JP2020009085A - Movable body control system, movable body system, movable body control method, and program - Google Patents

Abstract

To provide a movable body control system that can reduce the time required for the movement of a movable body.SOLUTION: A movable body control system 1 comprises a control unit 42 and a route determination unit 32. The route determination unit 32 determines a movement route for moving a movable body 2 moving in a predetermined area from a first point to a second point and instructs the movement route to the movable body 2. The control unit 42 controls the movable body 2 to move along the movement route instructed from the route determination unit 32. When the second point is not present on a straight traveling course when the movable body 2 travels in a straight line from the first point, the route determination unit 32 determines any one of a first movement route and a second movement route as the movement route according to a predetermined determination condition. The first movement route is a route in which the movable body makes a turn at a curve section set in the middle of the movement from the first point to the second point to change a direction. The second movement route is a route in which the movable body rotates at a rotation point set on the straight traveling course in the middle of the movement from the first point to the second point to change a direction.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to a mobile object control system, a mobile object system, a mobile object control method, and a program. More specifically, the present disclosure relates to a moving object control system, a moving object system, a moving object control method, and a program that control a moving object that moves within a predetermined area.

  Patent Literature 1 describes a mobile (mobile robot) control system including a plurality of mobiles (automatic transporters) and a server device that wirelessly communicates with the mobiles. In Patent Literature 1, a server device stores a map information, a route information of a moving object, and a moving object information, a route searching unit that searches for a moving route of the moving object based on the map information, and a moving device based on the route information. A movement control unit for giving a movement instruction to the body.

  The movement control unit divides a traveling route from a starting point to a destination point of the moving body into a plurality of linear section traveling paths, and moves the moving body along the plurality of section traveling paths.

JP-A-2017-134794

  In Patent Literature 1, when the traveling route from the starting point to the destination is divided into a plurality of linear segmented traveling routes, the movement control unit stops the moving body at the end point of the segmented traveling route and performs the segmented traveling. The direction is changed by rotating the moving object at the end of the route.

  As described above, since the moving body decelerates and stops at the end point of the divided traveling route and then rotates at the end point of the divided traveling path, there is a problem that the time required for the moving body to arrive at the destination becomes longer.

  An object of the present disclosure is to provide a moving object control system, a moving object system, a moving object control method, and a program that can reduce the time required for moving a moving object.

  A mobile control system according to an embodiment of the present disclosure includes a route determination unit and a control unit. The route determination unit determines a moving route for moving a moving object that moves within a predetermined area from a first point to a second point, and instructs the moving object. The control unit controls the moving body to move along the movement route specified by the route determination unit. When the second point is not on a straight course when the moving body goes straight from the first point, the route determination unit determines the first route and the second route in accordance with a predetermined determination condition. Decide on one of the travel routes. The first movement route is a route that changes direction by turning in a curve section set on the way from the first point to the second point. The second movement path is a path that changes direction by rotating at a rotation point set on the straight course while traveling from the first point to the second point.

  A mobile system according to an embodiment of the present disclosure includes the mobile body control system and the mobile body.

  The moving object control method according to an aspect of the present disclosure is configured such that, when determining a moving route for moving a moving object that moves within a predetermined area from a first point to a second point, the second point moves from the first point to the second point. When the moving object does not exist on the straight course when the vehicle moves straight, a predetermined process is performed. The predetermined process is a process of determining the travel route to be one of a first travel route and a second travel route according to a predetermined determination condition. The first movement route is a route that changes direction by turning in a curve section set on the way from the first point to the second point. The second movement path is a path that changes direction by rotating at a rotation point set on the straight course while traveling from the first point to the second point.

  A program according to an embodiment of the present disclosure is a program for causing a computer system to execute the moving object control method.

  According to the present disclosure, it is possible to provide a moving object control system, a moving object system, a moving object control method, and a program that can reduce the time required for moving a moving object.

FIG. 1 is a schematic plan view of a predetermined area where a moving object to be controlled by a moving object control system according to an embodiment of the present disclosure is arranged. FIG. 2 is a block diagram showing a schematic configuration of a mobile control system and a mobile system according to the first embodiment. FIG. 3 is a schematic diagram showing an operation of the mobile object control system according to the first embodiment, and conceptually showing a state in which the mobile object moves within the predetermined area when the predetermined area is viewed from above. FIG. 4 is a schematic perspective view showing the appearance of the moving body of the above. FIG. 5 is a flowchart showing the operation of the above-mentioned mobile control system. FIG. 6 is a flowchart showing an operation of the mobile control system according to the first embodiment. FIG. 7 is a schematic diagram showing an operation of the mobile object control system according to the first embodiment and conceptually showing a state in which the mobile object moves within the predetermined area when the predetermined area is viewed from above. FIG. 8 is a schematic diagram illustrating an operation of the moving object control system according to a modified example of the embodiment of the present disclosure, and conceptually illustrating a state in which the moving object moves within the predetermined area when viewing the predetermined area from above. is there.

(Embodiment)
Hereinafter, the mobile control system 1 and the mobile system 10 according to the present embodiment will be described with reference to FIGS.

(1) Overview As shown in FIG. 2, a mobile object control system 1 according to the present embodiment is a system for controlling one or more mobile objects 2 moving within a predetermined area A1 (see FIG. 1). . The mobile control system 1 forms a mobile system 10 together with the mobile 2 to be controlled by the mobile control system 1. In other words, the mobile system 10 according to the present embodiment includes the mobile control system 1 and the mobile 2.

  The “moving object” in the present disclosure includes an automated guided vehicle (AGV), a mobile robot, a drone, and the like. The “mobile robot” in the present disclosure is, for example, a wheel-type, crawler-type, or leg-type (including a walking-type) robot. The moving body 2 not only moves within the predetermined area A1 but also has a function of performing various operations such as transport, picking, welding, mounting, display, customer service, security, assembly, and inspection. Good.

  The moving body control system 1 controls the moving body 2 to move the moving body 2 from a first point to a second point, for example, within a predetermined area A1. In this case, the moving body control system 1 obtains information necessary for controlling the moving body 2 such as a moving route from the first point to the second point, and gives the moving body 2 an instruction to move. The body 2 is moved from the first point to the second point. Thereby, the moving body 2 can move within the predetermined area A1 according to the instruction from the moving body control system 1.

  Meanwhile, the mobile object control system 1 according to the present embodiment includes a route determination unit 32 and a control unit 42, as shown in FIG.

  As shown in FIG. 3, the route determination unit 32 moves the moving body 2 moving within the predetermined area A1 from a first point (for example, a point corresponding to the node Nd1) to a second point (for example, a point corresponding to the node Nd2). The moving route to be moved is determined and the moving body 2 is instructed. The nodes Nd1 and Nd2 are points on the map M1 corresponding to the predetermined area A1, and will be described later in detail.

  The control unit 42 controls the moving body 2 to move along the movement route specified by the route determination unit 32.

  When the second point (the point corresponding to the node Nd2) does not exist on the straight course CS1, the route determination unit 32 determines the moving route as the first moving route RT1 (see FIG. 3) according to a predetermined determination condition. 2 moving route RT2 (see FIG. 3). The straight traveling course CS1 is a course in which the moving body 2 travels straight from a first point (a point corresponding to the node Nd1). The first movement route RT1 is a route that changes direction by turning at a curve section CV1 set on the way from a first point (a point corresponding to the node Nd1) to a second point (a point corresponding to the node Nd2). . The second movement route RT2 is a rotation point P1 (corresponding to the node Nd12) set on the straight course CS1 while traveling from the first point (a point corresponding to the node Nd1) to a second point (a point corresponding to the node Nd2). This is a path that changes direction by rotating at a point where the vehicle turns.

  In the moving object control system 1 of the present embodiment, the route determination unit 32 divides the predetermined area A1 into a plurality of areas A10 by a plurality of grid lines GX and GY. The plurality of grid lines GX are arranged in the predetermined area A1 at substantially constant intervals substantially parallel to the X axis, respectively, and the plurality of grid lines GY are substantially parallel to the Y axis and substantially constant intervals in the predetermined area A1. It is arranged in. Each area A10 has, for example, a square shape. The size of each area A10 is such that when the moving body 2 existing in each area A10 rotates (turns) on the spot, it does not interfere with an object (for example, another moving body 2) existing outside the area A10. Is set to a reasonable size. Therefore, the size of each area A10 may be set to an appropriate size according to the size of the moving body 2 and the like. In the present embodiment, each area A10 has a length L1 of one side set to, for example, 180 cm. ing.

  In the moving object control system 1 of the present embodiment, the route determination unit 32 sets the position of the center G1 of each area A10 as a node (Nodes) Ndm. The subscript “m” of the node Ndm contains a natural number (1, 2, 3,...). Here, the plurality of nodes Ndm are control points at which the mobile unit 2 can be controlled by the mobile unit control system 1, and the mobile unit control system 1 can control the movement of the mobile unit 2 on a node-by-node basis. Therefore, when moving the mobile object 2 from the first point to the second point, the mobile object control system 1 of the present embodiment includes a plurality of nodes Ndm respectively corresponding to the first point, the second point, and the rotation point P1. From the node Ndm. In the example of FIG. 3, the nodes Nd1, Nd2, and Nd12 are designated at the first point, the second point, and the rotation point P1, respectively. Here, in the moving body control system 1 of the present embodiment, the moving body 2 can move straight along directions substantially parallel to the X axis and the Y axis. The movement of the moving body 2 along a linear course is referred to as a straight movement, and the course when the moving body 2 moves straight is also referred to as a "straight course". The moving body control system 1 according to the present embodiment controls the moving body 2 so that the moving body 2 moves along a straight course substantially parallel to the X axis or the Y axis except for a curve section where the moving body 2 changes direction. Control.

  As described above, when determining the moving route to be moved from the first point to the second point, the route determining unit 32 determines the moving route of the moving body 2 according to the predetermined determination condition according to the first moving route RT1 (FIG. 3) and the second movement route RT2 (see FIG. 3).

  When the moving route of the moving body 2 is determined to be the first moving route RT1, the moving body 2 stops at the rotation point P1 (the point corresponding to the node Nd12 in the example of FIG. 3) like the second moving route RT2. Since the operation of rotating is eliminated, it is possible to provide the moving body control system 1 that can reduce the time required for moving the moving body 2.

(2) Configuration Hereinafter, configurations of the mobile control system 1 and the mobile system 10 according to the present embodiment will be described in detail with reference to FIG. 1, FIG. 2, and FIG. Numerical values, shapes, materials, positions of constituent elements, positional relationships and connection relations between a plurality of constituent elements, and the like shown below are merely examples and are not intended to limit the present disclosure. In addition, the drawings referred to below are schematic diagrams, and the ratio of the size and thickness of each component in the drawings does not necessarily reflect the actual dimensional ratio.

  In the following, a case where the object to be controlled by the mobile object control system 1, that is, the mobile object 2 included in the mobile object system 10 is an automatic guided vehicle will be described as an example. The automatic guided vehicle serving as the moving body 2 performs the operation of transporting the transported object 92 (see FIG. 4) while moving within the predetermined area A1. The configuration of the moving object 2 exemplified in the present embodiment will be described in detail in the section of “(2.2) Moving Object”.

  The “predetermined area” according to the present disclosure is a space in which one or more mobile units 2 are provided, and the mobile unit 2 moves within the predetermined area A1 in response to an instruction from the mobile unit control system 1. I do. The predetermined area A1 is, for example, a warehouse, a factory, a construction site, a store (including a shopping mall), a distribution center, an office, a park, a house, a school, a hospital, a station, an airport, a parking lot, or the like. Further, for example, when the moving body 2 is provided inside a vehicle such as inside a ship, a train, or an airplane, the inside of the vehicle becomes the predetermined area A1. In the present embodiment, a case where the predetermined area A1 is a distribution warehouse will be described as an example.

(2.1) Overall Configuration The mobile system 10 includes a mobile control system 1 and one or more mobiles 2 as shown in FIGS. In the present embodiment, the moving body system 10 includes a plurality of moving bodies 2.

  FIG. 1 is a schematic plan view of the predetermined area A1. In the present embodiment, a space that is a distribution warehouse and is surrounded by the outer wall 901 is the predetermined area A1. The predetermined area A1 assumed in the present embodiment has an entrance 902 for carrying the conveyed object 92 into the predetermined area A1, and an exit 903 for carrying out the conveyed object 92 from the predetermined area A1. Further, a plurality of columns 904, partition walls 905, and a belt conveyor 906 are arranged in the predetermined area A1.

  The mobile control system 1 includes a server device 3, one or more client terminals 4, and one or more communication terminals 5. In the present embodiment, the mobile control system 1 includes a plurality of client terminals 4 and a plurality of communication terminals 5. The plurality of client terminals 4 and the plurality of communication terminals 5 are arranged in the predetermined area A1 together with the plurality of mobile units 2. The server device 3 is installed outside the predetermined area A1, and is connected to a plurality of communication terminals 5 via a network NT1 such as the Internet.

  The server device 3 and each of the plurality of client terminals 4 are configured to be able to communicate with each other. In the present disclosure, “communicable” means that information can be exchanged directly or indirectly via a network NT1 or a repeater by an appropriate communication method of wired communication or wireless communication. That is, the server device 3 and each of the plurality of client terminals 4 can exchange information with each other. In the present embodiment, each of the plurality of client terminals 4 communicates with one of the plurality of communication terminals 5 by wireless communication using a radio wave as a medium. Therefore, the server device 3 and the plurality of client terminals 4 indirectly communicate with each other via at least the network NT1 and the communication terminal 5.

  In short, each communication terminal 5 is a device (access point) that relays communication between each client terminal 4 and the server device 3. The communication terminal 5 communicates with the server device 3 via the network NT1. In the present embodiment, as an example, the communication between the communication terminal 5 and the mobile unit 2 is performed by Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or a low-power wireless that does not require a license. (Specific low-power radio) and other wireless standards. Further, the network NT1 is not limited to the Internet, and for example, a local communication network within the predetermined area A1 or within an operating company of the predetermined area A1 may be applied.

  In the present embodiment, as an example, the client terminal 4 and the mobile unit 2 have a one-to-one relationship. That is, one client terminal 4 is mounted on one mobile unit 2, so that one mobile unit 2 and one client terminal 4 are linked. In the present embodiment, the client terminal 4 and the moving body 2 are integrated. The details will be described in the section “(2.2) Mobile”, but the client terminal 4 is integrated with the mobile 2 by being mounted on the vehicle body 22 of the mobile 2. That is, one housing of the moving body 2 accommodates components for realizing the function as the moving body 2 and components of the client terminal 4. Therefore, the client terminal 4 can be regarded as a part of the mobile unit 2, and the server device 3 indirectly communicates with the mobile unit 2 via the network NT <b> 1 and the communication terminal 5. As a result, the server device 3 can indirectly control the mobile unit 2 corresponding to the client terminal 4 by communicating with the client terminal 4 (mobile unit 2).

  In the present embodiment, the information terminal 6 is connected to the server device 3 via a network NT1 such as the Internet. That is, the server device 3 and the information terminal 6 are configured to be able to communicate with each other, and can exchange information with each other. In the present embodiment, the information terminal 6 is connected to the network NT1 via, for example, a router or the like. Therefore, the server device 3 and the information terminal 6 communicate indirectly via at least the network NT1. For communication between the server device 3, the communication terminal 5, or the information terminal 6, and the network NT1, an appropriate communication method of wireless communication or wired communication is applied.

  In the present embodiment, each of the server device 3, the client terminal 4, and the information terminal 6 mainly has a computer system including a memory and a processor. That is, the functions of the server device 3, the client terminal 4, and the information terminal 6 are realized by the processor executing the program recorded in the memory of the computer system. The program may be recorded in a memory in advance, may be provided through an electric communication line such as the Internet, or may be recorded in a non-transitory recording medium such as a memory card and provided.

  The server device 3 and the client terminal 4 and the information terminal 6 can communicate with each other bidirectionally. Therefore, both the transmission of information from the server device 3 to the client terminal 4 or the information terminal 6 and the transmission of information from the client terminal 4 or the information terminal 6 to the server device 3 are possible. Therefore, the server device 3 communicates with the mobile unit 2 (client terminal 4) via the network NT1 and the communication terminal 5 to control the mobile unit 2.

(2.2) Moving Object Next, the configuration of the moving object 2 exemplified in the present embodiment will be described in more detail.

  As shown in FIG. 4, the moving body 2 autonomously travels on a flat moving surface 91 formed of, for example, a floor of a predetermined area A1. The moving body 2 is an unmanned transport vehicle for transporting the transported object 92 within the predetermined area A1, and carries the transported object 92 and travels autonomously to the destination. Here, as an example, mobile unit 2 includes a storage battery and operates using electric energy stored in the storage battery. In the present embodiment, the moving body 2 travels on the moving surface 91 with the load 92 loaded thereon. Accordingly, the moving body 2 can, for example, transport the transported object 92 placed at a certain location in the predetermined area A1 to another location in the predetermined area A1. In the present embodiment, the transported object 92 is, for example, a pallet such as a roll box pallet on which a load is placed.

  The moving body 2 includes a main body 21. The main body 21 is formed in a rectangular parallelepiped shape that is rectangular in plan view. In the present embodiment, the transported object 92 is stacked on the main body 21 so that the main body 21 goes under the transported object 92 and lifts the transported object 92. Therefore, the vertical dimension of the main body 21 is set to be smaller than the lateral dimension of the main body 21 in a plan view so that the main body 21 is accommodated in a gap generated below the transported object 92. . In the present embodiment, the main body 21 is made of metal. However, the main body 21 is not limited to metal, and may be, for example, resin.

  The main body 21 has a vehicle body 22 and an elevating plate 23. The vehicle body 22 includes a plurality of (here, four) wheels 221 and a detection unit 222.

  The plurality of wheels 221 are arranged at four corners of the vehicle body 22 in plan view. In the present embodiment, all of the plurality of wheels 221 are drive wheels. When the plurality of wheels 221 are individually driven, the main body 21 can move in all directions along the moving surface 91. The vehicle body portion 22 travels linearly by rotating the plurality of wheels 221 in the same direction and at the same speed. In addition, the vehicle body portion 22 can bend along a curved course or rotate on the spot by giving a rotation difference between the plurality of wheels 221. Here, in the present embodiment, the turning of the vehicle body section 22 along a curved course is also referred to as “curve running”, and the turning on the spot is also referred to as “turning running”. The vehicle body section 22 may drive a plurality of wheels 221 via a drive mechanism including a clutch or the like, for example. That is, the main body unit 21 can move on the moving surface 91 in all directions of front, rear, left, and right by rotating each of the plurality of wheels 221. Each of the plurality of wheels 221 may be, for example, an omni-directional wheel such as an omni wheel.

  The detection unit 222 detects the behavior of the main body 21, the situation around the main body 21, and the like. The “behavior” in the present disclosure means an operation, a state, and the like. That is, the behavior of the main body 21 includes the operating state of the main body 21 indicating that the main body 21 is running / stopping, the speed (and speed change) of the main body 21, the acceleration acting on the main body 21, and the main body 21 Including the posture of Specifically, the detection unit 222 includes, for example, sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the main unit 21 using these sensors. The detection unit 222 includes, for example, sensors such as an image sensor (camera), a sonar sensor, a radar, and a LiDAR (Light Detection and Ranging), and detects the surrounding state of the main body unit 21 with these sensors. The surrounding situation of the main body 21 includes, for example, the presence or absence of an object (an obstacle or the like) existing in the forward direction of the main body 21 and the position (distance and direction) of the object. The obstacles include other moving objects 2 and people.

  Further, the detection unit 222 has a position specifying unit that specifies the position of the main body unit 21, that is, the current position of the mobile unit 2. The position specifying unit includes, as an example, a receiver that receives a beacon signal transmitted by radio waves from a plurality of transmitters. The plurality of transmitters are arranged within a range in which the moving body 2 moves, that is, at a plurality of locations in the predetermined area A1. The position specifying unit measures the position of the main unit 21 based on the positions of the plurality of transmitters and the received radio wave intensity of the beacon signal at the receiver. In the present embodiment, the position specifying unit is realized using a positioning system such as an LPS (Local Positioning System), but may be realized using a satellite positioning system such as a GPS (Global Positioning System). The detection result of the detection unit 222 is output to the client terminal 4.

  The client terminal 4 cooperates with the server device 3 to determine a moving route of the main body 21 to the destination based on at least the current position of the main body 21 (path planning), and along the moving route, The vehicle body unit 22 is operated so that the unit 21 moves. That is, the mobile unit control system 1 controls the mobile unit 2 with the client terminal 4. The main body 21 autonomously moves on the moving surface 91 by individually driving a plurality of wheels 221 based on a control signal from the client terminal 4. Thereby, the autonomous traveling of the main body 21 is realized.

  The elevating plate 23 is disposed above the vehicle body 22 so as to cover at least a part of the upper surface of the vehicle body 22. In the present embodiment, the lifting plates 23 are provided so as to cover the four corners of the upper surface of the vehicle body 22 respectively. When the transported object 92 is transported by the moving body 2, the transported object 92 is stacked on the upper surface of the elevating plate 23.

  Here, the lifting plate 23 can be moved up and down with respect to the vehicle body 22. For this reason, when the lifting plate 23 is lifted in a state where the main body portion is sunk below the transported object 92, the transported object 92 is lifted by the lifting plate 23. Conversely, the conveyed object 92 is lowered from the elevating plate 23 by lowering the elevating plate 23 with the conveyed object 92 being lifted by the elevating plate 23.

  By the way, the traveling mode of the moving body 2 includes an automatic traveling mode according to a command (control signal) of the moving body control system 1 and a manual traveling mode according to a command of the remote controller. The remote controller is a device that wirelessly communicates with the mobile unit 2 and controls the operation of the mobile unit 2 by an operation by an operator.

  In addition, the moving body 2 appropriately includes a configuration other than the above, for example, a charging circuit for a storage battery, a user interface, and the like. The user interface is a component for inputting information such as a command to the mobile unit 2. The user interface is realized by, for example, a plurality of foot-operated pedals. With the plurality of pedals, for example, traveling / stopping of the moving body 2, switching of the traveling mode of the moving body 2, selection of the moving route of the moving body 2, change of the traveling direction of the moving body 2, raising / lowering of the lifting plate 23, An operation input for locking / unlocking the wheel 221 can be performed. In addition, the user interface may be configured to be able to set at least one of a starting point and a destination point of a moving route to be set for the moving body 2. The configuration and functions of the user interface are not limited to the above-described configuration and functions using a plurality of pedals. Further, an emergency stop device for urgently stopping the moving body 2 may be provided regardless of the traveling mode of the moving body 2. The emergency stop device may be mounted on the mobile unit 2 or may be configured to wirelessly communicate with the mobile unit 2 like a remote controller.

  By the way, in the present embodiment, as described above, the client terminal 4 is mounted on the moving body 2 and is integrated with the moving body 2. In the present embodiment, the client terminal 4 is built into the main body 21 so that the client terminal 4 does not hinder the operation of the mobile unit 2. In other words, the housing constituting the outer shell of the main body 21 accommodates the components for realizing the function as the mobile unit 2 and the components of the client terminal 4.

  In addition, a storage battery serving as a power source (power supply) of the moving body 2 may be used also as a power source of the client terminal 4. That is, the storage battery can be shared by the mobile unit 2 and the client terminal 4. Further, the control function (control unit 42) of the client terminal 4 may be used for both the control of the vehicle body unit 22 and the control of the elevating plate 23 in the moving body 2.

(2.3) Client Terminal Next, the configuration of the client terminal 4 will be described in more detail.

  The client terminal 4 includes a second communication unit 41, a control unit 42, an interface 43, and a second storage unit 44, as shown in FIG.

  The second communication unit 41 communicates with the server device 3 indirectly via the network NT1 and the communication terminal 5. As a communication method between the second communication unit 41 and the server device 3, an appropriate communication method of wireless communication or wired communication is adopted.

  The control unit 42 outputs a control signal to the main unit 21 of the moving body 2 according to an instruction from the server device 3 when the running mode of the moving body 2 is in the automatic running mode. Thereby, the control unit 42 controls the moving body 2. More specifically, the control unit 42 transmits and receives information to and from the server device 3 by the second communication unit 41, and transmits and receives information to and from the mobile unit 2 by the interface 43. The control unit 42 generates a control signal according to the instruction information obtained from the server device 3. By outputting a control signal to the mobile unit 2, the control unit 42 causes the mobile unit 2 to execute operations such as start, stop, curve running, and turning running specified by the instruction information. The instruction information also includes information on the moving route, moving speed, traveling direction, and the like of the moving body 2. The control unit 42 acquires the instruction information from the server device 3 periodically (for example, every one second).

  Further, the control unit 42 has a function of acquiring the detection result of the detection unit 222 from the moving body 2 and transmitting the acquired detection result from the second communication unit 41 to the server device 3. The detection result of the detection unit 222 includes information on the behavior of the main body 21, the surrounding state of the main body 21, the position of the main body 21, the traveling direction, and the like. The control unit 42 acquires the detection result of the detection unit 222 from the mobile 2 at regular intervals (for example, every second).

  In the present embodiment, since the control unit 42 controls the moving body 2 in accordance with an instruction from the server device 3, the detection result of the detection unit 222 is basically used for the calculation in the server device 3. However, the detection result of the detection unit 222 may be used for processing in the control unit 42. In this case, the control unit 42 extracts, for example, obstacle information on the presence or absence of an obstacle around the moving body 2 and its position from the detection result of the detecting unit 222, and controls the moving body 2 according to the obstacle information. . As an example, the control unit 42 stops the moving body 2 when the existence of the obstacle is recognized in the moving path of the moving body 2 or in the vicinity of the moving path. After that, the control unit 42 resumes the movement of the mobile unit 2 when the detection unit 222 detects that the moving route or the obstacle near the moving route is gone.

  The interface 43 communicates with the mobile 2 directly or indirectly. As a communication method between the interface 43 and the mobile unit 2, an appropriate communication method of wireless communication or wired communication is adopted.

  The second storage unit 44 is realized by a non-temporary recording medium such as a rewritable nonvolatile semiconductor memory. The second storage unit 44 stores, for example, instruction information acquired from the server device 3 and information such as a detection result of the detection unit 222.

(2.4) Server Device Next, the configuration of the server device 3 will be described in more detail with reference to FIG.

  As shown in FIG. 2, the server device 3 includes a first communication unit 31, a route determination unit 32, and a first storage unit 33.

  The first communication unit 31 communicates with the client terminal 4 indirectly via the network NT1 and the communication terminal 5. Further, the first communication unit 31 communicates with the information terminal 6 indirectly via the network NT1. As a communication method between the first communication unit 31 and the client terminal 4 or the information terminal 6, an appropriate communication method of wireless communication or wired communication is adopted.

  The route determining unit 32 determines a moving route for moving the moving body 2 from the first point to the second point in the predetermined area A1, and transmits instruction information including information on the moving route via the first communication unit 31 to the moving body. 2 is transmitted to the client terminal 4 corresponding to 2. For example, as shown in FIG. 3, the route determination unit 32 is on the straight course CS1 in a case where the second point (the point corresponding to the node Nd2) moves straight from the first point (the point corresponding to the node Nd1). , The moving route of the moving body 2 is determined to be one of the first moving route RT1 and the second moving route RT2 according to a predetermined determination condition. The first movement route RT1 is a route that changes direction by turning (curving) in a curve section CV1 set on the way from the first point to the second point. The second movement route RT2 is a route that changes direction by rotating (turning) at a rotation point P1 (a point corresponding to the node Nd12) set on the way from the first point to the second point.

  Here, the determination condition when moving the target moving object 2A (see FIG. 3), which is one of the moving objects 2 from the first point to the second point, is, for example, the plurality of moving objects 2A. Out of the target moving body 2A (see FIG. 3). Note that the route determination unit 32 determines a moving route for each of the plurality of moving bodies 2, and all of the plurality of moving bodies 2 can be the target moving body 2 </ b> A. When the route determination unit 32 determines a moving path of the target mobile 2A with a certain mobile among the multiple mobiles 2 as the target mobile 2A, the mobiles other than the target mobile 2A among the multiple mobiles 2 Becomes the other mobile unit 2B.

  The moving state of the other mobile unit 2B refers to the other state in the moving route when the target mobile unit 2A is moved from a first point (for example, a point corresponding to the node Nd1) to a second point (for example, a point corresponding to the node Nd2). This is the situation of the moving body 2B. That is, the route determination unit 32 sets the moving route to the first moving route RT1 and the second moving route RT2 based on the situation of the other moving body 2B in the moving route when moving the target moving body 2A from the first point to the second point. It is determined to be one of the routes RT2. The status of the other mobile unit 2B on the moving route is the presence or absence of the other mobile unit 2B on the moving route, and when the other mobile unit 2B exists on the moving route, the other mobile unit 2B existing on the moving route is running (moving). )).

  When determining the moving route of the target mobile 2A, the route determining unit 32 causes the first communication unit 31 to transmit instruction information indicating the determined moving route to the client terminal 4 corresponding to the target mobile 2A. Thereby, the control unit 42 of the client terminal 4 can control the movement of the target mobile 2A based on the instruction information received from the route determination unit 32.

  The first storage unit 33 is realized by, for example, a non-temporary recording medium such as a rewritable nonvolatile semiconductor memory. The first storage unit 33 is not limited to the configuration incorporated in the server device 3 and may be, for example, in a cloud (cloud computing) accessible by the server device 3. The first storage unit 33 stores, for example, map information on a map of the predetermined area A1, route information on a moving route of each moving body 2, moving body information on each moving body 2, and the like.

  The operation of each unit of the server device 3 will be described in detail in the section “(3) Operation”.

(2.5) Information Terminal The information terminal 6 is a terminal having a function of receiving a user operation and a function of presenting (displaying) information to the user. The “user” here includes a user of the mobile control system 1 and a user of the mobile system 10.

  As described above, the information terminal 6 mainly has a computer system including a memory and a processor. In the present embodiment, as an example, the information terminal 6 will be described as being a terminal such as a personal computer, a smartphone, or a tablet terminal. The information terminal 6 implements functions described below by installing dedicated application software and activating the application software.

  The information terminal 6 includes a third communication unit 61, a display unit 62, and an operation unit 63.

  The third communication unit 61 communicates with the server device 3 indirectly via the network NT1. Here, the information terminal 6 is connected to the network NT1 via a router or the like, for example, by wireless communication using radio waves as a medium. The communication method of the information terminal 6 complies with, for example, standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specified low-power wireless) that does not require a license. , Wireless communication. Further, the information terminal 6 may be connected to the network NT1 outdoors, for example, via a mobile phone network (carrier network) or a public wireless LAN (Local Area Network) provided by a communication carrier. The mobile phone network includes, for example, a 3G (third generation) line, an LTE (Long Term Evolution) line, and the like.

  In the present embodiment, as an example, the display unit 62 provides information to the user such as a setting screen for setting the first point, the second point, and the rotation point when changing directions for each of the plurality of moving objects 2. Is displayed. The “screen” in the present disclosure is an image (image or the like) projected on the display unit 62. The display unit 62 is realized by an image display device such as a liquid crystal display and an organic EL (Electro Luminescence) display.

  The operation unit 63 has a function of receiving an operation of a person (user). In the present embodiment, the operation unit 63 is realized by, for example, a pointing device such as a mouse, a keyboard, a mechanical switch, or a combination thereof. When the information terminal 6 has a touch panel display, the touch panel display may function as the display unit 62 and the operation unit 63. In this case, the information terminal 6 detects the operation (tap, swipe, drag, etc.) of an object such as a button on each screen displayed on the display unit 62 by detecting the object such as a button by operating the unit 63. It is determined that the operation has been performed.

(3) Operation Hereinafter, the operation of the mobile object control system 1 and the mobile object system 10 according to the present embodiment will be described in detail with reference to FIGS. 3 and 5 to 7. FIGS. 3 and 7 are schematic diagrams conceptually showing a state where the moving body 2 moves within the predetermined area A1 when the predetermined area A1 is viewed from above. 3 and 7, grid lines GX and GY delimiting the area A10, circles indicating the nodes Ndm, and lines indicating the movement route of the moving body 2 (the target moving body 2A) are shown only for explanation. Therefore, it is not displayed in the actual predetermined area A1.

  Here, in the predetermined area A1, the moving object control system 1 and the moving object control system 1 when moving the target moving object 2A from the first point (the point corresponding to the node Nd1) to the second point (the point corresponding to the node Nd2). The operation of the mobile system 10 will be described as an example.

  FIG. 5 is a flowchart showing the operation of the mobile control system 1. The route determination unit 32 of the server device 3 sets a first point, which is a departure point, and a second point, which is an arrival point, of the target mobile object 2A based on, for example, information input from the information terminal 6 (S1). It is determined whether the second point is on the straight course CS1 (S2).

  When the second point is on the straight course CS1 (S2: Yes), the route determination unit 32 determines a path that linearly connects the first point and the second point as the movement route of the target mobile 2A, and moves. The instruction information indicating the route is transmitted to the client terminal 4 via the first communication unit 31 (S3). When the control unit 42 of the client terminal 4 receives the instruction information from the server device 3 via the second communication unit 41, the control unit 42 moves the target mobile 2A along a linear movement path based on the instruction information.

  When the second point is not on the straight course CS1 (S2: No), the route determination unit 32 determines the movement route of the target moving body 2A as the first movement route RT1 and the second movement route RT2 according to a predetermined determination condition. (S4). When determining the moving route of the target mobile 2A, the route determining unit 32 transmits instruction information indicating the moving route to the client terminal 4 via the first communication unit 31 (S3). When the control unit 42 of the client terminal 4 receives the instruction information from the server device 3 via the second communication unit 41, the control unit 42 moves the target mobile 2A along the moving route determined by the route determination unit 32 based on the instruction information. Move.

  Here, the process of step S4 in which the route determination unit 32 determines the movement route of the target moving body 2A will be described in more detail based on the flowchart of FIG.

  At the timing when the target moving body 2A departs from the first point, the path determining unit 32 determines the moving path of the target moving body 2A as the second moving path RT2 that changes direction by rotating at the rotation point (S11). . In this case, the route determination unit 32 sets the area A10 that passes while the target mobile 2A moves from the current position to the rotation point P1 as a reserved area that restricts the entry of the other mobile 2B. Since the entry of the other mobile 2B into the reserved area of the target mobile 2A is suppressed, it is possible to reduce the possibility of interference with the other mobile 2B before the target mobile 2A moves to the rotation point P1. The route determination unit 32 transmits instruction information for instructing the second movement route RT2 to the client terminal 4 corresponding to the target mobile 2A via the first communication unit 31 (S12). When the control unit 42 of the client terminal 4 receives the instruction information from the server device 3 via the second communication unit 41, the control unit 42 moves the target mobile 2A along the second movement route RT2 based on the instruction information. That is, the control unit 42 of the client terminal 4 moves the target moving body 2A straight from the first point (the point corresponding to the node Nd1) to the rotation point P1 (the point corresponding to the node Nd12).

  The route determination unit 32 obtains the current position of the target mobile 2A based on information periodically obtained from the client terminal 4 of the target mobile 2A, and the target mobile 2A reaches a point before the curve section CV1. It is detected whether or not it is (S13). The point before the curve section CV1 is, for example, a point corresponding to the node Nd11 which is the start point of the curve section CV1, and is, for example, a point having a distance L1 from the node Nd11. The route determination unit 32 determines that the target moving body 2A has reached the point before the curve section CV1 when the center (the center in plan view) of the target moving body 2A has reached the point before the curve section CV1. .

  When the target moving body 2A reaches a point just before the curve section CV1 (S13: Yes), the route determination unit 32 determines that the other moving body 2B in the target section A20 (see FIG. 3) including at least a part of the curve section CV1. The moving route of the target moving body 2A is determined according to the situation. The target section A20 is, for example, a section including an area corresponding to the end point of the curve section CV1 (point corresponding to the node Nd13) among the plurality of areas A10 obtained by dividing the predetermined area A1.

  When there is no other mobile 2B in the target section A20 (S14: No), the route determination unit 32 determines the first mobile route RT1 as the travel route of the target mobile 2A (S15). In other words, at the timing when the target mobile 2A enters the curve section CV1, the route determination unit 32 determines that the other mobile 2B does not exist in the target section A20 including at least a part of the curve section CV1, and that the moving path is changed to the second path. One moving route RT1 is determined. When determining the moving route of the target moving body 2A as the first moving route RT1, the route determining unit 32 transmits the instruction information indicating the first moving route RT1 from the first communication unit 31 to the client terminal 4 corresponding to the target moving body 2A. Transmission is performed (S25). When the control unit 42 of the client terminal 4 receives the instruction information from the server device 3 via the second communication unit 41, the control unit 42 ends the curve section CV1 (corresponding to the node Nd13) along the first movement route RT1 based on the instruction information. 2A).

  On the other hand, when the other mobile 2B exists in the target section A20 (S14: Yes), the route determination unit 32 determines whether the other mobile 2B present in the target section A20 is moving (S16). . Here, the state that the other moving body 2B is moving means a state where the wheels of the other moving body 2B are rotating, that is, a state where the other moving body 2B is currently moving.

  If the other mobile 2B existing in the target section A20 is moving (S16: Yes), the route determination unit 32 determines the travel route of the target mobile 2A as the first travel route RT1 (S17). The route determination unit 32 causes the first communication unit 31 to transmit to the client terminal 4 instruction information for instructing to wait at a point corresponding to the start point of the curve section CV1 (point corresponding to the node Nd11) (S18). When receiving the instruction information from the server device 3 via the second communication unit 41, the control unit 42 of the client terminal 4 stops the target mobile 2A at a point corresponding to the start point of the curve section CV1 based on the instruction information. Thereafter, when the route determination unit 32 determines that the other mobile 2B has moved out of the target section A20 based on information periodically acquired from the other mobile 2B (S19: Yes), the route determination unit 32 determines whether the other mobile 2B has moved outside the target section A20. Instruction information for instructing to start moving is transmitted from the first communication unit 31 to the client terminal 4 (S20). When receiving the instruction information from the server device 3 via the second communication unit 41, the control unit 42 of the client terminal 4 moves the target mobile object 2A along the first movement route RT1 based on the instruction information (that is, the curve). Run). As described above, the route determination unit 32 changes the moving route of the target moving body 2A from the second moving route RT2 specified in step S12 to the first moving route RT1. To summarize the above operations, the route determination unit 32 transmits the second moving route RT2 to the target mobile 2A (the client terminal 4 corresponding to the target mobile 2A) until the target mobile 2A enters the curve section CV1. To instruct. When the moving route is determined to be the first moving route RT1, the route determining unit 32 determines the target moving object 2A (the client terminal 4 corresponding to the target moving object 2A) at the timing when the target moving object 2A enters the curve section CV1. ) Indicates the first movement route RT1. Therefore, even when the client terminal 4 cannot receive the instruction information for setting the traveling route to the first traveling route RT1 due to a communication failure or the like, the control unit 42 of the client terminal 4 performs the target based on the instruction information received in advance. The moving body 2A can be moved to the rotation point. Accordingly, it is possible to avoid a situation in which the target moving body 2A cannot receive the instruction information from the server device 3 and stops at the start point of the curve section CV1.

  On the other hand, if the other mobile unit 2B existing in the target section A20 is stopped (S16: No), the route determination unit 32 turns the moving route of the target mobile unit 2A by rotating at the rotation point. The second movement route RT2 is determined (S21). The route determination unit 32 moves to the rotation point P1 (a point corresponding to the node Nd12), and causes the first communication unit 31 to transmit the instruction information for instructing the client terminal 4 to wait while rotating at the rotation point P1. (S22). Upon receiving the instruction information from the server device 3 via the second communication unit 41, the control unit 42 of the client terminal 4 moves the target mobile 2A to the rotation point P1 based on the instruction information. Then, the control unit 42 of the client terminal 4 rotates the target moving body 2A by 90 degrees on the spot so that the traveling direction is directed to the end point of the curve section CV1 (point corresponding to the node Nd13). Stop 2A. That is, when the other moving body 2B is present at the end point of the curve section CV1, the route determining unit 32 determines the moving route to be the second moving route RT2, moves the target moving body 2A to the rotation point P1, and moves the target moving body 2A to the rotation point P1. Stop rotating. Thereafter, when determining that the other mobile 2B has moved out of the target section A20 based on the information periodically acquired from the other mobile 2B (S23: Yes), the route determination unit 32 determines the end point of the curve section CV1 (S23: Yes). The first communication unit 31 transmits to the client terminal 4 instruction information for instructing the vehicle to travel straight toward the point corresponding to the node Nd13) (S24). When the control unit 42 of the client terminal 4 receives the instruction information from the server device 3 via the second communication unit 41, the control unit 42 along the second movement route RT2 from the rotation point P1 to the end point of the curve section CV1 based on the instruction information. The target moving body 2A is moved straight until it moves.

  As described above, when the target moving body 2A reaches the vicinity of the end point of the curve section CV1, the route determination unit 32 transmits instruction information for moving the target moving body 2A straight from the end point of the curve section CV1 to the second point. The first communication unit 31 causes the client terminal 4 to transmit. Here, the route determination unit 32 determines that the distance between the end point of the curve section CV1 and the center of the target moving body 2A in the Y-axis direction is shorter than the length L1, and that the distance between the traveling direction of the target moving body 2A and the Y-axis direction is smaller. If the angle formed is less than or equal to ± 10 degrees, it is determined that the target moving body 2A has reached near the end point. When receiving the instruction information from the server device 3 via the second communication unit 41, the control unit 42 of the client terminal 4 moves the target mobile 2A to the second point based on the instruction information. Thereby, the mobile control system 1 can move the target mobile 2A from the first point (the point corresponding to the node Nd1) to the second point (the point corresponding to the node Nd2).

  In the present embodiment, when determining the moving route of the target moving body 2A, the route determining unit 32 determines at least one area where the target moving body 2A moves among the plurality of areas A10 based on the moving path of the target moving body 2A. Is set as a reserved area for restricting the entry of the other mobile unit 2B. Here, when determining the movement route of the target mobile object 2A, the route determination unit 32 determines the movement route so as to pass through the area A10 that is not set as the reserved area among the plurality of areas A10 in the predetermined area A1. decide. Therefore, a moving route is determined for each of the plurality of moving bodies 2 so that the plurality of moving bodies 2 do not interfere with each other.

  When the movement route of the target moving body 2A is determined to be the second movement route RT2, the route determination unit 32 determines the region where the target moving body 2A passes between the start point and the end point of the curve section CV1, that is, the nodes Nd11, Nd12, The areas respectively corresponding to Nd13 are referred to as reserved areas RA2 (see FIG. 3).

  On the other hand, when the movement route of the target mobile 2A is determined to be the first movement route, the route determination unit 32 exists inside the area corresponding to the curve section CV1 in which the target mobile 2A moves and inside the curve section CV1. The area is referred to as a reserved area RA1 (see FIG. 3). When the target moving body 2A bends along the curve section CV1, there is a possibility that the target moving body 2A protrudes into an area existing inside the curve section CV1. Need to be restricted. Therefore, the route determination unit 32 sets the area corresponding to the nodes Nd11, Nd12, and Nd13 corresponding to the curve section CV1 and the area corresponding to the node Nd10 inside the curve section CV1 as the reservation area RA1. I have.

  As described above, the route determination unit 32 sets the reservation area RA1 when the target moving body 2A moves on the first moving path RT1 and the reservation area RA2 when the target moving body 2A moves on the second moving path RT2. I make them different. Since the route determination unit 32 sets the reserved area according to the moving route, the possibility that an unnecessary area is set as the reserved area can be reduced, and the possibility that the target moving body 2A interferes with another moving body 2B. Can be reduced. Further, the reserved area RA2 in the case of the second movement route RT2 that changes direction by rotating at the rotation point has a narrower range than the reserved area RA1 in the case of the first movement route RT1, so that the space use efficiency is improved. There is an advantage of doing so.

  In the present embodiment, one curved section CV1 is included in the moving route from the first point to the second point, but the moving route of the target mobile 2A can be changed as appropriate. The traveling route from the first point to the second point may include a plurality of curve sections. For example, as shown in FIG. 7, two curved sections CV1 (CV11, CV12) are included in the movement route from the first point (the point corresponding to the node Nd1) to the second point (the point corresponding to the node Nd2). It may be. Here, the start point of the curve section CV11 is a point corresponding to the node Nd11, and the end point of the curve section CV11 is an intermediate point between a point corresponding to the node Nd12 and a point corresponding to Nd13. The start point of the curve section CV12 is an intermediate point between the point corresponding to the node Nd12 and the point corresponding to Nd13, and the start point of the curve section CV12 is a point corresponding to the node Nd14. In this case, the path determination unit 32 determines the moving path of the target moving body 2A in front of the curve section CV11 according to the above-described determination condition in a first moving path that bends in the curve section CV11 and the target moving body 2A in the rotation point P1. Is determined to be one of the second movement paths for rotating. In addition, the path determination unit 32 determines the moving path of the target moving body 2A in front of the curve section CV12 according to the above-described determination condition, the first moving path that bends in the curve section CV12, and the target moving body 2A at the rotation point P1. One of the second movement paths to be rotated is determined.

(4) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be variously modified according to the design and the like as long as the object of the present disclosure can be achieved.

  Functions similar to those of the mobile object control system 1 according to the above-described embodiment may be embodied by a mobile object control method, a computer program, a non-transitory recording medium that records the computer program, or the like. The moving object control method according to an aspect performs the following processing when determining a moving route for moving a moving object 2 moving within a predetermined area A1 from a first point Nd1 to a second point Nd2. When the second point Nd2 does not exist on the straight course CS1 when the moving body 2 goes straight from the first point Nd1, the moving point control method determines the moving path according to a predetermined determination condition. One of the two movement routes RT2 is determined. The first movement route RT1 is a route that changes direction by turning in a curve section CV1 set on the way from the first point Nd1 to the second point Nd2. The second movement route RT2 is a route that changes direction by rotating at rotation points P1 and P2 set on the straight course CS1 while traveling from the first point Nd1 to the second point Nd2. A (computer) program according to an aspect is a program for causing a computer system to execute the above-described moving object control method.

  Hereinafter, modified examples of the first embodiment will be listed. The modifications described below can be applied in appropriate combinations.

  The mobile control system 1 according to the present disclosure includes a computer system. The computer system mainly has a processor and a memory as hardware. When the processor executes the program recorded in the memory of the computer system, the function as the mobile control system 1 according to the present disclosure is realized. The program may be pre-recorded in a memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-transitory recording medium such as a memory card, an optical disk, and a hard disk drive that can be read by the computer system. May be provided. A processor of a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). An integrated circuit such as an IC or an LSI referred to here differs depending on the degree of integration, and includes an integrated circuit called a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration). Furthermore, an FPGA (Field-Programmable Gate Array), which is programmed after the manufacture of the LSI, or a logic device capable of reconfiguring the connection relation inside the LSI or reconfiguring the circuit section inside the LSI, is also adopted as the processor. Can be. A plurality of electronic circuits may be integrated on one chip, or may be provided separately on a plurality of chips. A plurality of chips may be integrated in one device, or may be provided separately in a plurality of devices.

  The fact that a plurality of components (or functions) in the mobile control system 1 are integrated in one housing is not an essential configuration of the mobile control system 1. The components (or functions) of the mobile control system 1 may be provided separately in a plurality of housings. Further, at least a part of the functions of the mobile control system 1 may be realized by a cloud (cloud computing) or the like.

  Conversely, in the above-described embodiment, at least a part of the functions of the mobile control system 1 distributed to a plurality of devices may be integrated in one housing. For example, some functions distributed to the server device 3 and the client terminal 4 may be integrated in one housing. Some functions distributed to the server device 3 and the information terminal 6 may be integrated in one housing. For example, the client terminal 4 (mobile unit 2) may have the function of the route determination unit 32. In this case, the client terminals 4 of each mobile unit 2 communicate with each other to acquire information on the other mobile unit 2B. The route determination unit provided in the client terminal 4 of each mobile unit 2 determines the travel route to be one of the first travel route RT1 and the second travel route RT2 based on information of the other mobile unit 2B and the like.

  Further, in the present disclosure, an expression accompanied by “substantially” such as “substantially parallel” may be used. For example, “substantially parallel” means substantially “parallel” and includes not only a state of strictly “parallel” but also an error of about several percent. The same applies to expressions with other “abbreviations”.

  Further, in the present disclosure, in the comparison of binary values, the term “not less than” includes both the case where the binary values are equal and the case where one of the binary values exceeds the other. Further, in the comparison of binary values, the term “greater than or equal to” may be “greater than” including only the case where one of the two values exceeds the other. That is, whether or not the case where the two values are equal to each other can be arbitrarily changed depending on the setting of the reference value or the like. Similarly, “less than” may be “less than or equal to”.

  Further, the server device 3 may be installed in the predetermined area A1. Furthermore, the communication terminal 5 is not an essential component of the mobile control system 1 and can be omitted as appropriate. In this case, the server device 3 may directly communicate with the mobile unit 2 without going through the communication terminal 5.

  In the above embodiment, the determination condition when the route determination unit 32 determines the movement route of the target moving object 2A is that the distance L10 (see FIG. 8) between the current point and the rotation point P1 of the target moving object 2A is predetermined. May be included. The threshold Lth is determined based on the minimum turning radius of the moving body 2 and the like. In the present embodiment, for example, the distance between adjacent nodes (that is, the length L1 of one side of the area A10) is 180 cm, and the threshold value Lth is 50 cm. The route determination unit 32 periodically obtains the current location of the target mobile 2A, and if the distance L10 between the current location of the target mobile 2A and the turning point P1 is equal to or less than the threshold Lth, the route determination unit 32 determines the travel route. The second moving route is determined. As described above, when the target moving body 2A approaches the rotation point P1 to a point where the distance L10 is equal to or less than the threshold Lth, the path determining unit 32 sets the moving path of the target moving body 2A to the second moving path RT2. I have decided. Thus, the possibility that the target moving body 2A bends at a radius of curvature smaller than the predetermined radius of curvature can be reduced. Here, the predetermined radius of curvature is a radius of curvature when the target moving body 2A turns from a point where the distance L10 is the threshold Lth, and has a value substantially equal to the threshold Lth.

  In the above-described embodiment, the first point, the second point, and the rotation point are points corresponding to the node set on the map M1 corresponding to the predetermined area A1, but the first point, the second point, and the rotation point. The point may be an arbitrary point in the predetermined area A1. In the above embodiment, the first point may be a starting point of the moving body 2 or a point on the moving route. Similarly, the second point may be an arrival point of the mobile unit 2 or a point on the movement route.

  Further, in the above embodiment, the direction change is performed by rotating the moving body 2 at the rotation point by 90 degrees, but the direction change may be performed by rotating the moving body 2 by 180 degrees or 270 degrees at the rotation point, or The direction may be changed by rotating at an angle. In addition, the direction of the moving body 2 is changed so as to rotate counterclockwise when viewed from above. However, the direction may be changed such that the moving body 2 rotates clockwise when viewed from above. Further, in the above embodiment, the turning radius in the curve section CV1 is equal to the length L1 corresponding to one side of the area A10, but the turning radius in the curve section CV1 may be an integral multiple of the length L1. , May be any value.

  In the above embodiment, the determination condition when the route determination unit 32 determines the movement route of the target mobile 2A is the condition regarding the other mobile 2B, but the determination condition is not limited to the condition regarding the other mobile 2B. In the moving object control system 1 and the moving object system 10 of the present embodiment, the moving object 2 is a transfer moving object on which an object (the transfer object 92) is placed. In this case, the determination condition for determining the moving route may include the situation of the object on which the target moving object 2A is placed. That is, the route determining unit 32 determines the moving route of the target moving body 2A to be one of the first moving route RT1 and the second moving route RT2 according to the situation of the object on which the target moving body 2A is placed. Here, the target moving body 2A is placed on the first moving route RT1 in which the target moving body 2A travels along the curved section more than the second moving route RT2 in which the target moving body 2A rotates at the rotation point. It is assumed that the acceleration applied to the present object increases. The route determination unit 32 is configured to be able to bend without falling or falling, based on the weight, the center of gravity balance, the stability, and the like of the object placed on the target moving object 2A, The moving route of the target moving body 2A is determined as the first moving route RT1. If the object on which the target moving object 2A is placed can turn without falling or falling, the path determination unit 32 determines the moving path of the target moving object 2A as the first moving path RT1. In addition, the time required for moving the target moving body 2A can be reduced. Note that the moving body 2 is not limited to the moving body for carrying the goods 92 thereon, but may be a moving body on which a person is loaded (for example, a cart for carrying a person, a vehicle, an electric wheelchair, a powered stretcher, or the like).

(Summary)
As described above, the mobile object control system (1) according to the first aspect includes the route determination unit (32) and the control unit (42). The route determining unit (32) determines a moving route for moving the moving body (2) moving within the predetermined area (A1) from the first point (Nd1) to the second point (Nd2), and determines the moving path. To instruct. The control unit (42) controls the moving body (2) so as to move along the movement route specified by the route determination unit (32). When the second point (Nd2) does not exist on the straight course (CS1), the route determination unit (32) determines the first route (RT1) and the second route according to a predetermined determination condition. (RT2). The straight traveling course (CS1) is a course when the moving body (2) travels straight from the first point (Nd1). The first movement route (RT1) is a route that changes direction by turning in a curve section (CV1) set on the way from the first point (Nd1) to the second point (Nd2). The second movement route (RT2) changes direction by rotating at a rotation point (P1, P2) set on the straight course (CS1) while traveling from the first point (Nd1) to the second point (Nd2). It is a route to do.

  According to this aspect, when determining the moving route to be moved from the first point (Nd1) to the second point (Nd2), the route determining unit (32) sets the moving route of the moving body (2) to a predetermined position. According to the determination condition, it is determined to be one of the first travel route (RT1) and the second travel route (RT2). When the moving path of the moving body (2) is determined to be the first moving path (RT1), the moving body (2) stops at the rotation point (P1, P2) and rotates like the second moving path (RT2). The operation of doing so is eliminated. Therefore, it is possible to provide the moving object control system (1) capable of shortening the time required for moving the moving object (2).

  In the moving object control system (1) according to the second aspect, there are a plurality of moving objects (2) in the first aspect. When the target mobile object (2A), which is one mobile object (2) of the multiple mobile objects (2), is moved from the first point (Nd1) to the second point (Nd2), there are a plurality of determination conditions. The moving state of another moving body (2B) which is the moving body (2) other than the target moving body (2A) among the moving bodies (2) is included.

  According to this aspect, the route determining unit (32) can determine the moving route of the target moving body (2A) based on the moving state of the other moving body (2B).

  In the moving object control system (1) according to the third aspect, in the second aspect, the moving condition is a condition of another moving object (2B) on the moving route.

  According to this aspect, the route determining unit (32) can determine the moving route of the target moving object (2A) based on the status of the other moving object (2B) on the moving route.

  In the mobile object control system (1) according to the fourth aspect, in the third aspect, the route determination unit (32) does not include another mobile object (2B) in the target section (A20) at a predetermined timing. In this case, the moving route is determined to be the first moving route (RT1). The predetermined timing is a timing at which the target moving body (2A) enters the curve section (CV1). The target section (A20) is a section including at least a part of the curve section (CV1).

  According to this aspect, when the other mobile unit (2B) does not exist in the target section (A20), even if the target mobile unit (2A) moves along the first movement route (RT1), the target mobile unit (2A) moves. 2A) is less likely to interfere with another mobile unit (2B). Therefore, by moving the target moving body (2A) along the first moving route (RT1), the time required for moving the target moving body (2A) can be reduced.

  In the moving object control system (1) according to the fifth aspect, in any one of the second to fourth aspects, the route determination unit (32) determines that the other moving object (2B) exists at the end point of the curve section (CV1). In this case, the moving route is determined to be the second moving route (RT2). The route determination unit (32) moves the target moving body (2A) to the rotation point (P1, P2), and stops while rotating at the rotation point (P1, P2).

  According to this aspect, by moving the target moving body (2A) to the rotation point (P1, P2) and stopping it while rotating at the rotation point (P1, P2), the target moving body (2A) moves another way. The possibility of interference with the body (2B) can be reduced. In addition, compared with the case where the target moving body (2A) waits just before the curve section (CV1), the target moving body (2A) can be advanced to the rotation point (P1, P2), and the target moving body (2A) can be advanced. ) Can be shortened.

  In the moving object control system (1) according to the sixth aspect, in any one of the second to fifth aspects, the route determination unit (32) divides the predetermined area (A1) into a plurality of areas (A10). The route determination unit (32) sets at least one area of the plurality of areas (A10) in which the target mobile object (2A) moves as a reserved area for restricting entry of another mobile object (2B). The reserved area when the target moving body (2A) moves on the first moving route (RT1) is different from the reserved area when the target moving body (2A) moves on the second moving route (RT2).

  According to this aspect, the reservation area differs between when the target moving body (2A) moves on the first movement route (RT1) and when it moves on the second movement route (RT2). By setting the area, the possibility that an unnecessary area is set as a reserved area can be reduced. Further, the possibility that the target moving body (2A) interferes with another moving body (2B) can be reduced.

  In the moving object control system (1) according to the seventh aspect, in any one of the first to sixth aspects, the determination condition is that a condition between the current point and the rotation point (P1, P2) of the moving object (2) is satisfied. A condition that the distance (L10) is equal to or less than a predetermined threshold (Lth) is included. If the distance (L10) is equal to or smaller than the threshold (Lth), the route determining unit (32) determines the moving route of the moving body (2) as the second moving route (RT2).

  According to this aspect, if the distance (L10) is equal to or less than the threshold value (Lth), the moving path of the moving body (2) is determined to be the second moving path (RT2). The possibility of turning with a radius of curvature smaller than the radius of curvature can be reduced. Here, the predetermined radius of curvature is a radius of curvature when the moving body (2) bends from a point where the distance (L10) is equal to the threshold (Lth).

  In the mobile unit control system (1) according to the eighth aspect, in any one of the first to seventh aspects, the route determination unit (32) may perform the process until the mobile unit (2) enters the curved section (CV1). , And instructs the mobile unit (2) on the second movement route (RT2). When the moving route is determined to be the first moving route (RT1), the route determining unit (32) adds the first moving route to the moving body (2) at a timing when the moving body (2) enters the curved section (CV1). (RT1).

  According to this aspect, when the route determination unit (32) cannot transmit the instruction of the first movement route (RT1) to the control unit (42), the moving body (2) is moved to the second movement route (RT2). Can be moved along.

  In the moving body control system (1) according to the ninth aspect, in any one of the first to eighth aspects, the moving body (2) is a transporting moving body on which an object is placed, and the determination condition is the moving body ( 2) includes the situation of the object (92) to be placed.

  According to this aspect, the route determining unit (32) can determine the moving route based on the situation of the object (92) on which the moving body (2) is placed.

  A mobile body system (10) according to a tenth aspect includes the mobile body control system (1) according to any one of the first to ninth aspects, and a mobile body (2).

  According to this aspect, when determining the moving route to be moved from the first point (Nd1) to the second point (Nd2), the route determining unit (32) sets the moving route of the moving body (2) to a predetermined position. According to the determination condition, it is determined to be one of the first travel route (RT1) and the second travel route (RT2). When the moving path of the moving body (2) is determined to be the first moving path (RT1), the moving body (2) stops at the rotation point (P1, P2) and rotates like the second moving path (RT2). The operation of doing so is eliminated. Therefore, it is possible to provide a mobile system (10) capable of shortening the time required for moving the mobile (2).

  The moving object control method according to the eleventh aspect is configured to determine a moving route for moving a moving object (2) moving within a predetermined area (A1) from a first point (Nd1) to a second point (Nd2). The following processing is performed. When the second point (Nd2) does not exist on the straight course (CS1) when the moving object (2) goes straight from the first point (Nd1), the moving body control method determines the moving route according to a predetermined determination condition. , One of the first movement route (RT1) and the second movement route (RT2). The first movement route (RT1) is a route that changes direction by turning in a curve section (CV1) set on the way from the first point (Nd1) to the second point (Nd2). The second movement route (RT2) changes direction by rotating at the rotation points (P1, P2) set on the straight course (CS1) while traveling from the first point (Nd1) to the second point (Nd2). It is a route to do.

  According to this aspect, when determining the moving path to be moved from the first point (Nd1) to the second point (Nd2), the moving path of the moving object (2) is determined according to the predetermined determination condition. (RT1) or the second movement route (RT2). When the moving path of the moving body (2) is determined to be the first moving path (RT1), the moving body (2) stops at the rotation point (P1, P2) and rotates like the second moving path (RT2). The operation of doing so is eliminated. Therefore, it is possible to provide a moving object control method capable of shortening the time required for moving the moving object (2).

  A program according to a twelfth aspect is a program for causing a computer system to execute the moving object control method according to the eleventh aspect.

  According to this aspect, when determining the moving path to be moved from the first point (Nd1) to the second point (Nd2), the moving path of the moving object (2) is determined according to the predetermined determination condition. (RT1) or the second movement route (RT2). When the moving path of the moving body (2) is determined to be the first moving path (RT1), the moving body (2) stops at the rotation point (P1, P2) and rotates like the second moving path (RT2). The operation of doing so is eliminated. Therefore, it is possible to provide a program capable of reducing the time required for moving the moving body (2).

  Not limited to the above aspect, various configurations (including modified examples) of the mobile object control system (1) according to the above-described embodiment include a mobile object control method, a (computer) program, or a non-temporary recording medium storing the program. Etc. can be embodied.

  The configurations according to the second to ninth aspects are not indispensable configurations for the mobile control system (1), and can be omitted as appropriate.

Reference Signs List 1 moving body control system 2 moving body 2A target moving body 2B other moving body 10 moving body system 32 route determination unit 42 control unit 92 conveyed object (object)
A1 predetermined area A20 target section CS1 straight course CV1, CV11, CV12 curve section G1 area L10 distance Nd1 node (first point)
Nd2 node (2nd point)
P1, P2 Rotation point RT1 First movement route RT2 Second movement route

Claims (12)

A route determining unit that determines a moving route for moving a moving object that moves within a predetermined area from a first point to a second point, and instructs the moving object;
A control unit that controls the moving body to move along the movement path instructed by the path determination unit,
When the second point is not on a straight course when the moving body goes straight from the first point, the route determination unit determines the moving route from the first point according to a predetermined determination condition. A first movement route that changes direction by turning in a curve section set on the way to the second point, and a turning point set on the straight course on the way from the first point to the second point To determine which one of the second movement route to change direction by,
Mobile control system. There are a plurality of said moving bodies,
The determination condition when moving the target moving object, which is one of the plurality of moving objects, from the first point to the second point is different from the plurality of moving objects other than the target moving object. Including the movement status of other mobiles that are mobiles,
The mobile object control system according to claim 1. The moving situation is a situation of the other moving body on the moving route,
The mobile object control system according to claim 2. The route determination unit may determine, at a timing at which the target moving body enters the curve section, the movement path if the other moving body does not exist in a target section including at least a part of the curve section. Determine the travel route,
The mobile object control system according to claim 3. When the other moving object is present at the end point of the curve section, the path determining unit determines the moving path as the second moving path, moves the target moving object to the rotation point, and rotates at the rotation point. Stop in the state where
The mobile object control system according to claim 2. The route determining unit divides the predetermined area into a plurality of areas,
The route determination unit, at least one of the plurality of areas in which the target mobile body moves, is set as a reserved area that restricts the entry of the other mobile body,
A reserved area when the target moving body moves on the first moving path is different from a reserved area when the target moving body moves on the second moving path.
The mobile object control system according to claim 2. The determination condition includes a condition that a distance between the current point of the moving body and the rotation point is equal to or less than a predetermined threshold,
If the distance is equal to or less than the threshold, the route determination unit determines the travel route as the second travel route.
The mobile object control system according to claim 1. The route determination unit instructs the moving body to the second moving route until the moving body enters the curve section,
The route determining unit, when determining the moving route as the first moving route, instructs the moving body to the first moving route at a timing when the moving body enters the curved section,
The mobile object control system according to claim 1. The moving body is a moving body for carrying an object,
The determination condition includes a state of the object on which the moving object is mounted,
The moving object control system according to claim 1. A mobile control system according to any one of claims 1 to 9,
And the moving body,
Mobile system. When determining a moving route for moving a moving body moving within a predetermined area from a first point to a second point, the second point is present on a straight course where the moving body moves straight from the first point. If not, according to a predetermined determination condition, the first movement path that changes direction by turning in a curve section set during the movement from the first point to the second point, and from the first point. On the way to the second point, it is determined to be one of a second moving path that changes direction by rotating at a turning point set on the straight course.
Mobile body control method.   A program for causing a computer system to execute the mobile object control method according to claim 11.

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