JP2023162890A - Mobile body control system and design support system - Google Patents

Abstract

To reduce the number of standby areas of a mobile body.SOLUTION: A mobile body control system includes: a control part, a node generation part, and a replacement node setting part. The control part controls a plurality of mobile bodies 2 which move in a predetermined area A0. The node generation part generates a plurality of nodes which can control the plurality of mobile bodies 2 at given position in a map corresponding to the predetermined area A0. The replacement setting part sets at least one of the plurality of nodes as a replacement node Nc. The control part moves, from an automatic charger 3 to the replacement node Nc, a first mobile body 2A which is included in the plurality of mobile bodies 2 and which has been completely charged by the automatic charger 3 and moves, from a standby area As to the automatic charger 3, a second mobile body 2B which is included in the plurality of mobile bodies 2 and which stands by at the standby area As.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a mobile body control system and a design support system, and more particularly, to a mobile body control system and a design support system for controlling a mobile body moving within a predetermined area.

Patent Document 1 describes a mobile object control system that includes a control section that controls a mobile object that moves within a predetermined area, a node generation section, and a path generation section. The node generation unit generates a pair of specified nodes, each of which is a node capable of controlling a mobile object, at an arbitrary position on a map corresponding to a predetermined area. The path generation unit generates a path between a pair of designated nodes. The control unit moves the mobile object along a movement route corresponding to the path in the predetermined area.

JP2020-008962A

In a mobile object control system such as that described in Patent Document 1, when the number of automatic charging devices for charging a plurality of mobile objects is smaller than the number of mobile objects, the mobile object that has completed charging is After returning to the standby area, the next mobile object that was waiting in another standby area to be charged moved toward the automatic charging device. That is, in the conventional operation of a mobile object control system such as that described in Patent Document 1, there is a standby area where the mobile object being charged waits after charging, and a separate area where the mobile object to be charged next waits. A waiting area was needed. For this reason, there has been a desire to reduce the number of waiting areas for mobile bodies.

The present disclosure has been made in view of the above reasons, and aims to provide a mobile body control system and a design support system that can reduce the number of waiting areas for mobile bodies.

A mobile object control system according to one aspect of the present disclosure includes a control section, a node generation section, and a replacement node setting section. The control unit controls a plurality of moving objects moving within a predetermined area. The node generation unit generates a plurality of nodes capable of controlling the plurality of moving objects at arbitrary positions on a map corresponding to the predetermined area. The replacement node setting unit sets at least one node among the plurality of nodes as a replacement node. The control unit moves a first mobile object of the plurality of mobile objects that has been completely charged by the automatic charging device from the automatic charging device to the replacement node, and waits in a waiting area among the plurality of mobile objects. The second moving body is moved from the standby area to the automatic charging device.

A design support system according to one aspect of the present disclosure includes the mobile object control system, and a route creation tool having a display section and an operation section. The mobile object control system further includes a display control section that causes the display section to display the map. The display control section causes the display section to display two or more candidate nodes that are candidates for the replacement node among the plurality of nodes. The replacement node setting section sets, as the replacement node, a candidate node selected by the user by operating the operation section from among the two or more candidate nodes.

According to the present disclosure, it is possible to provide a mobile body control system and a design support system that can reduce the number of waiting areas for mobile bodies.

FIG. 1 is a schematic plan view of a first predetermined area in which moving objects to be controlled by a moving object control system according to the present embodiment are arranged. FIG. 2 is a block diagram showing a schematic configuration of the mobile object control system same as above and the design support system according to this embodiment. FIG. 3 is an explanatory diagram schematically showing a map corresponding to the first predetermined area displayed on the display unit in the above design support system. FIG. 4 is a flowchart for explaining the setting operation of a replacement node in the design support system mentioned above. FIG. 5 is a schematic plan view of a first predetermined area in which moving objects to be controlled by the above-mentioned moving object control system are arranged. FIG. 6 is a schematic plan view of a first predetermined area in which moving objects to be controlled by the above-mentioned moving object control system are arranged. FIG. 7 is a schematic plan view of a first predetermined area in which moving objects to be controlled by the above moving object control system are arranged. FIG. 8 is a flowchart for explaining the charging operation of the mobile body in the first predetermined area in the design support system mentioned above. FIG. 9 is an explanatory diagram schematically showing a map corresponding to the second predetermined area displayed on the display unit in the above design support system. FIG. 10 is a schematic plan view of a second predetermined area in which moving objects to be controlled by the above moving object control system are arranged. FIG. 11 is a schematic plan view of a second predetermined area in which moving objects to be controlled by the above moving object control system are arranged. FIG. 12 is a schematic plan view of a second predetermined area in which moving objects to be controlled by the above moving object control system are arranged. FIG. 13 is a schematic plan view of a second predetermined area in which moving objects to be controlled by the above moving object control system are arranged. FIG. 14 is a flowchart for explaining the charging operation of the mobile body in the second predetermined area in the design support system mentioned above. FIG. 15 is an explanatory diagram schematically representing a map corresponding to the first predetermined area displayed on the display unit in the design support system of Modification 1. FIG. 16 is a flowchart for explaining the setting operation of a new replacement node in the above design support system. FIG. 17 is an explanatory diagram schematically representing a map corresponding to the third predetermined area displayed on the display unit in the design support system of Modification 2. FIG. 18 is an explanatory diagram schematically showing a map corresponding to the third predetermined area displayed on the display unit in the above design support system. FIG. 19 is a flowchart for explaining the operation of setting a replacement node by a user in the design support system mentioned above.

A mobile object control system 1 according to an embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the embodiments and modified examples described below are only examples of the present disclosure, and the present disclosure is not limited to the embodiments and modified examples. Even other than this embodiment and modifications, various changes can be made according to the design etc. as long as they do not depart from the technical idea of the present disclosure.

(1) Overview As shown in FIGS. 1 and 10, a mobile object control system 1 according to the present embodiment is a system for controlling charging operations by automatic charging devices 3 of a plurality of mobile objects 2 in a predetermined area A0. It is.

The moving body 2 is a robot for transporting objects such as luggage within a predetermined area A0, and can automatically transport objects. Note that the mobile object 2 has the function of not only moving within the predetermined area A0, but also performing various tasks such as transportation, picking, welding, mounting, display, customer service, security, assembly, and inspection. Good too.

The moving body 2 is, for example, a wheel-type robot. Note that the mobile body 2 is not limited to a wheel-type robot, and may be a crawler type, a leg type (including a walking type), a flying type (such as a drone), a boat type, or a diving type.

The mobile body control system 1 controls the mobile body 2 to move the mobile body 2 from a first point to a second point within a predetermined area A0, for example. In this case, for example, the group control server 4 included in the mobile object control system 1 obtains information necessary for controlling the mobile object 2, such as a travel route from a first point to a second point, and instructs the mobile object 2 to move. By giving , the mobile body 2 is moved from the first point to the second point. Thereby, the mobile object 2 can move within the predetermined area A0 according to instructions from the group control server 4.

As shown in FIG. 2, the mobile control system 1 includes a control section 41, a node generation section 42, and a replacement node setting section 43.

The control unit 41 controls the plurality of moving bodies 2 moving within the predetermined area A0.

The node generation unit 42 generates a plurality of nodes capable of controlling a plurality of moving bodies 2, for example, at arbitrary positions on the map M0 (see FIGS. 3 and 9) corresponding to the predetermined area A0.

The replacement node setting unit 43 sets at least one node among the plurality of nodes as the replacement node Nc.

The control unit 41 moves the first mobile body 2A, which has been completely charged by the automatic charging device 3, out of the plurality of mobile bodies 2 from the automatic charging device 3 to the replacement node Nc. Further, the control unit 41 moves the second moving body 2B waiting in the waiting area As among the plurality of moving bodies 2 from the waiting area As to the automatic charging device 3.

A “node” in the present disclosure is a control point that allows the mobile body control system 1 to control the mobile body 2 . In other words, the mobile object control system 1 is capable of controlling the movement of the mobile object 2 on a node-by-node basis. The node is a control point that can control at least one of the moving speed and traveling direction of the moving body 2. The control of "moving speed" in the present disclosure includes "starting" to accelerate the moving body 2 whose moving speed is zero (0), and "stopping" to decelerate the moving speed of the moving moving body 2 to zero (0). "including. The mobile object control system 1 controls operations such as stopping or changing the traveling direction (including turning) of the mobile object 2 located at a position corresponding to a node in a predetermined area A0. Therefore, for example, in the predetermined area A0, for a mobile object 2 that is moving between a pair of points (first point and second point) corresponding to a pair of nodes, and is not at a position corresponding to either node, , the mobile object control system 1 cannot perform controls such as stopping or changing the direction of travel. In other words, in order for the mobile object control system 1 to perform control such as stopping or changing the traveling direction of the mobile object 2 located at a certain point, a node corresponding to this point needs to be set.

In this embodiment, each node is associated with a rectangular area having a certain size in the predetermined area A0. That is, in the predetermined area A0, the points corresponding to each node are not represented by "points" but by "rectangular areas" having a certain size. Therefore, in the predetermined area A0, when a part or the center point of the mobile body 2 is located within a rectangular area corresponding to a certain node, the mobile body control system 1 determines that the mobile body 2 is present at the position corresponding to this node. judge that it is.

In this way, the mobile body control system 1 controls the mobile body 2 on a node-by-node basis, so that the mobile body 2 basically moves on a route set between a pair of nodes. For example, when moving the mobile object 2 from a first point to a second point, at least a first node is set at the first point, a second node is set at the second point, and a setting is made between these first and second nodes. The moving body 2 moves from the first point to the second point along the route.

As an example, assume that the mobile body control system 1 of this embodiment controls two mobile bodies 2 (first mobile body 2A, second mobile body 2B). In this case, in the mobile body control system 1, when charging of the first mobile body 2A by the automatic charging device 3 is completed, the control unit 41 moves the first mobile body 2A from the automatic charging device 3 to the replacement node Nc. Thereafter, when a predetermined condition is satisfied, such as the first mobile body 2A reaching the replacement node Nc, the control unit 41 automatically charges the second mobile body 2B waiting in the waiting area As from the waiting area As. Move to device 3. That is, according to the mobile object control system 1 of this embodiment, after charging, the first mobile object 2A temporarily stands by at the replacement node Nc, which is at least one node among the plurality of nodes. Therefore, there is no need to provide a dedicated standby area for the first moving body 2A to wait after charging, separate from the standby area (standby area As) where the second moving body 2B waits before charging. Therefore, the number of dedicated waiting areas for the moving objects 2 to wait may be the number of moving objects 2 minus the number of automatic charging devices 3, and there is no need to provide waiting areas for the number of moving objects 2. . Therefore, according to the mobile object control system 1 of this embodiment, the number of waiting areas for the mobile objects 2 can be reduced.

(2) Details (2.1) Overall configuration The configurations of the mobile object control system 1 and the design support system 10 according to the present embodiment will be explained in detail below with reference to FIGS. 1 to 3, 9, and 10. explain. Note that the numerical values, shapes, positions of constituent elements, positional relationships and connection relationships between a plurality of constituent elements, etc. shown below are examples, and do not limit the present disclosure. Further, the drawings referred to below are all schematic diagrams, and the size and length of each component in the drawings do not necessarily reflect actual dimensions.

Below, the case where the mobile object 2 is a wheel-type automatic guided vehicle (AGV: Automated Guided Vehicle) is demonstrated as an example. The moving body 2 transports the object while moving within the predetermined area A0. In this embodiment, the conveyed object is, for example, a pallet such as a roll box pallet on which cargo is placed.

The predetermined area A0 is a space in which a plurality of moving objects 2 are arranged, and the moving objects 2 move within the predetermined area A0 in response to instructions from the group control server 4. The predetermined area A0 is, for example, a warehouse, a factory, a construction site, a store (including a shopping mall), a distribution center, an office, a park, a residence, a school, a hospital, a station, an airport, or a parking lot. Furthermore, for example, when the mobile object 2 is placed inside a vehicle such as a ship, a train, or an airplane, the interior of the vehicle becomes the predetermined area A0. In this embodiment, a case where the predetermined area A0 is a distribution warehouse will be described as an example. Hereinafter, the configurations of the mobile object control system 1 and the design support system 10 will be described using a first predetermined area A1 (see FIG. 1, etc.) and a second predetermined area A2 (see FIG. 10, etc.) as the predetermined area A0. Note that the plan view representing the first predetermined area A1 and the second predetermined area A2 shows a part of each area.

The design support system 10 includes a mobile object control system 1 and a route creation tool 5, as shown in FIG. Further, the design support system 10 further includes an information terminal 6. Note that it is not an essential configuration that the design support system 10 includes the information terminal 6, and the route creation tool 5 may have the function of the information terminal 6.

As shown in FIG. 2, the mobile object control system 1 includes a group control server 4 and, for example, two mobile objects 2 (first mobile object 2A, second mobile object 2B).

The group control server 4 is installed, for example, outside the predetermined area A0, and is communicably connected to each of the route creation tool 5, the first mobile body 2A, the second mobile body 2B, and the information terminal 6. Note that in the present disclosure, "communicatable" means that information can be exchanged directly or indirectly via the network NT1 by an appropriate communication method such as wired communication or wireless communication. That is, the group control server 4, route creation tool 5, first mobile body 2A, second mobile body 2B, and information terminal 6 can exchange information with each other.

In this embodiment, as an example, communication between the group control server 4 and each of the route creation tool 5, the first mobile body 2A, the second mobile body 2B, and the information terminal 6 includes wireless communication via the network NT1. Adopt. The communication method of wireless communication is, for example, a communication method compliant with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low power wireless that does not require a license (specified low power wireless). will be adopted. Further, the network NT1 is not limited to the Internet, but may be a local communication network within the predetermined area A0 or within the operating company of the predetermined area A0, for example.

The group control server 4 includes a processing section 40, a first storage section 46, and a first communication section 47.

The processing unit 40 has, for example, a main configuration of a computer system including a memory and a processor. That is, the functions of the processing unit 40 are realized by the processor executing a program stored in the memory of the computer system. The program may be stored in advance in a memory, provided through a telecommunications line such as the Internet, or provided stored in a non-transitory storage medium such as a memory card.

The processing unit 40 includes functions such as a control unit 41, a node generation unit 42, a path generation unit 44, and a replacement node setting unit 43. Furthermore, the processing section 40 further includes a display control section 45 that causes the map M0 to be displayed on the display section. Note that these merely indicate the functions realized by the processing unit 40, and do not necessarily indicate the actual configuration.

The control unit 41 controls the first moving body 2A and the second moving body 2B that move within the predetermined area A0. Specifically, the control unit 41 controls the transport operation of the conveyed object by the first moving body 2A and the second moving body 2B, and the charging operation of the first moving body 2A and the second moving body 2B. The charging operation of the first moving body 2A and the second moving body 2B will be described in detail in "(2.2) Operation".

The display control unit 45 displays a setting screen D1 (see FIG. 3) including a map M0 corresponding to the predetermined area A0. More specifically, the display control unit 45 transmits and receives information to and from the route creation tool 5 using the first communication unit 47, and displays the setting screen D1 on the first display unit 51 of the route creation tool 5, for example. let Further, the display control unit 45 transmits and receives information to and from the information terminal 6 using the first communication unit 47, and causes the second display unit 61 of the information terminal 6 to display the setting screen D1, for example.

As shown in FIG. 3 and the like, the map M0 included in the setting screen D1 includes a first axis Ax and a second axis Ay that are orthogonal to each other. The map M0 includes a plan view of the predetermined area A0 and grid lines Gr1 displayed superimposed on the map data. The grid lines Gr1 are arranged parallel to each of the first axis Ax and the second axis Ay at substantially constant intervals. In other words, the map M0 constitutes a grid map divided into a plurality of squares arranged in a grid pattern by the grid lines Gr1. It is preferable that the squares in the map M0 have a square shape with a size that corresponds to the width of the moving body 2 with respect to the moving direction of the moving body 2 in the predetermined area A0. It is formed into a corresponding square shape with a length of 60 cm and a width of 60 cm.

The node generation unit 42 generates a plurality of nodes capable of controlling a plurality of moving bodies 2 at arbitrary positions on the map M0 corresponding to the predetermined area A0. Note that the "arbitrary position on the map M0" herein refers to, for example, an arbitrary square on the map M0. Note that in the following description, for the sake of simplicity, a square area corresponding to each node in the predetermined area A0 may also be expressed as a "node."

Specifically, the user operates, for example, the first operation unit 52 of the route creation tool 5 to specify a square that he wants to be a node on the map M0 on the setting screen D1. At this time, the first operation unit 52 outputs an operation signal according to the user's operation to specify the grid. The node generation unit 42 generates a node capable of controlling the mobile body 2 in a designated square in the map M0 according to this operation signal.

For example, as shown in FIG. 3, the node generation unit 42 generates a plurality of nodes including nodes N1 to N6 in the map M1, which is the map M0 corresponding to the first predetermined area A1.

Further, as shown in FIG. 9, the node generation unit 42 generates a plurality of nodes including nodes N7 to N12 in the map M2, which is the map M0 corresponding to the second predetermined area A2.

The path generation unit 44 generates a path between a pair of nodes among the plurality of nodes generated by the node generation unit 42. A "path" in the present disclosure defines a movement route along which the moving body 2 moves in the predetermined area A0. That is, the control unit 41 moves the moving body 2 along a route corresponding to the path in the predetermined area A0. In other words, the path generation unit 44 generates a path between a pair of nodes that defines the movement route of the mobile object 2. In this embodiment, it is assumed that moving objects 2 are prohibited from passing each other on the route corresponding to the path. Note that in the following description, for the purpose of simplifying the description, a route corresponding to a path in the predetermined area A0 may also be expressed as a "path."

Specifically, the user operates the first operation unit 52 of the route creation tool 5 to select an arbitrary pair of nodes on the map M0 on the setting screen D1. At this time, the first operation unit 52 outputs an operation signal corresponding to the user's operation to select the pair of nodes. The path generation unit 44 generates a path between the selected pair of nodes according to this operation signal.

For example, as shown in FIG. 3, the path generation unit 44 generates a plurality of paths including paths P1 to P5 in the map M1 corresponding to the first predetermined area A1. Path P1 is a path generated between node N1 and node N2, path P2 is a path generated between node N2 and node N3, and path P3 is generated between node N3 and node N4. Path P4 is a path generated between node N2 and node N5, and path P5 is a path generated between node N5 and node N6.

Further, as shown in FIG. 9, the path generation unit 44 generates a plurality of paths including paths P6 to P11 in the map M2 corresponding to the second predetermined area A2. Path P6 is a path generated between node N7 and node N8, path P7 is a path generated between node N8 and node N9, and path P8 is generated between node N9 and node N10. Path P9 is a path generated between node N10 and node N11, path P10 is a path generated between node N10 and node N12, and path P11 is a path generated between node N12 and node N8. This is the path generated.

Here, the user can select the attribute of the path to be set on the map M0. Path attributes include at least bidirectional and unidirectional (unidirectional). The bidirectional path is a path that allows the moving body 2 to move in both directions, that is, allows the moving body 2 to travel back and forth. A unidirectional path is a path that only allows the moving body 2 to move in one direction, that is, prohibits the moving body 2 from reciprocating. As an example, the user operates the first operation unit 52 of the route creation tool 5 to display the pull-down menu on the setting screen D1, and selects a path attribute on the pull-down menu. The attributes of the path are displayed as "arrows" within the path on the setting screen D1. As an example, paths P1 to P5 on map M1 are bidirectional paths.

The replacement node setting unit 43 sets at least one node among the plurality of nodes including the nodes N1 to N6 as the replacement node Nc. The replacement node is a node where the mobile object 2 that has been completely charged by the automatic charging device 3 waits.

The replacement node Nc and the setting operation of the replacement node Nc by the replacement node setting unit 43 will be described in detail in "(2.2) Operation".

The first storage unit 46 is realized, for example, by a non-temporary recording medium such as a rewritable nonvolatile semiconductor memory. Note that the first storage unit 46 is not limited to a configuration that is incorporated into the group control server 4, and may exist, for example, in a cloud (cloud computing) that the group control server 4 can access.

The first storage unit 46 stores, for example, map information regarding the map M0 of the predetermined area A0, route information regarding the movement route of each mobile object 2, mobile object information regarding each mobile object 2, and the like.

The first communication unit 47 communicates with the mobile body 2 indirectly via the network NT1 and the relay device 7. The relay device 7 is provided, for example, on the ceiling within the predetermined area A0.

The first communication unit 47 indirectly communicates with the route creation tool 5 and the information terminal 6 via the network NT1.

The moving body 2 autonomously travels on a flat moving surface G1 made of, for example, the floor of a predetermined area A0.

The mobile body 2 includes a control section 21 , a second communication section 22 , a second storage section 23 , a traveling device 24 , a charge/discharge circuit 25 , a power storage section 26 , and a detection section 27 .

The second communication unit 22 communicates with the group control server 4 via the relay device 7 and the communication network NT1. Here, the second communication unit 22 communicates with the relay device 7 using, for example, a wireless communication method.

The traveling device 24 causes the mobile body 2 to travel by driving a plurality of wheels provided on the mobile body 2 . At least some of the plurality of wheels are drive wheels. The drive wheels are, for example, omnidirectional wheels such as omni wheels. Note that the driving wheels are not limited to omnidirectional wheels, but may be unidirectional wheels. The traveling device 24 causes the moving body 2 to travel by driving drive wheels based on control commands input from the control unit 21 .

The power storage unit 26 is, for example, a secondary battery such as a lithium-ion battery, a nickel-metal hydride battery, or a lead-acid battery.

Charge/discharge circuit 25 controls charging to power storage unit 26 and discharging from power storage unit 26 .

The charging/discharging circuit 25 stores electrical energy supplied from the automatic charging device 3 in the power storage unit 26 while the mobile body 2 is connected to the automatic charging device 3 . The power storage unit 26 is charged by, for example, connecting the charging/discharging circuit 25 and the automatic charging device 3 via a power receiving connection unit (not shown) included in the mobile body 2 . Note that charging of power storage unit 26 by automatic charging device 3 may be performed by wireless charging.

Further, the charging/discharging circuit 25 supplies electric power to the control unit 21 , the second communication unit 22 , and the traveling device 24 by discharging electrical energy from the power storage unit 26 . That is, the mobile body 2 uses the electrical energy stored in the power storage unit 26 to travel and perform work.

The detection unit 27 includes a detection sensor 272 and a position detection unit 271, as shown in FIG.

The detection sensor 272 detects the operating state of the moving body 2, the surrounding situation of the moving body 2, and the like.

The operating state of the movable body 2 includes the remaining amount of the power storage unit 26 of the movable body 2, a state indicating whether the movable body 2 is running or stopped, the speed (and speed change) of the movable body 2, and the effects that act on the movable body 2. It may include the acceleration, the attitude of the moving body 2, and the like.

The detection sensor 272 includes, for example, a speed sensor (rotary encoder, etc.), an acceleration sensor, a gyro sensor, and other sensors, and detects the operating state of the moving body 2 using these sensors. Further, the detection sensor 272 includes, for example, an image sensor (camera), a sonar sensor, a radar, a LiDAR (Light Detection and Ranging), and other sensors, and detects the surrounding situation of the moving body 2 using these sensors. The surrounding situation of the moving body 2 includes, for example, the presence or absence of an object (such as an obstacle) existing in front of the moving direction of the moving body 2, the position (distance and direction) of the object, and the like. Obstacles include other moving objects 2 and people.

The position detection unit 271 detects current position information regarding the current position of the mobile object 2 within the predetermined area A0.

The position detection unit 271 estimates the current position of the mobile body 2 from the surrounding situation of the mobile body 2 detected by the detection sensor 272 and the map information regarding the map M0 of the predetermined area A0 stored in the first storage unit 46. Note that the position detection unit 271 may include, for example, a receiver that receives beacon signals transmitted by radio waves from a plurality of transmitters. In this case, the plurality of transmitters are arranged, for example, at a plurality of locations within the predetermined area A0, and the position detection unit 271 detects the movement based on the positions of the plurality of transmitters and the received radio field strength of the beacon signal at the receiver. The current position of the body 2 is measured. Note that the position detection unit 271 may be realized using a satellite positioning system such as GPS (Global Positioning System).

The mobile object 2 periodically transmits information on the current position detected by the position detection unit 271 from the second communication unit 22 to the group control server 4 at predetermined transmission time intervals (for example, every 1 second).

The second storage unit 23 is realized, for example, by a non-temporary recording medium such as a rewritable nonvolatile semiconductor memory. The second storage unit 23 stores information such as work instruction information acquired from the group control server 4 and detection results of the detection unit 27, for example.

The main configuration of the control unit 21 is, for example, a computer system including a memory and a processor. That is, the functions of the control unit 21 are realized by the processor executing a program stored in the memory of the computer system. The program may be stored in advance in a memory, provided through a telecommunications line such as the Internet, or provided stored in a non-transitory storage medium such as a memory card.

When the control unit 21 receives a work instruction for instructing a work from the group control server 4, for example, the control unit 21 performs a process based on the detection results such as the current position information detected by the detection unit 27, the operating state of the surrounding moving objects 2, and the surrounding situation. Then, the traveling device 24 is controlled to cause the mobile body 2 to travel autonomously. The control unit 21 causes the moving body 2 to carry out the work instructed by the group control server 4 by controlling the traveling of the moving body 2 .

The route creation tool 5 includes a display section (first display section) 51 and an operation section (first operation section) 52. The route creation tool 5 also includes a third communication section 53, a third storage section 54, and a route creation section 55. The route creation tool 5 is, for example, an information terminal such as a personal computer.

In this embodiment, the first display unit 51 displays a screen for presenting information to the user, such as a setting screen D1, as an example. The “screen” in the present disclosure is an image (image, etc.) displayed on the first display unit 51. The first display unit 51 is realized by, for example, an image display device such as a liquid crystal display or an organic EL (Electro Luminescence) display.

The first operation unit 52 has a function of accepting operations from a person (user). In this embodiment, the first operation unit 52 is realized by, for example, a pointing device such as a mouse, a keyboard, a mechanical switch, or a combination thereof.

By operating the first operation unit 52, the user can input information such as the source and destination of the transported object of the moving body 2. Further, by operating the first operation unit 52, the user can perform selection operations, change operations, etc. regarding nodes and paths on the setting screen D1 displayed on the first display unit 51. Note that the design support system 10 allows selection operations and changes regarding nodes and paths on the setting screen D1 displayed on the second display section 61 of the information terminal 6 by the user operating the second operation section 62 of the information terminal 6. It may be configured so that operations etc. can be performed.

The third communication unit 53 communicates with the group control server 4 via the network NT1. Here, the route creation tool 5 is connected to the network NT1 via a router or the like, for example, by wireless communication using radio waves as a medium. Note that the communication method of the third communication unit 53 is not limited to wireless communication, and may be wired communication.

The third storage unit 54 is realized, for example, by a non-temporary recording medium such as a rewritable nonvolatile semiconductor memory.

The route creation unit 55 uses the map information of the predetermined area A0 stored in the third storage unit 54 and the information such as the origin and destination of the transported object of the mobile body 2 inputted by the user through the first operation unit 52. Based on this, a travel route for the mobile object 2 is created. The route creation unit 55 stores route information of the driving route in the third storage unit 54. The route creation unit 55 also communicates with the group control server 4 and stores travel route information (route information) also in the first storage unit 46 of the group control server 4 .

The route creation section 55 outputs the created travel route to the first display section 51. Thereby, the user can visually confirm the travel route of the mobile object 2.

The information terminal 6 is a terminal that has a function of accepting user operations and a function of presenting (displaying) information to the user.

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

The information terminal 6 includes a fourth communication section 63, a second display section 61, and a second operation section 62.

The fourth communication unit 63 communicates with the group control server 4 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.

In this embodiment, the second display unit 61 displays a screen for presenting information to the user, such as a setting screen D1, as an example. Note that the information that the second display unit 61 presents to the user may include, for example, information regarding the traveling state of the mobile body 2 and information regarding the transport task of the mobile body 2, in addition to the setting screen D1.

The second display unit 61 is realized by, for example, an image display device such as a liquid crystal display or an organic EL (Electro Luminescence) display.

The second operation unit 62 has a function of accepting operations from a person (user). In this embodiment, the second operation unit 62 is realized by, for example, a pointing device such as a mouse, a keyboard, a mechanical switch, or a combination thereof. Further, when the information terminal 6 is equipped with a touch panel display, the touch panel display may function as the second display section 61 and the second operation section 62. In this case, when the second operation unit 62 detects an operation (tap, swipe, drag, etc.) of an object such as a button on each screen displayed on the second display unit 61, the information terminal 6 It is determined that the object has been manipulated.

(2.2) Operation
Hereinafter, the setting operation of the replacement node Nc by the replacement node setting unit 43 in the mobile object control system 1 and the design support system 10 and the charging operation of the first mobile object 2A and the second mobile object 2B according to the present embodiment will be explained in the figure. This will be explained in detail with reference to FIGS. 1 to 14.

(2.2.1) Replacement Node Setting Operation in First Predetermined Area The following describes the replacement node setting operation in the first predetermined area A1 with reference to FIG. 3 and FIG. 4 which is a flowchart.

As shown in FIG. 1, in the first predetermined area A1, an automatic charging device 3 for charging each power storage unit 26 of the first moving body 2A and the second moving body 2B is installed. Further, on the moving surface G1 of the first predetermined area A1, a charging area Ac for stopping the moving body 2 to be charged is provided in a range including the automatic charging device 3. Further, on the movement surface G1 of the first predetermined area A1, a standby area As is provided where the moving body 2 waits before being charged. Note that the standby area As is also an area where the mobile body 2 that has completed charging waits until it receives a command for transport work.

As shown in FIG. 3, nodes N1 to N6 and paths P1 to P5 are generated on the map M1 corresponding to the first predetermined area A1. As mentioned above, paths P1 to P5 are bidirectional paths. Here, the node N1 is a node corresponding to the charging area Ac, and is a node where the mobile object 2 being charged is present. That is, in the first predetermined area A1, when a part or the center point of the mobile body 2 is located within the rectangular area corresponding to the node N1, the mobile body control system 1 determines that the mobile body 2 is present in the charging area Ac. It is determined that Further, the node N4 is a node corresponding to the standby area As. That is, in the first predetermined area A1, when a part or the center point of the mobile body 2 is located within the rectangular area corresponding to the node N4, the mobile body control system 1 determines that the mobile body 2 is present in the waiting area As. It is determined that Furthermore, since the node N2 is a charging standby node NCw that waits for a predetermined period of time before the mobile object 2 performs charging, the charging standby node NCw is not set as the replacement node NC.

The replacement node setting unit 43 sets nodes N1, P1, N2, P2, N3, P3, and The attributes set for each of the paths P1 to P3 of the node N4 are confirmed (step ST1).

The replacement node setting unit 43 checks whether the charging route includes only bidirectional paths based on the confirmation result of the attributes of paths P1 to P3 (step ST2).

In this embodiment, as described above, the attributes of paths P1 to P3 are all bidirectional. That is, the charging route in the first predetermined area A1 includes only the first route that allows the moving body 2 to pass in both directions (step ST2: YES).

In this case, the replacement node setting unit 43 selects nodes N5 and N6, which are not included in the charging route, as candidates for the replacement node Nc from among the nodes N1 to N5 (step ST3).

Next, the replacement node setting unit 43 sets the node N5 closest to the automatic charging device 3, that is, the node N5 closest to the charging area Ac (node N1) among the nodes N5 and N6 selected as candidates, as the replacement node Nc (step ST4).

Here, in the first predetermined area A1, the distance from the node N5 to the automatic charging device 3 is shorter than the distance from the node N5 to the standby area As. In this case, when the average moving speed of the mobile body 2 on each path is approximately equal, the time required for the mobile body 2 to move from the automatic charging device 3 to the replacement node Nc (node N5) is It is shorter than the time required to move from node Nc to standby area As.

As shown in FIG. 3, the node N5 set as the replacement node Nc is displayed in a manner different from other nodes on the map M1 displayed on the first display section 51. For example, the replacement node Nc may be displayed with different brightness, color, and shape from other nodes.

The replacement node setting unit 43 stores information regarding the set replacement node Nc in, for example, the first storage unit 46.

(2.2.2) Charging operation in the first predetermined area Next, the charging operation of the first mobile body 2A and the second mobile body 2B in the first predetermined area A1 will be described with reference to FIGS. 1, 5 to 7, and the flowchart. This will be explained with reference to FIG.

Note that, as shown in FIG. 1, as an initial state of the first mobile body 2A and the second mobile body 2B, the first mobile body 2A is charged by the automatic charging device 3 in the charging area Ac, and the second mobile body 2B is charged by the automatic charging device 3 in the charging area Ac. Assume that the computer is waiting in the standby area As.

When charging of the first mobile body 2A by the automatic charging device 3 is completed (step ST11: YES), as shown in FIG. Based on the information regarding Nc, the first mobile body 2A is moved from the charging area Ac (node N1) to the replacement node Nc (step ST12). That is, when the first mobile body 2A completes charging, it moves from the node N1 to the replacement node Nc (node N5) via the path P1, node N2, and path P4 in this order.

When the control unit 41 determines that the first mobile body 2A has deviated from the charging path based on the information on the current position of the first mobile body 2A (step ST13: YES), the control unit 41 starts the second movement as shown in FIG. The body 2B is moved from the standby area As (node N4) to the charging area Ac (node N1) (step ST14). Specifically, when the first mobile body 2A passes the node N2 and starts moving on the path P4, the control unit 41 determines that the first mobile body 2A has deviated from the charging route. The second mobile body 2B moves from node N4 to charging area Ac (node N1) via path P3, node N3, path P2, node N2, and path P1 in this order. When the second mobile body 2B reaches the charging area Ac, the automatic charging device 3 starts charging the second mobile body 2B.

After the first mobile body 2A arrives at the replacement node Nc, the control unit 41 determines whether the waiting area As is vacant based on the information on the current position of the second mobile body 2B (step ST15). That is, it is determined whether or not the second mobile body 2B exists in the standby area As.

When the control unit 41 determines that the standby area As is vacant, it moves the first mobile body 2A from the replacement node Nc to the standby area As, as shown in FIG. 7 (step ST16). Specifically, the first mobile body 2A moves from the replacement node Nc (node N5) to the standby area As (node N4) via path P4, node N2, path P2, node N3, and path P3 in this order. do.

In addition to determining whether the standby area As is vacant, the control unit 41 also determines whether the second mobile body 2B has deviated from the route (return route) from the replacement node Nc to the standby area As. You may do so. In this case, when the standby area As is vacant and the second moving body 2B is off the return route, the control unit 41 moves the first moving body 2A from the replacement node Nc to the waiting area As. Good too. Here, in the first predetermined area A1, the return route is, for example, a route from node N5 to node N4 via path P4, node N2, path P2, node N3, and path P3 in this order.

Furthermore, even if the first mobile body 2A is on its way from the charging area Ac to the replacement node Nc, the control unit 41 determines the destination of the first mobile body 2A when it determines that the standby area As is vacant. The replacement node Nc may be changed to the standby area As.

(2.2.3) Replacement node setting operation in the second predetermined area The following describes the setting operation of the replacement node Nc in the second predetermined area A2 where a node and path different from the first predetermined area A1 are set. This will be explained with reference to FIG. 4, which is a flowchart. Note that parts in the second predetermined area A2 that are common to the first predetermined area A1 are given the same reference numerals, and description thereof will be omitted as appropriate.

As shown in FIG. 9, nodes N7 to N12 and paths P6 to P11 are generated on the map M2 corresponding to the second predetermined area A2.

Node N7 is a node corresponding to charging area Ac, and node N11 is a node corresponding to standby area As. Further, the node N8 is a charging standby node NCw.

Path P6 and path P9 are paths that allow bidirectional movement.

Path P7 is a one-way path that only allows movement in the direction from node N8 to node N9. Path P8 is a one-way path that only allows movement in the direction from node N9 to node N10. That is, paths P7 and P8 are paths that only allow movement in the direction from charging area Ac to standby area As.

Path P10 is a one-way path that only allows movement in the direction from node N10 to node N12. Path P11 is a one-way path that only allows movement in the direction from node N12 to node N8. That is, paths P10 and P11 are unidirectional paths that only allow movement in the direction from standby area As toward charging area Ac.

The replacement node setting unit 43 replaces node N7, path P6, node N8, path P7, node N9, path P8, node N10, path P9, and node N11 among the charging routes between charging area Ac and standby area As. The attributes set for each of the paths P6 to P9 among the included first charging paths are confirmed (step ST1). In addition, the replacement node setting unit 43 selects node N11, path P9, node N10, path P10, node N12, path P11, node N8, path P6, and node among the charging routes between standby area As and charging area Ac. The attributes set for each of paths P9 to P11 and P6 of the second charging path including N7 are confirmed (step ST1). Note that the first charging route and the second charging route share a path P6, nodes N7 and N8 which are nodes at both ends of the path P6, and nodes N10 and N11 which are nodes at both ends of the path P9 and path P9. include.

The replacement node setting unit 43 checks whether the first charging route and the second charging route include only bidirectional paths based on the confirmation result of the attributes of the paths P6 to P11 (step ST2).

In this embodiment, as described above, paths P6 and P9 are bidirectional paths. Furthermore, paths P7 and P8 are paths that only allow movement in the direction from charging area Ac to standby area As, and paths P10 and P11 are paths that only allow movement in the direction from standby area As to charging area Ac. This is a one-way path that is allowed.

That is, the first charging route and the second charging route in the second predetermined area A2 include routes other than the first route that the mobile object 2 can pass in both directions (step ST2: NO). Specifically, the first charging route includes the first route and a second route (corresponding to node N8, path P7, node N9, path P8, and node N10) that can be passed only in the direction from charging area Ac to waiting area As. ) and including. Further, the second charging route includes the first route and a third route (corresponding to node N10, path P10, node N12, path P11, and node N8) that is passable only in the direction from standby area As to charging area Ac. .

In this case, the replacement node setting unit 43 sets a node located on the second route among the plurality of nodes in the second predetermined area A2 as the replacement node Nc. Details of the setting operation of the replacement node Nc in the second predetermined area A2 will be described below.

The replacement node setting unit 43 sets the path closest to the standby area As, excluding the bidirectional path, as a candidate path (step ST5). In the second predetermined area A2, the candidate paths are, for example, path P8 and path P10.

Next, replacement node setting section 43 sets, among the candidate paths, a path included in the first charging route from charging area Ac to standby area As as a selected path (step ST6). In the second predetermined area A2, the selected path is, for example, path P8.

Next, the replacement node setting unit 43 replaces the node (for example, node N9) on the charging area Ac (automatic charging device 3) side of the pair of nodes (for example, node N9 and node N10) at both ends of the selection path with the node Nc. (step ST7).

Here, in the second predetermined area A2, as shown in FIG. 9, the distance from the node N9 to the standby area As is shorter than the distance from the automatic charging device 3 to the node N9. In this case, when the average moving speed of the moving object 2 on each path is approximately equal, the time required for the moving object 2 to move from the replacement node Nc (node N9) to the standby area As is This is shorter than the time required to move from the device 3 to the replacement node Nc.

(2.2.4) Charging operation in the second predetermined area Regarding the charging operation of the first mobile body 2A and the second mobile body 2B in the second predetermined area A2, see FIGS. 10 to 13 and the flowchart of FIG. 14. and explain.

Note that, as shown in FIG. 10, as an initial state of the first moving body 2A and the second moving body 2B, the first moving body 2A is being charged by the automatic charging device 3 in the charging area Ac, and the second moving body 2B is being charged by the automatic charging device 3 in the charging area Ac. Assume that the computer is waiting in the standby area As.

When charging of the first mobile body 2A by the automatic charging device 3 is completed (step ST21: YES), as shown in FIG. 11, the control unit 41 charges the first mobile body 2A along the first charging path. It is moved from area Ac (node N7) to replacement node Nc (node N9) (step ST22). That is, when the first mobile body 2A completes charging, it moves from node N7 to replacement node Nc (node N9) via path P6, node N8, and path P7 in this order.

When the control unit 41 determines that the first mobile body 2A has deviated from the second charging route based on the information on the current position of the first mobile body 2A (step ST23: YES), as shown in FIG. The second mobile body 2B is moved from the standby area As (node N11) to the charging area Ac (node N7) along the second charging route (step ST24). Specifically, when the first mobile body 2A passes the node N8 and starts moving on the path P7, the control unit 41 determines that the first mobile body 2A has deviated from the second charging route. The second mobile body 2B moves from node N11 to node N7 via path P9, node N10, path P10, node N12, path P11, node N8, and path P6 in this order. When the second mobile body 2B reaches the node N7, the automatic charging device 3 starts charging the second mobile body 2B.

After the first mobile body 2A arrives at the replacement node Nc, the control unit 41 determines whether the waiting area As is vacant based on the information on the current position of the second mobile body 2B (step ST25). That is, it is determined whether or not the second mobile body 2B exists in the standby area As.

When the control unit 41 determines that the standby area As is vacant, it moves the first mobile body 2A from the replacement node Nc to the standby area As along the first charging route (step ST26). Specifically, the first mobile body 2A moves from the replacement node Nc to the standby area As (node N11) via the path P8, node N10, and path P9 in this order.

Note that even if the first mobile body 2A is on the way from the charging area Ac to the replacement node Nc along the first charging route, if the control unit 41 determines that the waiting area As is vacant, the first mobile body 2A The destination of the mobile body 2A may be changed from the replacement node Nc to the standby area As.

(3) Advantages As explained above, in a predetermined area A0 such as the first predetermined area A1 and the second predetermined area A2, the first mobile body 2A that has completed charging charges the replacement node Nc temporarily on standby. By setting it outside the route, the number of waiting areas As for mobile bodies 2 to wait can be reduced by the number of automatic charging devices 3 than the number of mobile bodies 2 (two in this embodiment). 1 location). Here, for example, if the number of the plurality of moving bodies 2 included in the mobile body control system 1 is three, the same operation as described above is possible by setting the number of waiting areas As to two.

(4) Modifications The above embodiment is just one of various embodiments of the present disclosure. The embodiments described above can be modified in various ways depending on the design, etc., as long as the objective of the present disclosure can be achieved. Further, functions similar to those of the mobile object control system 1 may be realized by a mobile object control method, a computer program, or a non-temporary recording medium on which the program is recorded.

The mobile object control method according to the above embodiment includes a control step, a node generation step, and a replacement node setting step. In the control step, a plurality of moving bodies 2 moving within the predetermined area A0 are controlled. In the node generation step, a plurality of nodes capable of controlling a plurality of moving bodies 2 are generated at arbitrary positions on the map M0 corresponding to the predetermined area A0. In the replacement node setting step, at least one node among the plurality of nodes is set as the replacement node Nc. In the control step, the first mobile body 2A among the plurality of mobile bodies 2 that has been completely charged by the automatic charging device 3 is moved from the automatic charging device 3 to the replacement node Nc, and the first mobile body 2A among the plurality of mobile bodies 2 is moved to the waiting area As. The second moving body 2B on standby is moved from the standby area As to the automatic charging device 3. Further, the (computer) program according to the above embodiment is a program for causing a computer system to execute the above-described transport control method.

Modifications of the above embodiment will be listed below. The modified examples described below can be applied in combination as appropriate. However, the same reference numerals are given to the same components as those of the mobile object control system 1 of the above embodiment, and the description thereof will be omitted as appropriate. Moreover, each structure of the modified example explained below can be applied in appropriate combination with each structure explained in the above embodiment.

(4.1) Modification example 1
The replacement node setting unit 43 determines whether, among the return routes from the first node selected as the replacement node Nc to the standby area As, the distance of the route (first return route) corresponding to the path adjacent to the replacement node Nc is less than a predetermined value. If the second node is also long, a second node may be generated at the dividing point on the first return path, and the second node may be set as the replacement node Nc.

The resetting operation of the new replacement node Nc in the first predetermined area A1 will be described below with reference to FIG. 15 and FIG. 16 which is a flowchart.

For example, in the first predetermined area A1, the first return route connects the first node (node N5) selected as the replacement node Nc and the nearest node of the automatic charging device 3 among the plurality of nodes in the first predetermined area A1. (Node N2) This is the route corresponding to the path P4.

After setting the replacement node Nc (node N5), the replacement node setting unit 43 determines whether the distance of the path P4 corresponding to the first return route is longer than a predetermined value (step ST31). Note that the distance and predetermined value of the path P4 are recorded, for example, in the first storage unit 46 of the group control server 4.

If the distance of the path P4 is longer than the predetermined value (step ST31: YES), the replacement node setting unit 43 places a second node at the dividing point DP on the path P4 that bisects the path P4, for example, as shown in FIG. and sets the second node as the replacement node Nc1 (step ST32). Note that when the distance of the path P4 is less than a predetermined value, the replacement node setting unit 43 leaves the replacement node Nc as the first node (node N5).

Thereby, the travel time of the mobile body 2 on the first return route can be shortened.

(4.2) Modification 2
The design support system 10 may be configured so that the user can select the replacement node Nc from a plurality of nodes within the predetermined area A0. A specific procedure for setting the replacement node Nc in this case will be described below with reference to FIG. 17, FIG. 18, and FIG. 19 which is a flowchart. In the following description, a case where the user selects the replacement node Nc in the map M3 corresponding to the third predetermined area will be described as an example.

In the map M3, nodes N13 to N20 and paths P12 to P19 are set.

First, the replacement node setting unit 43 selects nodes N13 to N16 other than the nodes N13 to N20 that are included in the charging path between the node N13 corresponding to the charging area Ac and the node N16 corresponding to the standby area As, for example. Each of nodes N17 to N20 is selected as candidate nodes Np1 to Np4 (step ST41).

Next, as shown in FIG. 17, the display control unit 45 causes the first display unit 51 to display candidate nodes Np1 to Np4, which are candidates for the replacement node Nc, among the nodes N13 to N20 (step ST42). Specifically, the display control unit 45 causes the first display unit 51 to display the candidate nodes Np1 to Np4 in a manner different from that of the nodes N13 to N16. For example, candidate nodes Np1 to Np4 are displayed brighter than nodes N13 to N16. Further, candidate nodes Np1 to Np4 are displayed brighter than squares other than nodes and paths on map M3. In other words, the candidate nodes Np1 to Np4 are displayed brighter than the portions of the map M3 other than the candidate nodes Np1 to Np4. Note that the candidate nodes Np1 to Np4 may be displayed in a different color, shape, etc. from the nodes N13 to N16. This allows the user to easily visually distinguish between the candidate nodes Np1 to Np4 and the nodes N13 to N16.

The user selects a candidate node (for example, candidate node Np4) to be set as the replacement node Nc from among the candidate nodes Np1 to Np4 displayed on the first display section 51 by operating the first operation section 52 such as a mouse. (Step ST43). For example, the user is concerned about candidate nodes Np1 and Np2 facing the worker's passageway and coming into contact with workers, and candidate node Np3 is the farthest from the automatic charging device 3, so The candidate node Np4 is selected because of the long travel time.

When the candidate node Np4 is selected, the display control unit 45 displays the candidate node Np4 brighter than the portion of the map M3 other than the candidate node Np4, as shown in FIG.

When the candidate node Np4 is selected by the user, the replacement node setting unit 43 sets the candidate node Np4 as the replacement node Nc among the candidate nodes Np1 to Np4 (ST44).

This allows the user to select the optimal replacement node Nc according to the situation in the predetermined area A0.

(4.3) Other Modifications At least part of the functions of the route creation tool 5 may be realized by the processing unit 40 of the group control server 4.

At least part of the functions of the group control server 4 may be realized by the route creation tool 5. For example, the route creation unit 55 may perform the operation of setting the replacement node Nc described in "(2.2) Operation".

The mobile object control system 1 and the design support system 10 in the present disclosure include a computer system. A computer system mainly consists of a processor and a memory as hardware. The functions of the mobile object control system 1 and the design support system 10 in the present disclosure are realized by a processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, or may be recorded on a non-transitory storage medium readable by the computer system, such as a memory card, optical disc, hard disk drive, etc. may be provided. A processor in a computer system is comprised of one or more electronic circuits including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). The integrated circuits such as IC or LSI referred to herein have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, an FPGA (Field-Programmable Gate Array), which is programmed after the LSI is manufactured, or a logic device that can reconfigure the connections inside the LSI or reconfigure the circuit sections inside the LSI, may also be used as a processor. I can do it. The plurality of electronic circuits may be integrated into one chip, or may be provided in a distributed manner over a plurality of chips. A plurality of chips may be integrated into one device, or may be distributed and provided in a plurality of devices. The computer system herein includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

At least some of the functions of the mobile control system 1 and the design support system 10, for example, the functions of the group control server 4, may be realized by a cloud (cloud computing) or the like.

(5) Summary As explained above, the mobile control system (1) of the first aspect includes a control unit (41), a node generation unit (42), and a replacement node setting unit (43). . A control unit (41) controls a plurality of moving bodies (2) moving within a predetermined area (A0). The node generation unit (42) generates a plurality of nodes capable of controlling a plurality of moving objects (2) at arbitrary positions on the map (M0) corresponding to the predetermined area (A0). The replacement node setting unit (43) sets at least one node among the plurality of nodes as a replacement node (Nc). The control unit (41) moves the first mobile body (2A) of the plurality of mobile bodies (2) that has been completely charged by the automatic charging device (3) from the automatic charging device (3) to the replacement node (Nc). The second mobile body (2B) waiting in the standby area (As) among the plurality of mobile bodies (2) is moved from the standby area (As) to the automatic charging device (3).

According to this aspect, since the first mobile body (2A) temporarily waits at the replacement node (Nc) which is at least one node among the plurality of nodes after charging, the first mobile body (2A) There is no need to provide a dedicated standby area for later standby separately from the standby area (As) where the second moving body (2B) waits before charging. Therefore, according to this aspect, the number of waiting areas for mobile bodies (2) can be reduced.

In the mobile object control system (1) of the second aspect, in the first aspect, the control unit (41) moves the first mobile object (2A) from the replacement node (Nc) to the standby area (As).

According to this aspect, after the first mobile object (2A) moves from the replacement node (Nc) to the standby area (As), the other mobile object (2) can move on the replacement node (Nc). .

In the mobile object control system (1) of the third aspect, in the first or second aspect, the number of waiting areas (As) is larger than the number of automatic charging devices (3) than the number of the plurality of mobile objects (2). There are only a few.

According to this aspect, the number of waiting areas (As) for the mobile body (2) can be reduced.

In the mobile control system (1) of the fourth aspect, in any one of the first to third aspects, the route between the standby area (As) and the automatic charging device (3) is the first route. and a second route. The first route is a route that the mobile object (2) can pass in both directions. The second route is a route that the mobile object (2) can travel only in the direction from the automatic charging device (3) to the waiting area (As). The replacement node setting unit (43) sets a node located on the second route among the plurality of nodes as a replacement node (Nc).

According to this aspect, the mobile object (2) moving from the automatic charging device (3) to the replacement node (Nc) along the second route moves from the standby area (As) toward the automatic charging device (3). It is possible to prevent the vehicle from facing another moving body (2) on the same route.

In the mobile object control system (1) of the fifth aspect, in any one of the first to fourth aspects, the mobile object (2) is moved from the automatic charging device (3) to the replacement node (Nc). The time required is shorter than the time required for the mobile object (2) to move from the replacement node (Nc) to the standby area (As).

According to this aspect, the travel time of the mobile body (2) from the automatic charging device (3) to the replacement node (Nc) can be shortened.

In the mobile object control system (1) of the sixth aspect, in any one of the first to fourth aspects, the mobile object (2) has a The time is shorter than the time required for the mobile body (2) to travel from the automatic charging device (3) to the replacement node (Nc).

According to this aspect, the travel time of the mobile body (2) from the replacement node (Nc) to the standby area (As) can be shortened.

In the mobile control system (1) of the seventh aspect, in any one of the first to sixth aspects, the replacement node setting unit (43) selects the first node selected as the replacement node (Nc), If the distance of the route between the automatic charging device (3) among the plurality of nodes and the nearest node is longer than a predetermined value, the first node and the nearest node of the automatic charging device (3) among the plurality of nodes The dividing point (DP) between the node and the node is set as the replacement node (Nc1).

According to this aspect, the travel time of the mobile body (2) to the nearest node of the automatic charging device (3) can be shortened.

A design support system (10) according to an eighth aspect includes the mobile object control system (1) according to any one of the first to seventh aspects, and a route creation tool having a display section (51) and an operation section (52). (5) and. The mobile object control system (1) further includes a display control section (45) that causes a display section (51) to display a map (M0). The display control unit (45) causes the display unit (51) to display two or more candidate nodes that are candidates for the replacement node (Nc) among the plurality of nodes. The replacement node setting unit (43) sets the candidate node selected by the user by operating the operation unit (52) from among the two or more candidate nodes as the replacement node (Nc).

According to this aspect, the user can select the optimal replacement node (Nc) according to the situation of the predetermined area (A0).

In the design support system (10) of the ninth aspect, in the eighth aspect, the display control unit (45) distinguishes two or more candidate nodes from nodes other than the two or more candidate nodes among the plurality of nodes. It is displayed on the display section (51) in a different manner.

According to this aspect, the user can easily visually distinguish two or more candidate nodes and nodes other than the two or more candidate nodes among the plurality of nodes.

Note that the second to seventh aspects are not essential configurations for the mobile object control system (1) and can be omitted as appropriate. Furthermore, the ninth aspect is not an essential configuration for the design support system (10) and can be omitted as appropriate.

1 Mobile object control system 2 Mobile object 3 Automatic charging device 5 Route creation tool 10 Design support system 41 Control section 42 Node generation section 43 Replacement node setting section 45 Display control section 51 First display section 52 First operation section 2A First movement Body 2B Second mobile body A0 Predetermined area As Waiting area DP Division point M0 Map Nc Replacement node Nc1 Replacement node

Claims (9)

a control unit that controls a plurality of moving objects moving within a predetermined area;
a node generation unit that generates a plurality of nodes capable of controlling the plurality of moving objects at arbitrary positions on a map corresponding to the predetermined area;
a replacement node setting unit that sets at least one node among the plurality of nodes as a replacement node;
The control unit moves a first mobile object of the plurality of mobile objects that has been completely charged by the automatic charging device from the automatic charging device to the replacement node, and waits in a waiting area among the plurality of mobile objects. A mobile body control system that moves a second mobile body from the standby area to the automatic charging device. The mobile body control system according to claim 1, wherein the control unit moves the first mobile body from the replacement node to the standby area. The mobile body control system according to claim 1 , wherein the number of waiting areas is smaller than the number of the plurality of mobile bodies by the number of automatic charging devices. The route between the waiting area and the automatic charging device is a first route that the moving object can pass in both directions, and a first route that the moving object can pass only in the direction from the automatic charging device to the waiting area. a second route;
The mobile object control system according to claim 1 or 2, wherein the replacement node setting unit sets a node located on the second route among the plurality of nodes as the replacement node. The movement according to claim 1 or 2, wherein the time required for the mobile body to travel from the replacement node to the automatic charging device is shorter than the time required for the mobile body to travel from the replacement node to the waiting area. body control system. The movement according to claim 1 or 2, wherein the time required for the mobile body to travel from the replacement node to the waiting area is shorter than the time required for the mobile body to travel from the replacement node to the automatic charging device. body control system. The replacement node setting unit is configured to set the replacement node when the distance of the route between the first node selected as the replacement node and the node closest to the automatic charging device among the plurality of nodes is longer than a predetermined value. The mobile body control system according to claim 1 or 2, wherein a second node is created at a dividing point between one node and the nearest node, and the second node is set as the replacement node. A mobile body control system according to claim 1 or 2,
A route creation tool having a display section and an operation section,
The mobile body control system further includes a display control unit that displays the map on the display unit,
The display control unit causes the display unit to display two or more candidate nodes that are candidates for the replacement node among the plurality of nodes;
In the design support system, the replacement node setting unit sets a candidate node selected by a user by operating the operation unit from among the two or more candidate nodes as the replacement node. The design support system according to claim 8, wherein the display control unit displays the two or more candidate nodes on the display unit in a manner different from nodes other than the two or more candidate nodes among the plurality of nodes. .

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