of the other mobile units 71-73.
In step 112, the movement control unit 80 controls the movement unit 20 so that the movement unit 20 moves toward the movement destination Gm.

(effect)
[1] The mobile unit count unit 62 counts the mobile unit number Nm, and the mobile unit change unit 64 changes the mobile unit number Nm. When the moving object number Nm reaches a predetermined number, the movement control unit 80 controls the moving unit 20 so that the moving unit 20 passes the intersection 13. Thus, the moving unit 20 can pass the intersection 13 in the order of arrival. In addition, it is not necessary to use multidimensional data, and processing of one-dimensional data of the number Nm of mobile objects can be performed, so that calculation load can be reduced. Furthermore, it is not necessary to provide a sensor or the like in the intersection 13, and the frequency of communication with the other mobile bodies 71-73 is reduced. Therefore, the system cost or communication load of the mobile control device 1 can be reduced.

[2] The mobile unit number changer 64 subtracts the predetermined number from the mobile unit number Nm when the other mobile unit passing signal Sf is acquired, and changes the mobile unit number Nm. When the moving object number Nm becomes 0, the movement control unit 80 controls the moving unit 20 so that the moving unit 20 moves toward the intersection 13 and the moving unit 20 passes the intersection 13. This makes it easy to understand the movement or stop status of the other mobiles 71-73. For this reason, contact with another mobile body 71-73 and mobile part 20 or contact with another mobile body 71-73 is prevented, and the safety to work improves.

[3] The moving object number changing unit 64 changes the moving object number Nm when the another moving object passage signal Sf is acquired. As a result, the number Nm of moving objects is changed after the other moving objects 71-73 reliably pass. For this reason, contact with another mobile body 71-73 and mobile part 20 or contact with another mobile body 71-73 is prevented, and the safety to work improves.

[4] When the moving unit 20 stops at the first stop position P1 or the second stop position P2, the movement control unit moves so that the moving unit 20 approaches the end 17 of the first passage 11 or the end 18 of the second passage 12 80 controls the moving unit 20. The moving unit 20 and the separate moving bodies 71 to 73 can easily move in the first passage 11 or the second passage 12. Thereby, the contact with another mobile body 71-73 and the mobile part 20 or the contact with another mobile body 71-73 is prevented, and the working efficiency of the mobile part 20 or another mobile body 71-73 improves.

[5] The mobile unit number correction unit 67 corrects the mobile unit number Nm or the mobile unit number Nm_D when the simultaneous movement signal Ss or the same number signal Sn is obtained. Thereby, even when the moving unit 20 or another moving object 71-73 simultaneously moves to the intersection 13, the intersection 13 can be passed in the order of arrival. This improves the safety for work. The mobile monitor 40 displays the number Nm of mobiles and the number Nm_D of mobiles. As a result, the situation in the vicinity of the intersection 13 can be easily understood, thereby improving the safety for work.

[6] The moving object number correction unit 67 corrects the moving object number Nm or the moving object number Nm_D of the moving object based on the estimated moving object position Ep or the position of another moving object 71-73. This reduces the frequency of communication with another mobile unit 71-73. Therefore, the system cost or communication load of the mobile control device 1 can be reduced.

Second Embodiment
The second embodiment is the same as the first embodiment except that the moving unit and the different moving body are different, and further including a maximum accommodation number calculating unit and an approach possibility determining unit.

  In the mobile control device 2 according to the second embodiment, the mobile unit 220 or another mobile unit 271-273 moves toward the intersection 13 after stopping at the first stop position P1 or the second stop position P2. After the moving unit 220 or another moving body 271-273 enters the intersection 13, the moving unit 220 or the other moving body 271-27 orbits the inside of the intersection 13. The separate mobile bodies 271-273 orbit at equal intervals, respectively.

As shown in FIG. 13, the mobile control device 2 further includes an accommodation maximum number calculation unit 268 and an approach possibility determination unit 269.
The accommodation maximum number calculation unit 268 can calculate the accommodation maximum number Nh_max, which is the number that can be accommodated by the moving unit 220 or another moving body 271-273 in the intersection 13. The accommodation maximum number Nh_max is set based on the first passage width Wp1, the second passage width Wp2, and the size of the intersection 13.

The entry possibility determination unit 269 determines whether or not the moving unit 220 can enter the intersection 13 at which the different mobile bodies 271-273 circulate.
When the moving object number Nm is equal to or less than a value obtained by subtracting 1 from the accommodation maximum number Nh_max, the entry possibility determination unit 269 determines that the moving unit 220 is entry possible. At this time, the entry possibility determination unit 269 outputs the entry possibility signal Se to the movement control unit 280.
When the moving object number Nm is the accommodation maximum number Nh_max, the approach possibility determination unit 269 determines that the moving unit 220 can not enter. At this time, the entry possibility determination unit 269 outputs an entry prohibition signal Si to the movement control unit 280.

  When the movement control unit 280 acquires the approach possible signal Se, the movement unit 20 moves toward the intersection 13. The moving unit 20 orbits in the same manner as the separate moving bodies 271-273. In addition, the movement control unit 280 controls the moving unit 20 so that the moving unit 20 remains stopped at the first stop position P1 or the second stop position P2 when acquiring the entry impossibility signal Si.

  As shown in FIG. 14, each of the separate mobile bodies 271 to 273 is referred to as a first separate mobile body 271, a second separate mobile body 272, and a third separate mobile body 273. In the drawing, the first separate movable body 271 is described above the paper surface. In addition, a second separate mobile body 272 is described below the paper surface. Furthermore, a third separate moving body 273 is described on the left side with respect to the paper surface. Moreover, the moving part 220 which entered into the intersection 13 is described on the right side with respect to a paper surface.

  The center of the moving unit 220 is taken as the moving unit center Om. The center of the first separate mobile body 271 is taken as a first center O1. The center of the second separate mobile body 272 is taken as a second center O2. The center of the third separate mobile body 273 is taken as a third center O3. The center of the intersection 13 is taken as the intersection center Oi. A line segment between the intersection center Oi and the first center O1 is taken as a first line segment X1. A line segment between the intersection center Oi and the second center O2 is taken as a second line segment X2. A line segment between the intersection center Oi and the third center O3 is taken as a third line segment X3. A line segment between the intersection center Oi and the moving part center Om is taken as a moving part line segment Xm. In the figure, in order to clarify the location of each line segment, the first line segment X1 is described by a solid line. The second line segment X2 is described by an alternate long and short dash line. The third line segment X3 is described by a two-dot chain line. The moving part line segment Xm is indicated by a broken line.

An angle formed by the first line segment X1 and the moving section line segment Xm is taken as a first angle θ1 [degree]. An angle formed by the moving part line segment Xm and the second line segment X2 is taken as a second angle θ2 [degree]. An angle formed by the second angle θ2 and the third line segment X3 is taken as a third angle θ3 [degree]. An angle formed by the third line segment X3 and the first line segment X1 is taken as a fourth angle θ4 [degree]. The movement control unit 280 moves so that the first angle θ1, the second angle θ2, the third angle θ3, and the fourth angle θ4 become equal at equal angle θ (degrees) when the moving unit 220 enters the intersection 13. The unit 220 is controlled. In the present specification, “equal to” includes a common sense error range. The equal angle θ is expressed by the following equation (1).
(1)
θ = 360 ÷ Nh_max (1)

The control of the mobile control device 2 and the control of the different mobiles 271 to 273 will be described with reference to the flowchart of FIG.
In step 201, the stop position detection unit 61 determines whether the first stop position P1 or the second stop position P2 has been detected.
When the first stop position P1 or the second stop position P2 is detected, the process proceeds to step 202.
When the first stop position P1 and the second stop position P2 are not detected, the process proceeds to step 210.

In step 202, the environment recognition unit 30 detects another mobile unit 71-73. By the environment recognition unit 30, the mobile unit count unit 62 counts the number Nm of mobile units.
In step 203, the accommodation maximum number computation unit 268 computes the accommodation maximum number Nh_max.

  In step 204, the entry possibility determination unit 269 determines whether the moving unit 220 can enter the intersection 13 at which another mobile body 271-273 is rotating. The entry possibility determination unit 269 determines whether the moving object number Nm is equal to or less than a value obtained by subtracting 1 from the accommodation maximum number Nh_max.

When the number Nm of mobile objects is the accommodation maximum number Nh_max, the process proceeds to step 205.
In step 205, the movement control unit 80 controls the moving unit 20 such that the moving unit 20 stops at the first stop position P1 or the second stop position P2.

If the mobile object number Nm is equal to or less than the value obtained by subtracting 1 from the accommodation maximum number Nh_max, the process proceeds to step 206.
In step 206, the movement control unit 80 controls the moving unit 20 so that the moving unit 20 moves toward the intersection 13 and goes around similarly to the separate moving bodies 271-273.
Steps 207-209 are similar to steps 106-108 of the first embodiment.
In step 210, the movement control unit 80 controls the moving unit 20 so that the moving unit 20 passes the intersection 13.
Step 211 is the same as step 112 in the first embodiment.

  Also in the second embodiment, the same effects as in the first embodiment can be obtained. Furthermore, in the second embodiment, it is possible to shorten the time for which the moving unit 220 or the separate moving bodies 271 to 273 stop at the first stop position P1 or the second stop position P2. In addition, since the moving unit 220 and the different moving bodies 271-273 orbit at an equal angle θ, the contact between the moving other bodies 271-273 and the moving portion 220 in circulation or the contact between the different moving bodies 271-273 is prevented. , Improve the safety to work.

(Other embodiments)
(I) The wheels of the moving part are omni wheels and may include three or more cylinders. The cylinder used for the omni wheel is barrel shaped and is provided on the circumference of the wheel. The cylinder is freely rotatable relative to the wheel. The moving unit can freely move in the front, rear, left, and right by the wheel. In addition, the moving unit may move by winding a belt made of metal, rubber, resin, or the like on the wheel.

(Ii) The environment recognition unit is not limited to detecting another mobile body when the mobile unit stops, and may detect another mobile body while the mobile unit is traveling.
(Iii) The intersection passage determination unit moves the other mobile object in the direction away from the intersection and passes the first stop position or the second stop position instead of the intersection edge, the other mobile object passes the intersection It may be determined that

(Iv) As shown in FIG. 16, the moving unit 20 and the separate moving body 71 may travel in parallel in the same direction in the first passage 11 or the second passage 12.
(V) As shown in FIG. 17, the moving part 20 and the separate moving body 71 may move in series in the same direction in the first passage 11 or the second passage 12. In this case, a plurality of stop positions are set. When the moving unit 20 and the separate moving body 71 travel in parallel in the same direction, and when the moving unit 20 and the separate moving body 71 move in series in the same direction, the moving object number correction unit 67 The number of moving objects Nm or the number of moving objects Nm_D is corrected.

(Vi) As shown in FIG. 18, the first distance L1 or the second distance L2 may be zero. When the first distance L1 or the second distance L2 is 0, the first stop position P1 or the second stop position P2 coincides with the intersection edge 14. At this time, the stop position detection unit 61 can detect the intersection edge 14.

(Vii) The mobile unit number change unit may change the mobile unit number Nm by adding, multiplying or dividing the mobile unit number Nm. The moving object number correction unit may correct the moving object number Nm by subtracting, multiplying or dividing the moving object number Nm based on the change of the moving object number changing unit.
As mentioned above, this invention is not limited to such embodiment, In the range which does not deviate from the meaning of invention, it can implement with various forms.

11 ··· First passage, 12 ··· Second passage, 13 ··· Intersection,
20, 220 ・ ・ ・ Moving part, 30 ・ ・ ・ Environmental recognition part,
62 · · · Mobile number counting section,
63 · · · Intersection passing judgment unit,
64 · · · Number of moving objects changer,
71, 72, 73, 271, 272, 273 ・ ・ ・ another mobile unit,
80, 280 ... movement control unit.

Claims (12)

A first passage (11), a second passage (12) intersecting the first passage, and a movable portion (20, 220) capable of moving an intersection (13) in which the first passage and the second passage intersect. )When,
An environment recognition unit (30) capable of detecting another mobile body (71, 72, 73, 271, 272, 273) on the front, rear, left, right or top side with respect to the mobile part;
When the environment recognition unit detects the other moving object, the mobile number counting unit (62) counts the number of moving objects (Nm), which is the number of the different moving objects that are stopped or moving at the intersection. )When,
An intersection passage determination unit (63) that determines whether the other moving object has passed the intersection;
A moving object number changing unit (64) that changes the moving object number when the separate moving object passes the intersection;
A movement control unit that controls the moving unit such that the moving unit moves the intersection when the number of moving objects is changed by the moving object number changing unit and the number of moving objects reaches a predetermined number. (80, 280) and
Mobile control device comprising:   The mobile unit control device according to claim 1, wherein the mobile unit number change unit changes the mobile unit number by subtracting a predetermined number from the mobile unit number when the another mobile unit passes the intersection. . An intersection edge (14) which is an outer edge of the intersection, a first stop position (P1) which is a position distant from the intersection edge in the first passage, and a second position which is a distance from the intersection edge in the second passage And a stop position detection unit (61) capable of detecting the stop position (P2),
The mobile control device according to claim 1, wherein the movement control unit controls the moving unit such that the moving unit is stopped at the intersection edge, the first stop position, or the second stop position.   The intersection passage determination unit moves in a direction (Ds) in which the separate mobile body moves away from the intersection, and the separate mobile body moves away from the intersection edge, the first stop position, or the second stop position The moving object control apparatus according to claim 3, wherein it is determined that the other moving object has passed the intersection.   The movement control unit (80) is an end (17) of the first passage or an end of the second passage when the moving unit stops at the intersection edge, the first stop position, or the second stop position. The moving body control device according to claim 3 or 4, wherein the moving portion is controlled to move the moving portion toward 18). Assuming that the number of moving objects detected by the other moving object, which are stopped or moving at the intersection, is the number of moving objects (Nm_D),
A simultaneous movement detecting unit (65) for detecting whether or not the moving unit and the separate moving body move simultaneously toward the intersection;
A moving body number correction unit (67) that corrects the number of moving bodies or the number of moving bodies when the moving unit and the separate moving body move simultaneously toward the intersection;
The mobile control device according to any one of claims 3 to 5, further comprising: Assuming that the number of moving objects detected by the other moving object, which are stopped or moving at the intersection, is the number of moving objects (Nm_D),
A same number detection unit (66) that determines whether or not the number of moving objects and the number of moving objects match;
A moving object number correction unit (67) for correcting the moving object number or the moving object number when the moving object number and the moving object number match;
The mobile control device according to any one of claims 3 to 5, further comprising:   The moving object according to claim 6 or 7, wherein the moving object number correcting unit corrects the moving object number or the moving object number based on the position (Ep) of the moving unit and the position of the different moving object. Control device. When the stop position detection unit detects the intersection edge, the first stop position or the second stop position, the moving unit (220) or the separate moving body (271, 272, 273) can be accommodated at the intersection And an accommodation maximum number calculation unit (268) for calculating the accommodation maximum number (Nh_max), which is
The movement control unit (280) controls the movement unit such that the movement unit moves toward the intersection when the number of moving objects is equal to or less than a value obtained by subtracting 1 from the accommodation maximum number. The mobile control device according to any one of claims 3 to 8.   When the number of moving objects is equal to or less than a value obtained by subtracting 1 from the accommodation maximum number, the movement control unit (280) separates the moving unit from the moving unit centering on the intersection center (Oi) which is the center of the intersection. The moving part and the separate moving body are positioned so as to make an orbit inside the intersection such that the angles (θ1, θ2, θ3, θ4) formed with the moving body become equal angles (θ) The mobile control device according to claim 9, which controls the mobile unit. Let the said equal angle be θ [degree],
Assuming that the maximum number of accommodation is Nh_max,
The movable body control device according to claim 10, wherein the movement control unit controls the moving unit such that the following equation (1) holds.
(1)
θ = 360 ÷ Nh_max (1)   The mobile control device according to any one of claims 1 to 11, further comprising a mobile monitor (40) capable of displaying the number of mobiles.

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