JP6600593B2 - Mobile system - Google Patents

Description

  The present invention relates to a mobile system including a terminal device, a server, and a plurality of mobile bodies.

  Conventionally, an emergency stop button or the like capable of making an emergency stop of the automatic guided vehicle is provided at a position where the main body of the automatic guided vehicle can be easily operated. By using such an emergency stop button or the like, for example, a person nearby can make an emergency stop on an automated guided vehicle that operates unexpectedly.

  In addition, in an autonomous control robot, safety is improved by performing control such as emergency stop by an independent system different from the autonomous control system (see, for example, Patent Document 1).

JP 2007-98567 A

  According to the conventional example described above, for example, a person near a moving body such as an automatic guided vehicle can stop the moving body. On the other hand, in a situation where a plurality of mobile bodies are moving autonomously, there are cases where it is desired to remotely stop a mobile body that has moved unexpectedly. In such a case, since it may be urgent, it is preferable that a stop instruction can be transmitted to the mobile object to be stopped as quickly as possible. To that end, it is conceivable to stop all moving bodies uniformly, but in such a case, all moving bodies other than the moving body to be stopped are also stopped, and the influence of the stop is large. Become. On the other hand, it is conceivable to provide a stop button corresponding to each of a plurality of moving bodies. In that case, however, it takes time to select one corresponding to the moving body to be stopped from many stop buttons. As a result, there is a possibility that the time until the stop instruction is transmitted becomes longer. Accordingly, there has been a demand for reducing the influence on a moving body other than the target moving body as much as possible and stopping the target moving body as soon as possible.

  The present invention has been made in response to the above circumstances, and in a situation where a plurality of moving bodies are operating, it is possible to quickly stop a moving body to be stopped, and to affect other moving bodies. An object is to provide a mobile system that can be further reduced.

In order to achieve the above object, a mobile system according to the present invention is a mobile system including a terminal device, a server, and a plurality of mobile bodies, and the terminal device is used to stop the mobile body. A reception unit that receives a stop operation by two or more stop buttons that are buttons corresponding to two or more sets of moving objects to be stopped, and when the stop operation is received by the reception unit, A terminal transmission unit that transmits a stop instruction including a set identifier for identifying a set of mobile objects corresponding to the received stop button to the server, and the server receives the stop instruction transmitted from the terminal device. A specifying unit for specifying each moving body included in the set of moving bodies identified by the set identifier included in the stop instruction received by the server receiving unit, and a specifying unit And a server transmission unit that transmits a stop command to each of the mobile bodies specified by the mobile unit, the mobile unit moving the mobile unit, a control unit that controls the mobile unit, and a stop transmitted from the server A moving body receiving unit that receives the command, and the control unit stops movement by the moving mechanism when a stop command is received by the moving body receiving unit.
With such a configuration, a desired set of moving objects can be remotely stopped by operating two or more stop buttons corresponding to two or more sets of moving objects. In this way, since the stop button is for each set of moving objects, the number of stop buttons does not increase too much, and the time until the stop button is operated can be shortened. The desired moving body can be stopped quickly. Moreover, since the moving bodies other than the moving body corresponding to the set corresponding to the operated stop button are not stopped, the influence on the moving body other than the moving body to be stopped can be reduced.

In the mobile system according to the present invention, the two or more stop buttons are a set of all mobile bodies, a set of mobile bodies currently assigned to the terminal device, and a mobile body assigned to the terminal device. Depending on the operation of time, at least two or more sets selected from a set of moving bodies currently operating and a set of moving bodies selected by the terminal device may be associated with each other.
With such a configuration, for example, it is possible to select the range of the moving object to be stopped according to the allocation to the terminal device.

In the mobile system according to the present invention, two or more stop buttons may be associated with two or more sets of mobile bodies that exist in two or more ranges based on the current position of the terminal device. .
With such a configuration, for example, it is possible to select a range of a moving body to be stopped according to a range based on the position of the terminal device.

  In the mobile system according to the present invention, the terminal device further includes a terminal current position acquisition unit that acquires the current position of the terminal device, and the terminal transmission unit includes a current position acquired by the terminal current position acquisition unit. The mobile body further transmits a mobile body current position acquisition unit that acquires the current position of the mobile body, and a mobile body transmission unit that transmits the current position acquired by the mobile body current position acquisition unit to the server. The server receiving unit also receives the current position transmitted from the mobile body, the specifying unit stores the current position received by the server receiving unit, and includes the stored current position of the mobile body and the stop instruction Each mobile unit included in the set of mobile units identified by the set identifier included in the stop instruction may be specified using the current position of the terminal device.

Further, in the mobile system according to the present invention, each of the two or more stop buttons is associated with either a stop method that can resume the movement after the stop or a complete stop method that cannot resume the movement after the stop. The stop instruction includes a stop method identifier for identifying the stop method associated with the stop button corresponding to the stop instruction, and the server transmitting unit is included in the stop instruction received by the server receiving unit. A stop command corresponding to the stop method identified by the stop method identifier included in the stop instruction is transmitted to each mobile unit included in the set of mobile units identified by the set identifier. The movement by the movement mechanism may be stopped by a stop method corresponding to the received stop command.
With such a configuration, it becomes possible to determine whether or not the operation after the stop can be resumed for each stop button. For example, when all the moving bodies are completely stopped, the work for resuming the movement of all the moving bodies may become excessive, so the stop button for stopping all the moving bodies is temporarily stopped. It is possible.

  According to the mobile body system of the present invention, it is possible to quickly stop a mobile body to be stopped in a situation where a plurality of mobile bodies are operating, and to further reduce the influence on other mobile bodies. become able to.

The figure which shows the structure of the mobile body system by embodiment of this invention The block diagram which shows the structure of the terminal device by the embodiment The block diagram which shows the structure of the terminal device by the embodiment The block diagram which shows the structure of the server by the embodiment The block diagram which shows the structure of the moving body by the embodiment The flowchart which shows operation | movement of the terminal device by the embodiment The flowchart which shows operation | movement of the terminal device by the embodiment The flowchart which shows operation | movement of the server by the embodiment The flowchart which shows the operation | movement of the moving body by the same embodiment The figure for demonstrating the allocation setting in the same embodiment, a related setting, etc. The figure which shows an example of the display of the terminal device in the embodiment The figure which shows an example of the display of the terminal device in the embodiment The figure which shows an example of the display of the terminal device in the embodiment The figure which shows an example of the correspondence information in the embodiment The figure which shows an example of the correspondence information in the embodiment The figure which shows an example of the correspondence information in the embodiment The figure which shows an example of the correspondence information in the embodiment The figure which shows an example of the positional relationship of the terminal device and mobile body in the embodiment

  Hereinafter, a mobile system according to the present invention will be described using embodiments. In the following embodiments, components and steps denoted by the same reference numerals are the same or equivalent, and repetitive description may be omitted. In the mobile system according to the present embodiment, a set of mobile bodies corresponding to a stop button operated by an operator among a plurality of stop buttons in the terminal device is stopped.

  FIG. 1 is a block diagram showing a configuration of a mobile system 100 according to the present embodiment. A mobile system 100 according to the present embodiment includes a terminal device 1, a server 2, and a plurality of mobile bodies 3. Although FIG. 1 shows the case where one terminal device 1 is included in the mobile system 100, this need not be the case. The mobile system 100 may include a plurality of terminal devices 1. The terminal device 1, the server 2, and the plurality of mobile bodies 3 are communicably connected via a wired or wireless communication line 500. The communication line 500 may be, for example, the Internet, an intranet, a LAN (Local Area Network), a public telephone line network, or the like. In the present embodiment, the case where the terminal device 1 and the plurality of mobile bodies 3 perform wireless communication will be mainly described.

  FIG. 2A is a block diagram showing a configuration of terminal device 1 according to the present embodiment. In FIG. 2A, the terminal device 1 includes a reception unit 11, a terminal transmission unit 12, a terminal reception unit 13, and a display unit 14. Note that the terminal device 1 is a device for performing operations related to the moving body 3, and may be a general-purpose device such as a personal computer or a portable information terminal (for example, a smartphone, a tablet terminal, or a laptop computer). Alternatively, a dedicated device that performs operations related to the moving body 3 may be used. In the present embodiment, the case where the terminal device 1 is a tablet terminal will be mainly described.

  The accepting unit 11 accepts a stop operation using two or more stop buttons used to stop the moving body 3. The stop button may be, for example, a physical button (hard button) that is a physically configured button, or may be a virtual button (soft button) that is virtually configured on a touch panel or the like. . In the present embodiment, the case where the stop button is a virtual button will be mainly described. Even if the stop button is a virtual button, it is preferable that the stop button is constantly displayed when the moving body 3 is moving, regardless of screen transition or screen switching. The two or more stop buttons are buttons respectively corresponding to two or more sets of the moving objects 3 to be stopped. Note that there is one set corresponding to one stop button. For example, the first stop button may correspond to a first set of moving bodies 3, and the second stop button may correspond to a second set of moving bodies 3. A set of moving bodies 3 corresponding to the stop button is a set of moving bodies 3 to be stopped by operating the stop button. The number of the moving bodies 3 included in the set of moving bodies 3 may be one or two or more. It is preferable that an operator who operates the stop button can know the relationship between the stop button and the set of the moving bodies 3. For example, the name of the set of the mobile bodies 3 corresponding to the stop button may be described in the vicinity of the stop button itself or the stop button. In addition, the set of the mobile bodies 3 may not change according to time, or may change according to time.

  Here, a specific example of the set of moving objects 3 will be described. The two or more stop buttons used for the stop operation are a set of all mobile bodies 3, a set of mobile bodies 3 currently assigned to the terminal device 1, and a mobile body 3 assigned to the terminal device 1. Depending on the operation at the time of assignment, at least two or more sets selected from the set of currently operating mobile bodies 3 and the set of mobile bodies 3 selected by the terminal device 1 may be associated. In this case, the set is usually changed according to time. The moving body 3 currently assigned to the terminal device 1 is a moving body 3 in which an operator of the terminal device 1 is currently setting a route or the like related to the moving body 3. The set of the moving bodies 3 is usually a set of one moving body 3, but when a plurality of moving bodies 3 are set collectively, a set of two or more moving bodies 3 is set. It may be. Note that the mobile unit 3 currently allocated to the terminal device 1 may be referred to as an allocated mobile unit of the terminal device 1. Communication between the terminal device 1 and the assigned mobile unit of the terminal device 1 is usually performed for setting a route or the like. Further, the mobile body 3 assigned to the terminal device 1 and the currently operating mobile body 3 according to the operation at the time of the assignment are the settings when the mobile device 3 has been assigned to the terminal device 1 in the past. The moving body 3 currently performing an operation such as movement according to the above. Such a mobile body 3 may be called an associated mobile body of the terminal device 1. Note that the moving body 3 that has finished the operation such as movement set by a certain terminal device 1 is not a related moving body of the terminal device 1. Also, the allocated mobile body may be considered as a related mobile body, or may not be considered as such. In the former case, communication may or may not be performed between the terminal device 1 and the related mobile body of the terminal device 1, and in the latter case, the terminal device 1 and In general, communication is not performed with the related mobile body of the terminal device 1. In the present embodiment, the former case, that is, the case where an assigned mobile body is included in the related mobile body will be mainly described. Further, the moving body 3 selected in the terminal device 1 is the moving body 3 selected by the operator of the terminal device 1. The selection may be performed, for example, before the stop button is pressed or after the stop button is pressed. When making a selection before pressing the stop button, for example, the operator selects a figure of the moving body 3 displayed on the terminal device 1 or selects an identifier of the moving body 3 from a pull-down menu or the like. Or the stop button may be pressed. In addition, one or two or more moving bodies 3 selected in advance may be associated with a certain stop button. For example, by associating the mobile body 3 that transports an important transport target with a specific stop button, the operator can immediately stop the mobile body 3. Further, when selecting after pressing the stop button, for example, the operator selects the figure of the moving body 3 displayed on the terminal device 1 after pressing the stop button, or from the pull-down menu or the like. The identifier of the moving body 3 may be selected. When the stop button corresponds to a set of assigned mobile bodies or a set of related mobile bodies, the server 2 may manage the relationship between the terminal device 1 and the assigned mobile bodies or related mobile bodies. Is preferred. The management method will be described later.

  In addition, two or more stop buttons may be associated with, for example, two or more sets of the moving bodies 3 existing in two or more ranges based on the current position of the terminal device 1. In this case, it is preferable that the current position of the moving body 3 is managed in the server 2. Also in this case, the set usually changes with time. The case where such a set is associated with the stop button will be described later. In addition, for example, two or more sets corresponding to the attributes of the moving body 3 may be associated with two or more stop buttons. The attribute of the moving body 3 may be, for example, the type of the moving body 3. The type may be, for example, a transport cart, a monitoring robot, a cleaning robot, an entertainment robot, a welding robot, or the like. In this case, the server 2 may manage the moving body 3 and the attributes of the moving body 3 in association with each other. Further, when the attribute is unique to the mobile object 3, the set does not change according to time, but otherwise, the set may change according to time. A set other than those described above may be associated with two or more stop buttons.

  The stop operation by the stop button is usually pressing the stop button. When the stop button is a physical button, pressing the stop button may be, for example, physically pressing the stop button. When the stop button is a virtual button, the pressing of the stop button may be, for example, tapping the position of the stop button or long-pressing the position of the stop button.

  Moreover, the stop method of the mobile body 3 may be matched with each of two or more stop buttons. The stopping method may be either a temporary stop where the movement can be resumed after the moving body 3 is stopped, or a complete stop where the movement cannot be resumed after the moving body 3 is stopped. The fact that the movement cannot be resumed after the stop may mean that it is necessary to set a route again in order to resume the movement. The temporary stop may be, for example, a stop made by performing feedback control so that the speed becomes zero by software in the moving body 3. The complete stop may be, for example, a stop made by stopping an operation of a moving mechanism that is hardware in the moving body 3. Stopping the operation of the moving mechanism may be, for example, turning off the power of the moving mechanism. Further, in the case of a complete stop, for example, setting information such as a movement route may be discarded. That is, in the case of a complete stop, it may be considered that the part that controls the autonomous movement of the moving body 3 is initialized. In the present embodiment, a case where any stop method is associated with each stop button will be mainly described. Which stop method is associated with each button may be appropriately changed by the operator of the terminal device 1.

  The reception unit 11 may receive an operation or input other than the stop operation using the stop button. The operation may be a release operation that is an operation to release the stop. That is, after receiving the stop operation, the reception unit 11 may receive a release operation for releasing the stop of the moving body 3 according to the stop operation. Note that the release operation may be accepted by pressing a release button, for example. The release button may be a physical button or a virtual button. The release button which is a virtual button may be provided separately from the stop button, for example, or the pressed stop button may be switched to the release button. In addition, operations other than the stop operation may relate to the moving body 3, for example. The accepting unit 11 may accept, for example, operations related to teaching of a travel route regarding the moving body 3, setting of a destination, and other various settings. In addition, the reception unit 11 may receive, for example, an instruction to the effect that the moving body 3 moves according to the taught route or the like. Since these operations and the like are already known, a detailed description thereof will be omitted.

  For example, the reception unit 11 may receive information input from an input device (for example, a physical button, a mouse, a touch panel, or the like). The reception unit 11 may or may not include a device (for example, an input device) for reception. The receiving unit 11 may be realized by hardware, or may be realized by software such as a driver that drives a predetermined device.

  When the reception unit 11 receives a stop operation, the terminal transmission unit 12 transmits to the server 2 a stop instruction including a set identifier that identifies a set of the mobile objects 3 corresponding to the stop button for which the stop operation has been received. To do. In the terminal device 1, for example, a set identifier is stored for each stop button, and the terminal transmission unit 12 reads a set identifier corresponding to the stop button for which the stop operation has been accepted, so that a set identifier included in the stop instruction is read. You may get it. Further, for example, when the set identified by the set identifier included in the stop instruction is a set of the moving bodies 3 selected in the terminal device 1, the moving body selected in the terminal device 1 is set as the set identifier. 3 is preferably included. That is, in that case, the set identifier may be one or more mobile body IDs that identify the selected one or more mobile bodies 3. This is because the selected mobile unit 3 can be specified in the server 2. The mobile body ID may be, for example, the address of the mobile body 3, the serial number of the mobile body 3, or another identifier. The stop instruction may include, for example, a terminal ID that is an identifier of the terminal device 1 that has received the stop operation. The terminal ID may be, for example, the address of the terminal device 1, the serial number of the terminal device 1, or other identifiers. In addition, when a stop method related to the stop of the moving body 3 is associated with the stop button, a stop method identifier for identifying the stop method associated with the stop button corresponding to the stop instruction in the stop instruction May be included. Further, the terminal transmission unit 12 may transmit a cancellation instruction to the server 2 when the cancellation operation is received by the reception unit 11. The release instruction may include, for example, the terminal ID of the terminal device 1 that has received the release operation. The terminal transmission unit 12 may perform transmission related to an operation other than the stop operation and the release operation received by the reception unit 11, for example, an operation such as setting a route related to the moving body 3. Since transmission related to operations other than the stop operation and release operation is already known, detailed description thereof will be omitted.

  Note that the terminal transmission unit 12 may directly transmit a stop instruction or the like to the server 2 or indirectly through another server or the like. Further, the terminal transmission unit 12 may perform transmission using an address held in a recording medium (not shown) as a transmission destination. Further, the terminal transmission unit 12 may or may not include a transmission device (for example, a network card) for performing transmission. The terminal transmission unit 12 may be realized by hardware, or may be realized by software such as a driver that drives the transmission device.

The terminal receiving unit 13 receives information transmitted from the server 2. The information may be information corresponding to an operation related to the moving body 3 received by the receiving unit 11, for example. For example, information indicating that the moving body 3 has operated in response to an instruction or operation transmitted from the terminal device 1 may be received, or other information may be received. Further, the terminal reception unit 13 may receive the current position of each mobile unit 3.
The terminal receiving unit 13 may or may not include a receiving device (for example, a network card) for receiving. Further, the terminal receiving unit 13 may be realized by hardware, or may be realized by software such as a driver that drives the receiving device.

The display unit 14 displays information on the terminal device 1. When the stop button is a virtual button, the display unit 14 displays the stop button. Further, when the terminal receiving unit 13 receives the current position of each moving body 3, the display unit 14 may display the current position. The display may be, for example, displaying information on the current position (for example, coordinate values), or displaying a figure corresponding to the moving object 3 at a position corresponding to the current position on the map. It may be. In the present embodiment, the latter case will be mainly described. Further, the display unit 14 may perform display related to reception of an operation or the like of the moving body 3. For example, the display unit 14 may display an operation menu, a result corresponding to the operation, or the like.
The display unit 14 may or may not include a display device (for example, a liquid crystal display or an organic EL display) that performs such display. The display unit 14 may be realized by hardware, or may be realized by software such as a driver that drives a display device.
In the terminal device 1, when input or display is performed via a touch panel, the reception unit 11 and the display unit 14 may be integrally configured as a touch panel.

  FIG. 3 is a block diagram showing a configuration of the server 2 according to the present embodiment. In FIG. 3, the server 2 includes a server reception unit 21, a storage unit 22, a specification unit 23, and a server transmission unit 24.

The server reception unit 21 receives a stop instruction transmitted from the terminal device 1. The server reception unit 21 may also receive a release instruction transmitted from the terminal device 1. In addition to the stop instruction and the release instruction, the server reception unit 21 may receive information related to operation, settings, and the like of the moving body 3 transmitted from the terminal device 1. Further, the server reception unit 21 may receive information from the moving body 3. The information received by the server reception unit 21 from the moving body 3 may be, for example, the current position of the moving body 3 or information related to operations, settings, and the like of the moving body 3. The current position of the mobile body 3 may be received together with a mobile body ID that identifies the mobile body 3. When receiving the current position of the moving body 3, the server reception unit 21 may accumulate the current position in the storage unit 22. Further, the server receiving unit 21 informs the mobile body 3 that the mobile body 3 has moved along a certain route and reached the destination, that the mobile body 3 has reached the destination, that is, the movement along the route has ended. You may receive it.
The server receiving unit 21 may or may not include a wired or wireless receiving device (for example, a network card) for receiving. The server reception unit 21 may be realized by hardware, or may be realized by software such as a driver that drives the reception device.

  In the storage unit 22, information received by the server reception unit 21, information used in specific processing by the specifying unit 23, and the like may be stored. Specifically, the current position of the moving body 3 may be stored. Further, the storage unit 22 may store correspondence information that associates the terminal device 1 with the allocated mobile body and the related mobile body of the terminal device 1. The correspondence information may be, for example, information that associates the terminal ID of the terminal device 1 with the mobile body ID of the allocated mobile body or the related mobile body that is identified by the terminal ID. The correspondence information may be information shown in FIG. 10A, for example. In the correspondence information shown in FIG. 10A, the mobile body ID, the allocation destination terminal ID, and the association destination terminal ID are associated with each other. When a certain mobile unit ID is associated with a terminal ID of a certain allocation destination (that is, when both IDs are included in one record), the mobile unit ID is identified by the mobile unit ID. The body 3 is assumed to be an allocated mobile body of the terminal device 1 identified by the terminal ID of the allocation destination. In addition, when a certain mobile object ID is associated with a terminal ID of a related destination, the mobile object 3 identified by the mobile object ID is the terminal device 1 identified by the related terminal ID. It is assumed that it is a related mobile body. Specifically, in FIG. 10A, the related mobile body of the terminal device 1 identified by the terminal ID “T001” is the mobile body 3 identified by the mobile body ID “M003”. The storage in the storage unit 22 may be temporary storage in a RAM or the like, or may be long-term storage. The storage unit 22 can be realized by a predetermined recording medium (for example, a semiconductor memory or a magnetic disk).

  The specifying unit 23 specifies each moving body 3 included in the set of moving bodies 3 identified by the set identifier included in the stop instruction received by the server receiving unit 21. The server 2 manages information indicating the correspondence between the set identifier and each mobile unit 3 included in the set identified by the set identifier, and the specifying unit 23 uses the information to identify the mobile unit 3. May be specified. The information may be stored in the storage unit 22, for example. Moreover, the information may not change according to time, or may change. For example, the specifying unit 23 may manage information indicating the relationship between the terminal device 1 and the assigned mobile body or related mobile body. Specifically, the specifying unit 23 may manage the correspondence information described above. Managing the correspondence information may be, for example, registering an assignment destination terminal ID or a related destination terminal ID in the correspondence information, or deleting those terminal IDs. The specifying unit 23 may specify each mobile unit 3 included in the set of mobile units 3 using the relationship between the terminal device 1 managed in this way and the allocated mobile unit or related mobile unit. For example, when the set identified by the set identifier is a set of all mobile bodies 3, the specifying unit 23 may specify all managed mobile bodies 3. Further, for example, when the set identified by the set identifier is a set of assigned mobile bodies, the specifying unit 23 specifies the assigned mobile body of the terminal device 1 identified by the terminal ID included in the stop instruction. May be. Specifically, the specifying unit 23 searches the correspondence information shown in FIG. 10A or the like for a record in which the terminal ID included in the stop instruction is the allocation destination terminal ID, and moves included in the hit record You may identify the allocation mobile body identified by body ID. Further, for example, when the set identified by the set identifier is a set of related mobile objects, the specifying unit 23 specifies the related mobile objects of the terminal device 1 identified by the terminal ID included in the stop instruction. May be. Specifically, the specifying unit 23 searches the correspondence information shown in FIG. 10A or the like for a record in which the terminal ID included in the stop instruction is the related terminal ID, and moves included in the hit record The related mobile body identified by the body ID may be specified. Further, for example, when the set identified by the set identifier is a set of mobile bodies 3 selected by the terminal device 1, the specifying unit 23 identifies the mobile body identified by the mobile body ID included in the set identifier. 3 may be specified. Note that specifying the moving body 3 may be, for example, accumulating the moving body ID of the moving body 3 to be specified in a predetermined recording medium, and corresponding to the moving body ID of the moving body 3 to be specified. Then, information such as a flag indicating that the information has been specified may be set.

  The server transmission unit 24 transmits a stop command to each moving body 3 specified by the specifying unit 23. The stop command is a command for stopping the movement of the moving body 3. When a stop method identifier is included in the stop instruction received by the server reception unit 21, the server transmission unit 24 stops a stop command corresponding to the stop method identified by the stop method identifier included in the stop instruction. You may transmit to each mobile body 3 included in the set of mobile bodies 3 identified by the set identifier included in the instruction. The stop command corresponding to the stop method identified by the stop method identifier can distinguish whether it is a stop command for temporary stop or a stop command for complete stop in the mobile unit 3 that receives the stop command. I just need it. Therefore, the stop command corresponding to the stop method identified by the stop method identifier may be a stop command including the stop method identifier, for example. Further, when the server receiving unit 21 receives a release instruction, the server transmission unit 24 may transmit a release command to each mobile unit 3 corresponding to the release instruction. The cancellation command is a command for canceling the stop of the movement of the moving body 3. Therefore, the mobile body 3 that has received the release command can move again. In addition, each moving body 3 corresponding to a cancellation | release instruction | indication is each mobile body 3 stopped by the stop instruction | indication transmitted from the terminal device 1 which transmitted the cancellation | release instruction | indication. That is, the mobile body 3 is the mobile body 3 to which a stop command corresponding to the stop instruction transmitted from the terminal device 1 that transmitted the release instruction is transmitted. In addition, the server transmission unit 24 may perform transmission other than transmission in response to reception of the stop instruction or the release instruction, for example, transmission of information related to the operation or setting of the moving body 3. For example, the server transmission unit 24 may transmit information received from the terminal device 1 to the mobile body 3 or may transmit information received from the mobile body 3 to the terminal device 1. Specifically, the current position transmitted from the moving body 3 may be transmitted to the terminal device 1.

  In addition, the server transmission part 24 may transmit information directly to the mobile body 3 and the terminal device 1, or may transmit indirectly via another server etc. Further, the server transmission unit 24 may perform transmission using an address held in a recording medium (not shown) as a transmission destination. Further, the server transmission unit 24 may or may not include a transmission device (for example, a network card) for performing transmission. The server transmission unit 24 may be realized by hardware, or may be realized by software such as a driver that drives the transmission device.

  FIG. 4 is a block diagram showing a configuration of the moving body 3 according to the present embodiment. In FIG. 4, the moving body 3 includes a moving mechanism 31, a moving body receiving unit 32, a moving body current position acquisition unit 33, a moving body transmission unit 34, and a control unit 35. The mobile body 3 autonomously moves to a destination set by the terminal device 1 or a destination set by another method. The movement route may be acquired by the moving body 3 or specified by the terminal device 1 or the like. The moving body 3 may be, for example, a traveling body that travels or may be a flying object that flies. Further, the moving body 3 may be, for example, a cart or a moving robot. The robot may be, for example, an entertainment robot, a surveillance robot, a transfer robot, a cleaning robot, a welding robot, a painting robot, Alternatively, it may be an agrochemical spraying robot, a robot that shoots moving images or still images, or other robots. The flying object may be, for example, a rotary wing aircraft, an airplane, an airship, or another flying object. From the viewpoint of being movable to an arbitrary position, the flying object is preferably a rotary wing aircraft. The rotorcraft may be, for example, a helicopter or a multicopter having three or more rotor blades (rotors). The multicopter may be, for example, a quadrotor having four rotor blades, or may have another number of rotor blades. In the present embodiment, the case where the moving body 3 is a transport carriage will be mainly described.

  The moving mechanism 31 moves the moving body 3. As long as the moving mechanism 31 can move the moving body 3, the system will not be ask | required. The moving mechanism 31 may include, for example, a traveling unit (for example, a wheel or an endless track) and a driving unit (for example, a motor or an engine) for driving the traveling unit. A driving unit that drives the rotor blades may be included, and a propeller and a driving unit that drives the propeller may be included. As this moving mechanism 31, since a well-known thing can be used, the detailed description is abbreviate | omitted. In the present embodiment, a case will be mainly described in which the moving mechanism 31 includes a traveling unit and a driving unit that drives the traveling unit.

The mobile body receiving unit 32 receives the stop command transmitted from the server 2. The mobile body receiving unit 32 may receive a release command transmitted from the server 2. Further, the mobile body receiving unit 32 may receive other information related to the operation and settings of the mobile body 3 transmitted from the server 2.
Note that the mobile body reception unit 32 may or may not include a receiving device (for example, a network card) for receiving. In addition, the mobile body reception unit 32 may be realized by hardware, or may be realized by software such as a driver that drives the reception device.

  The moving body current position acquisition unit 33 acquires the current position of the moving body 3. Acquisition of the current position may be performed using, for example, wireless communication, may be performed by measuring a distance to a surrounding obstacle, or may be performed by photographing a surrounding image. Alternatively, other means that can acquire the current position may be used. Known methods for acquiring the current position using wireless communication include, for example, a method using GPS (Global Positioning System), a method using indoor GPS, and a method using the nearest wireless base station. Further, as a method of acquiring the current position by measuring the distance to surrounding obstacles, for example, a method using a laser range sensor (laser range scanner) that measures the distance to obstacles in a plurality of surrounding directions, etc. It has been known. For example, a method known by SLAM (Simultaneous Localization and Mapping) is used as a method of acquiring the current position by measuring the distance to the surrounding obstacles or taking a surrounding image. May be. In addition, when a map prepared in advance (for example, a measurement result of a distance to a surrounding obstacle or a map having a photographed image) is stored, the moving body current position acquisition unit 33 stores the surrounding obstacle. The current position may be obtained by measuring the distance to the map and using the map to identify the position corresponding to the measurement result. The current position may be acquired by specifying the position to be performed. Moreover, when the mobile body 3 has wheels, the mobile body current position acquisition unit 33 may acquire the current position using, for example, an autonomous navigation device. The moving body current position acquisition unit 33 may acquire the current position including the direction (direction) of the moving body 3. The direction may be indicated by, for example, an azimuth angle measured clockwise with north as 0 degree, or may be indicated by information indicating other directions. The direction may be acquired by an electronic compass or a geomagnetic sensor. Further, when the moving body 3 is a flying body, the moving body current position acquisition unit 33 may also acquire the altitude of the moving body 3. The altitude may be measured by, for example, a barometer or a distance meter that measures the distance to the ground surface. Moreover, when the mobile body 3 is a flying body, the mobile body current position acquisition part 33 may acquire the direction containing an elevation angle. The elevation angle may be measured by, for example, an inclination sensor.

The mobile body transmission unit 34 transmits the current position acquired by the mobile body current position acquisition unit 33 to the server 2. The mobile body transmission unit 34 may transmit the current position to the server 2 periodically or irregularly, for example. The mobile body transmitting unit 34 may transmit the mobile body ID for identifying the mobile body 3 to the server 2 together with the current position. Further, the mobile body transmitting unit 34 may transmit information to the server 2 as appropriate regarding the operation and settings of the mobile body 3. In addition, when the moving body 3 moves along a certain route and reaches the destination, the moving body transmitting unit 34 informs the server 2 that the destination has been reached, that is, the movement along the route has ended. You may send it.
In addition, the mobile body transmission part 34 may transmit information directly to the server 2, or may transmit indirectly via another server etc. Further, the mobile transmission unit 34 may perform transmission by using an address held by a recording medium (not shown) as a transmission destination. In addition, the mobile transmission unit 34 may or may not include a transmission device (for example, a network card) for performing transmission. Moreover, the mobile body transmission part 34 may be implement | achieved by hardware, or may be implement | achieved by software, such as a driver which drives a transmission device.

  The control unit 35 controls the moving mechanism 31. For example, when the control unit 35 is instructed to move along a certain route from the terminal device 1, the control unit 35 may control the moving mechanism 31 so that the moving body 3 moves along the route. The control unit 35 may control the moving mechanism 31 so that the moving body 3 moves to the destination when the terminal device 1 is instructed to move to the destination, for example. . In the control, the control unit 35 may use a route from the current position of the moving body 3 to the destination acquired by a route acquisition unit (not shown). In addition, the control unit 35 may use the current position acquired by the moving body current position acquisition unit 33 in the control of the moving mechanism 31. Specifically, the control unit 35 may perform feedback control of the moving mechanism 31 so that the current position of the moving body 3 is a position corresponding to the route. Moreover, the control part 35 may also control the direction of the mobile body 3 according to a path | route. For example, the moving body 3 may be controlled to face the traveling method. In that case, the control unit 35 may control the direction of the moving body 3 using the current direction of the moving body 3. A method of controlling the moving mechanism 31 so that the moving body 3 moves according to the route when a certain route is given is already known, and detailed description thereof is omitted.

  The control unit 35 stops the movement by the moving mechanism 31 when the moving body receiving unit 32 receives a stop command. When the stop method is specified by the stop command received by the mobile body reception unit 32, for example, when the stop method identifier is included in the stop command, the control unit 35 The movement by the moving mechanism 31 may be stopped by a stop method corresponding to the stop command received by the terminal 32. Specifically, when the stop method corresponding to the stop command is temporary stop, the control unit 35 may control the moving mechanism 31 so that the speed of the moving body 3 becomes zero. When the stop method corresponding to the stop command is a complete stop, the control unit 35 may turn off the power of the moving mechanism 31 so that the hardware of the moving mechanism 31, for example, a motor or the like stops. . The control unit 35 may lock the motor or the like of the moving mechanism 31 in the case of a complete stop. Usually, in the complete stop, the time until the moving body 3 stops is shorter than in the temporary stop. When the stop method does not correspond to the stop command, the control unit 35 may control the temporary stop or the complete stop according to the stop command, for example. Further, the control unit 35 may cancel the stop of movement by the moving mechanism 31 when the release command is received by the mobile body receiving unit 32. Specifically, when the suspension control is performed, the control unit 35 may control the movement mechanism 31 so that the movement performed until the suspension is resumed, for example. When complete stop control is performed, for example, the control unit 35 may turn on the power of the moving mechanism 31 and then move according to an operation from the terminal device 1 or the like. .

  Further, the control unit 35 may control the moving mechanism 31 so as not to interfere with the obstacle when the obstacle is detected during the movement. The control may be, for example, the stop of the moving body 3, the deceleration of the moving body 3, or the movement along a route that avoids an obstacle. For example, the control may be similar to an obstacle avoidance operation performed when an obstacle is detected in a conventional automatic carriage. The obstacle detection may be performed by, for example, an obstacle detection unit (not shown) included in the moving body 3.

  Moreover, the control part 35 may perform normal control and control according to a stop command with the same structure, or may be performed with a different structure. In the latter case, the control unit 35 may include a first control unit that performs normal control and a second control unit that performs control according to the stop command. As described above, by including means for performing control according to a stop command of a system different from normal control, control according to the stop command can be more reliably performed.

  Moreover, when acquiring a route in the terminal device 1 or the mobile body 3, the terminal device 1 or the mobile body 3 may include a route acquisition unit. The route acquisition unit may generate a route using a known method such as a Laplace potential method, an A * algorithm, or an RRT (Rapidly-exploring Random Tree). The route acquisition unit may use map information when generating a route. When using map information, the map information may be held in the terminal device 1 or the moving body 3. Further, the route acquisition unit may acquire the route by transmitting the departure point and the destination to another device or server and receiving the route generated by the other device accordingly.

Next, an example of the operation of the terminal device 1 will be described using the flowchart of FIG. 5A.
(Step S101) The terminal receiving unit 13 determines whether or not the current position of the moving body 3 has been received. If the current position of the moving body 3 is received, the process proceeds to step S102, and if not, the process proceeds to step S103.

  (Step S102) The display unit 14 updates the display of the figure of the moving body 3 displayed on the map according to the current position of the moving body 3 received in step S101. Then, the process returns to step S101.

  (Step S103) The reception unit 11 determines whether selection of the moving body 3 has been received. And when selection of the mobile body 3 is received, it progresses to step S104, and when that is not right, it progresses to step S107. Note that, for example, when any figure of the moving body 3 displayed on the map is selected, the reception unit 11 may determine that the selection of the moving body 3 corresponding to the figure has been received. Note that the moving body 3 selected by the operator may be the moving body 3 that the operator wants to perform operations, settings, and the like.

  (Step S104) The terminal transmission unit 12 transmits the mobile body ID of the mobile body 3 selected in Step S103 to the server 2.

  (Step S105) The terminal receiving unit 13 determines whether or not the mobile unit 3 identified by the mobile unit ID transmitted in step S104 is assigned to the terminal device 1 that transmitted the mobile unit ID. This determination is made in response to a reply from the server 2 in response to transmission of the mobile body ID. And when the mobile body 3 is allocated to the terminal device 1, it progresses to step S106, and when that is not right, it returns to step S101.

  (Step S <b> 106) The reception unit 11, the terminal transmission unit 12, and the like perform processing such as setting related to the moving body 3. By the processing, for example, a setting of a movement route regarding the moving object 3 identified by the moving object ID transmitted in step S104, an instruction to start moving, or the like may be performed. Then, the process returns to step S101.

  (Step S107) The reception unit 11 determines whether a stop operation has been received. If a stop operation is accepted, the process proceeds to step S108. If not, the process returns to step S101.

  (Step S108) The terminal transmission unit 12 transmits to the server 2 a stop instruction including a set identifier corresponding to the stop operation received in Step S107. It is assumed that the stop instruction includes the terminal ID of the terminal device 1 and the stop method identifier corresponding to the stop operation.

  (Step S109) The reception unit 11 determines whether a release operation has been received. If the release operation is accepted, the process proceeds to step S110. If not, the process of step S109 is repeated until the release operation is accepted. If the release instruction is not accepted even after a predetermined time has elapsed after the stop instruction is transmitted, it may be determined that a timeout has occurred and the process may return to step S101.

(Step S <b> 110) The terminal transmission unit 12 transmits a release instruction to the server 2. For example, the terminal ID of the terminal device 1 may be included in the release instruction. Then, the process returns to step S101.
Note that the order of processing in the flowchart of FIG. 5A is an example, and the order of the steps may be changed as long as the same result can be obtained. Further, in the flowchart of FIG. 5A, the processing is ended by power-off or processing end interruption.

Next, an example of the operation of the server 2 will be described using the flowchart of FIG.
(Step S <b> 201) The server reception unit 21 determines whether the current position has been received from the moving body 3. If the current position is received, the process proceeds to step S202. If not, the process proceeds to step S203.

  (Step S <b> 202) The server reception unit 21 accumulates the received current position in the storage unit 22. Note that the server reception unit 21 preferably stores the current position in the storage unit 22 in association with the mobile body ID of the mobile body 3 that transmitted the current position. Then, the process returns to step S201.

  (Step S203) The server transmission unit 24 determines whether or not to transmit the current position of the moving body 3. And when transmitting a present position, it progresses to step S204, and when that is not right, it progresses to step S205. Note that the server transmission unit 24 may periodically determine to transmit the current position, for example.

  (Step S <b> 204) The server transmission unit 24 reads the current position stored in the storage unit 22 and transmits it to each terminal device 1. The current position is preferably transmitted in association with the mobile object ID. Then, the process returns to step S201.

  (Step S <b> 205) The server reception unit 21 determines whether information related to the setting of the mobile body 3 has been received. And when such information is received, it progresses to step S206, and when that is not right, it progresses to step S207.

  (Step S206) The server reception unit 21, the server transmission unit 24, and the like perform processing according to the information received in step S205. The process is a process related to setting of the moving body 3 and the like. Then, the process returns to step S201.

  (Step S207) The server reception unit 21 determines whether a stop instruction has been received. If a stop instruction is received, the process proceeds to step S208; otherwise, the process proceeds to step S210.

  (Step S208) The identifying unit 23 identifies the moving body 3 corresponding to the set identifier included in the stop instruction received in Step S207. Further, the specifying unit 23 accumulates, in the storage unit 22, information that associates the terminal ID included in the stop instruction received in step S207 with the mobile unit ID of the specified mobile unit 3.

  (Step S209) The server transmission unit 24 transmits a stop command to the moving body 3 specified in Step S208. In addition, the server transmission part 24 shall transmit the stop command according to the stop method identified with the stop method identifier contained in the stop instruction | indication received by step S207. Then, the process returns to step S201. In step S208, when the specified mobile body 3 does not exist, the server transmission unit 24 may not transmit a stop command.

  (Step S210) The server reception unit 21 determines whether a release instruction has been received. If a release instruction is received, the process proceeds to step S211; otherwise, the process returns to step S201.

(Step S211) The server transmission unit 24 transmits a release command to the mobile unit 3 corresponding to the release instruction. When the terminal ID is included in the cancellation instruction, the server transmission unit 24 stores the mobile body 3 identified by the mobile body ID associated with the terminal ID included in the cancellation instruction in the storage unit 22. A release command may be sent. After the transmission, the server transmission unit 24 may delete the terminal ID included in the release instruction and the mobile body ID associated therewith from the storage unit 22. Then, the process returns to step S201.
Note that the order of processing in the flowchart of FIG. 6 is an example, and the order of each step may be changed as long as similar results can be obtained. In the flowchart of FIG. 6, the process is ended by powering off or interruption for aborting the process.

Next, an example of the operation of the moving body 3 will be described using the flowchart of FIG.
(Step S301) The mobile body transmitter 34 determines whether or not to transmit the current position. And when transmitting a present position, it progresses to step S302, and when that is not right, it progresses to step S304. Note that the mobile body transmitter 34 may periodically determine that the current position is transmitted, for example, and may determine that the current position is transmitted when the current position changes by a threshold value or more.

  (Step S302) The moving body current position acquisition unit 33 acquires the current position. When the mobile body current position acquisition unit 33 periodically acquires the current position, the acquired current position is held, and the latest current position held is read out. The current position may be acquired.

  (Step S <b> 303) The mobile body transmitting unit 34 transmits the current position to the server 2. At that time, the mobile body transmitter 34 may transmit the current position to the server 2 together with the mobile body ID of the mobile body 3. Then, the process returns to step S301.

  (Step S <b> 304) The mobile body receiving unit 32 determines whether information other than the stop command has been received from the server 2. And when the information is received from the server 2, it progresses to step S305, and when that is not right, it progresses to step S314.

  (Step S305) The mobile body receiving unit 32 determines whether or not the received information is a movement start instruction. If it is a movement start instruction, the process proceeds to step S307, and if not, the process proceeds to step S306.

  (Step S306) The mobile receiver 32 and the like perform processing according to the information received in step S304. Then, the process returns to step S301.

  (Step S307) The control unit 35 controls the moving mechanism 31 so that the moving body 3 moves to the destination along the route. The control in step S307 may be movement control from the current position of the moving body 3 to the next target position on the route. By repeating the movement to the target position, the moving body 3 finally moves to the destination.

  (Step S308) The control unit 35 determines whether or not the moving body 3 has reached the destination. If the destination has been reached, the process proceeds to step S309. If not, the process proceeds to step S310.

  (Step S309) The mobile body transmitting unit 34 transmits to the server 2 that the movement along the route has been completed. Then, the process returns to step S301.

  (Step S310) The mobile body receiving unit 32 determines whether a stop command has been received. If a stop command is received, the process proceeds to step S311. If not, the process returns to step S307.

  (Step S311) The controller 35 stops the movement by the movement mechanism 31. In addition, the control part 35 shall stop the movement by the moving mechanism 31 according to the stop method shown by the received stop command.

  (Step S312) The mobile body receiving unit 32 determines whether a release command has been received. If the release command is received, the process proceeds to step S313. If not, the process of step S312 is repeated until the release command is received.

  (Step S313) The control unit 35 determines whether the movement stop in step S311 is a temporary stop or a complete stop. And when it is a temporary stop, it returns to step S307 and restarts the movement until then. On the other hand, if it is a complete stop, the process returns to step S301.

  (Step S314) The moving body reception unit 32 determines whether a stop command has been received. If a stop command is received, the process proceeds to step S315. If not, the process returns to step S301.

  (Step S315) The control unit 35 stops the movement by the movement mechanism 31. When the moving body 3 is stopped when the stop command is received by the moving body receiving unit 32, the control unit 35 may control the moving mechanism 31 so as to continue the stop. On the other hand, when the moving body 3 is moving when the stop command is received, the control unit 35 stops the movement by the moving mechanism 31 according to the stop method indicated by the received stop command. And However, the stop is not a stop during the movement along the predetermined movement route, but is a stop during the movement of the moving body 3 manually by the operator using the terminal device 1, for example. Stop and complete stop are not much different. This is because there is no moving route to be resumed.

(Step S316) The mobile body receiving unit 32 determines whether a release command has been received. If a release command is received, the process returns to step S301. If not, the process of step S316 is repeated until a release command is received.
Note that the order of processing in the flowchart of FIG. 7 is an example, and the order of each step may be changed as long as similar results can be obtained. In the flowchart of FIG. 7, the process ends when the power is turned off or the process is terminated.

Here, the management process of the correspondence information in the server 2 will be specifically described with reference to FIG.
First, it is assumed that the operator of the terminal device 1 identified by the terminal ID “T001” selects the moving body 3 identified by the moving body ID “M001”. The selection may be performed, for example, by tapping the figure of the moving body 3 on the map displayed on the terminal device 1 shown in FIG. 9A. The selection of the moving body 3 is received by the receiving unit 11, and the moving body ID of the selected moving body 3 is passed to the terminal transmission unit 12 (step S103). And the terminal transmission part 12 transmits terminal ID and the mobile body ID received from the reception part 11 to the server 2 (step S104).

  When the server receiving unit 21 of the server 2 receives the terminal ID “T001” and the mobile unit ID “M001” transmitted from the terminal device 1, the server receiving unit 21 passes the terminal ID and the mobile unit ID to the specifying unit 23, and the terminal ID To the server transmission unit 24 (step S205). Upon receiving the mobile unit ID, the specifying unit 23 refers to the correspondence information stored in the storage unit 22 and whether the mobile unit ID is associated with the allocation destination terminal ID or the related destination terminal ID. to decide. If at least one of the terminal IDs is associated, the moving body 3 identified by the moving body ID is assigned to or associated with another terminal device 1, and therefore the specifying unit 23 determines that it cannot be assigned to the terminal device 1 that has transmitted the mobile object ID and the like, and passes the determination result to the server transmission unit 24. Then, the server transmission unit 24 transmits a determination result indicating that the selected mobile object 3 cannot be assigned to the terminal device 1 identified by the terminal ID received from the server reception unit 21 (step S206). The terminal reception unit 13 of the terminal device 1 determines that the selected mobile unit 3 has not been assigned to the terminal device 1 by receiving the determination result, and thereafter processing such as route setting is not performed. (Step S105). The display unit 4 may display that the selected mobile body 3 has not been assigned. On the other hand, when the correspondence information stored in the storage unit 22 is shown in FIG. 10A and the mobile body ID “M001” is not associated with the terminal ID of the assignment destination or the terminal ID of the association destination, The specifying unit 23 determines that the mobile unit 3 identified by the mobile unit ID can be assigned to the terminal device 1 that has transmitted the mobile unit ID and the like, and passes the determination result to the server transmission unit 24. Then, the server transmission unit 24 transmits a determination result indicating that the selected mobile unit 3 can be allocated to the terminal device 1 identified by the terminal ID received from the server reception unit 21 (step S206). . The terminal receiving unit 13 of the terminal device 1 receives the determination result to determine that the selected mobile unit 3 has been assigned to the terminal device 1 (step S105), and thereafter performs processing such as route setting. It will be.

  Since the mobile 3 identified by the mobile ID “M001” is assigned to the terminal device 1 identified by the terminal ID “T001”, the specifying unit 23 of the server 2 uses the mobile ID “M001” in the correspondence information. The terminal ID “T001” is set as the terminal ID of the allocation destination corresponding to the terminal ID and the terminal ID of the related destination. As a result, the correspondence information is as shown in FIG. 10B. Thereafter, processing such as setting of a moving route is performed via the server 2 between the terminal device 1 identified by the terminal ID “T001” and the moving body 3 identified by the moving body ID “M001”. (Steps S106, S205, S206, S304 to S306). Note that, for example, it is assumed that a predetermined movement route by which the moving body 3 moves to the destination is set by the setting or the like. Finally, when a movement start instruction is transmitted from the terminal device 1 to the mobile body 3, the mobile body reception unit 32 of the mobile body 3 receives the instruction, determines that the movement is started, and starts moving. To the control unit 35 (steps S304 and S305). Then, the control unit 35 controls the movement mechanism 31 to move along the set movement route (steps S307, S308, and S310). Here, the server 2 can know that the setting process has been completed by transferring the movement start instruction transmitted from the terminal device 1 to the moving body 3. Therefore, when the start instruction is transmitted, the specifying unit 23 deletes the allocation destination terminal ID “T001” associated with the mobile unit ID “M001” in the correspondence information stored in the storage unit 22. To do. As a result, the correspondence information is as shown in FIG. 10C.

  It is assumed that the mobile body 3 identified by the mobile body ID “M003” moves along the travel route set by the terminal device 1 identified by the terminal ID “T001” and reaches the destination. Then, the control unit 35 of the moving body 3 determines that the destination has been reached (step S308), and the moving body 3 transmits the fact that the movement is completed and the moving body ID “M003” to the server 2 (step S308). S309). The server receiving unit 21 of the server 2 receives the information and passes it to the specifying unit 23 (step S205). Then, the specifying unit 23 deletes the related-destination terminal ID “T001” corresponding to the moving body ID “M003” in the correspondence information stored in the storage unit 22 (step S206). As a result, the correspondence information is as shown in FIG. 10D. In this way, correspondence information indicating the relationship between the terminal device 1 and the moving body 3 is managed in the server 2.

  Next, the operation of stopping the moving body 3 and releasing the stop in the moving body system 100 according to the present embodiment will be described using a specific example. In this specific example, a case where a certain operator operates the terminal device 1 identified by the terminal ID “T001” will be described. Further, in this specific example, as shown in FIG. 9A, a “stop all” stop button 51, a “related stop” stop button 52, a “assignment stop” stop button 53, and an “individual stop” stop button 54. 4 stop buttons are displayed on the terminal device 1. Further, a set of all moving bodies 3 is associated with the stop button 51 for all stop, a set of related moving bodies is associated with the stop button 52 for related stop, 53, a set of assigned mobile bodies is associated with each other, and an individual stop button 54 is associated with a set of mobile bodies 3 selected in the terminal device 1. The stop method corresponding to the stop buttons 51 and 52 is a temporary stop, and the stop method corresponding to the stop buttons 53 and 54 is a complete stop.

  In each mobile body 3, acquisition of the current position and transmission to the server 2 are repeatedly performed (steps S301 to S303). The current position is transmitted to the server 2 together with the moving body ID of the moving body 3, and is stored in the storage unit 22 in association with the moving body ID (steps S201 and S202). In addition, information that associates the mobile object ID stored in the storage unit 22 with the current position of the mobile object 3 is repeatedly transmitted from the server 2 to each terminal device 1 (step S203). , S204). In the terminal device 1 that has received the current position or the like transmitted from the server 2, for example, the display of each mobile unit 3 on the map can be updated using the current position or the like, as shown in FIG. 9A. (Steps S101 and S102).

  Next, a process for stopping the moving body 3 will be described. First, the case where the correspondence information stored in the server 2 is the one shown in FIG. 10B will be described. In this case, the mobile unit 3 identified by the mobile unit ID “M001” is assigned to the terminal device 1 identified by the terminal ID “T001”. In such a situation, it is assumed that the operator manually moves the assigned moving body 3 to the departure place by operating the terminal device 1 (steps S106, S205, S206, S304 to S306). . At this time, it is assumed that another person has moved in front of the moving body 3. For this reason, it is assumed that the operator wishes to urgently stop the moving body 3 and taps the “assignment stop” stop button 53. Then, the stop operation by the stop button 53 of “allocation stop” is received by the receiving unit 11 and passed to the terminal transmitting unit 12 (step S107). Then, the terminal transmission unit 12 includes a stop instruction including a terminal ID “T001”, a set identifier that identifies a set of assigned mobile objects, and a stop method identifier that identifies a complete stop that is a stop method corresponding to the stop button 53. Is transmitted to the server 2 (step S108).

  The stop instruction is received by the server reception unit 21 of the server 2 and passed to the specifying unit 23 (step S207). Then, since the set identifier included in the stop instruction identifies the set of assigned mobile bodies, the specifying unit 23 sets the terminal ID “T001” included in the stop instruction in the correspondence information illustrated in FIG. 10B. The record that is the terminal ID of the assignment destination is specified, and the mobile object ID “M001” is read from the specified record. The mobile body ID becomes the mobile body ID of the specified mobile body 3. Then, the specifying unit 23 passes the mobile body ID “M001” and the stop method identifier for identifying the complete stop included in the stop instruction to the server transmitting unit 24 and also includes the terminal ID “T001” included in the stop instruction. ”And the identified mobile object ID“ M001 ”are stored in the storage unit 22 (step S208). Upon receiving the mobile object ID “M001” and the stop method identifier, the server transmission unit 24 transmits a stop command corresponding to the complete stop to the mobile object 3 identified by the mobile object ID “M001” (step S209). In the server 2, the mobile body ID and the address of the mobile body 3 identified by the mobile body ID are stored in association with each other, and the server transmission unit 24 uses this to transmit the stop command transmission destination. You may acquire the address.

  The stop command transmitted from the server 2 is received by the mobile body reception unit 32 of the mobile body 3 identified by the mobile body ID “M001” and passed to the control unit 35 (step S314). And the control part 35 stops the moving mechanism 31 completely according to the stop command (step S315). In the terminal device 1 in which the stop button 53 is operated, it is assumed that the stop button 53 is changed to the release button 53 as shown in FIG. 9B.

  Thereafter, when the person disappears from the front of the moving body 3 identified by the moving body ID “M001”, the operator taps the release button 53 of the terminal device 1 shown in FIG. 9B. Then, the release operation is accepted by the accepting unit 11 and passed to the terminal transmitting unit 12 (step S109). Then, the terminal transmission unit 12 transmits a release instruction including the terminal ID “T001” to the server 2 (step S110).

  The release instruction is received by the server receiver 21 of the server 2 and passed to the server transmitter 24 (step S210). The server transmission unit 24 reads out the mobile body ID “M001” associated with the terminal ID “T001” included in the release instruction in the storage unit 22 and releases the mobile body 3 identified by the mobile body ID to the mobile body 3. A command is transmitted (step S211). At this time, the server transmission unit 24 deletes information that associates the terminal ID “T001” with the mobile unit ID “M001” from the storage unit 22. The release command transmitted from the server 2 is received by the mobile body receiving unit 32 (step S316). As a result, the moving body 3 is released from the stop and can perform processing according to a new instruction or the like.

  Next, the case where the correspondence information stored in the server 2 is the one shown in FIG. 10C will be described. In that case, the mobile body 3 identified by the mobile body IDs “M001” and “M003” is autonomously moving along the movement route set by the terminal device 1 (step S307). . In such a situation, the operator of the terminal device 1 identified by the terminal ID “T001” is transported by the mobile body 3 identified by the mobile body ID “M003”, which has previously set the travel route. It is assumed that the subject sees falling from the moving body 3. Therefore, if the operator taps the stop button 52 corresponding to the related stop of the terminal device 1, the terminal ID, the set identifier for identifying the set of related mobile objects, A stop instruction including a stop method identifier for identifying the stop is transmitted to the server 2 (steps S107 and S108).

  The stop instruction is received by the server 2, and according to the stop instruction, the mobile body IDs “M001” and “M003” whose terminal ID “T001” is the related terminal ID are specified (step S207). , S208). And the information which matches terminal ID and those mobile body ID is accumulate | stored in the memory | storage part 22, and the stop command corresponding to temporary stop is transmitted to the mobile body 3 corresponding to those mobile body ID ( Step S209). The stop command is received by each mobile unit 3 identified by the mobile unit IDs “M001” and “M003”, and the moving mechanism 31 is temporarily stopped according to the stop command (steps S310 and S311).

  Thereafter, it is assumed that the operator of the terminal device 1 taps the release button after correcting the position of the moving object 3 identified by the moving object ID “M003”. Then, in response to the release operation, a release instruction including the terminal ID “T001” is transmitted to the server 2 (steps S109 and S110). The release instruction is received by the server 2, and a release command is transmitted to the mobile unit 3 identified by the mobile unit ID corresponding to the terminal ID included in the release instruction (steps S210 and S211). As a result, in each mobile body 3 identified by the mobile body IDs “M001” and “M003”, the release command is received, and the movement so far is resumed accordingly (steps S312, S313, S307). ).

  As described above, according to the moving body system 100 according to the present embodiment, since the moving body 3 can be stopped using two or more stop buttons, in a situation where a plurality of moving bodies 3 are moving, The movable body 3 in a necessary range can be stopped. As a result, the intended moving body 3 can be stopped and the influence on the other moving bodies 3 can be reduced. For example, if all the moving bodies 3 are stopped, the target moving body 3 that is desired to be stopped can also be stopped. In this case, many moving bodies 3 that do not need to be stopped are also stopped. Thus, the influence on the moving body 3 that is not the stop target is increased. On the other hand, when the mobile body 3 to be stopped is a related mobile body or an assigned mobile body, by operating a stop button corresponding to the related mobile body or a stop button corresponding to the assigned mobile body Thus, it becomes possible to stop only the related mobile body and the assigned mobile body. Therefore, compared with the case where all the moving bodies 3 are stopped, the influence exerted on the moving bodies 3 other than the moving bodies 3 to be stopped is reduced. Further, since the stop button corresponds to the set of moving bodies 3, for example, for the stop button corresponding to the related moving body, the moving body 3 stopped by the stop button is automatically changed. Become. Therefore, for example, the operator does not have to manually associate the relationship between the stop button and the moving body 3 to be stopped, and convenience is improved. For example, when a disaster such as an earthquake occurs, all the mobile bodies 3 can be stopped by operating a stop button corresponding to all the mobile bodies 3. In addition, since the stop buttons correspond to the set of moving bodies 3, the number of stop buttons does not increase too much, and the time until the stop buttons are operated can be shortened. The desired moving body 3 can be quickly stopped. In addition, since a stop method can be determined for each stop button, for example, as a stop method corresponding to a stop button that affects a large number of moving bodies 3, such as stopping all the moving bodies 3, a pause is used. By allocating, it is possible to allow the moving body 3 other than the moving body 3 to be stopped to resume moving after the stop is released.

  In the present embodiment, the case where the stop button corresponds to a set of all moving bodies 3, a set of related moving bodies, and the like has been described. However, as described above, it may not be necessary. . Here, a case will be briefly described where two or more stop buttons are associated with two or more sets of the moving bodies 3 existing in two or more ranges based on the current position of the terminal device 1. In this case, for example, when a certain stop button is operated, the moving body 3 existing in the range corresponding to the stop button is stopped. In addition, since the range changes according to the current position of the terminal device 1, in this case as well, the range usually changes according to time. The two or more ranges may be, for example, a range according to the distance from the current position of the terminal device 1, and other ranges (for example, a north range, an east side range with respect to the current position of the terminal device 1). Range, south range, west range, etc.). Each range may or may not overlap. Note that it is preferable that the entire moving range of the moving body 3 is covered by the two or more ranges. This is because each moving body 3 belongs to at least one of the ranges. Here, as shown in FIG. 9C, a set of all moving bodies 3 is associated with the stop button 61 of all stops, and the stop buttons 62 other than 20 m are within 20 meters from the terminal device 1. When a set of mobile bodies 3 existing in a range is associated, and a stop button 63 other than 10 m is associated with a set of mobile bodies 3 existing in a range within 10 meters from the terminal device 1 explain.

  Thus, when the current position of the terminal device 1 is used, the configuration of the terminal device 1 is as shown in FIG. 2B. Further, the operation of the terminal device 1 shown in FIG. 2B is as shown in the flowchart of FIG. 5B. The terminal device 1 shown in FIG. 2B further includes a terminal current position acquisition unit 15. The terminal current position acquisition unit 15 acquires the current position of the terminal device 1. The acquisition method of the current position may be the same as the acquisition method of the current position by the mobile body current position acquisition unit 33, for example. The terminal transmitting unit 12 transmits a stop instruction including the current position acquired by the terminal current position acquiring unit 15 to the server 2 when transmitting the stop instruction.

In the flowchart of FIG. 5B, processes other than step S120 are the same as those of the flowchart of FIG. 5A except for the following description, and the description thereof is omitted.
(Step S120) The current position acquisition unit 15 acquires the current position of the terminal device 1.
In step S108, the terminal transmission unit 12 transmits a stop instruction including the current position acquired in step S120 to the server 2.

  The specifying unit 23 of the server 2 uses the current position of the moving body 3 accumulated in the storage unit 22 and the current position of the terminal device 1 included in the stop instruction to identify the movement identified by the set identifier included in the stop instruction. Each moving body 3 included in the set of bodies 3 is specified. That is, the specifying unit 23 is a range based on the current position of the terminal device 1 included in the stop instruction, and specifies each mobile unit 3 included in the range corresponding to the set identifier included in the stop instruction. Become. For example, it is assumed that the current position of the terminal device 1 and the current position of each moving body 3 are as shown in FIG. In FIG. 11, the center of the two circles is the current position of the terminal device 1, and the numbers 1 to 4 indicate the current position of the moving body 3. In the case of FIG. 11, when the set identifier included in the stop instruction corresponds to the set of mobile bodies 3 existing within a range of 10 meters from the terminal device 1, the specifying unit 23 specifies the mobile body “1”. When the set identifier included in the stop instruction corresponds to a set of mobile bodies 3 existing within a range of 20 meters from the terminal device 1, the mobile bodies “1”, “3”, and “4” are specified, and the stop instruction When the set identifiers included in the numbers correspond to the set of all the mobile bodies 3, the mobile bodies “1”, “2”, “3”, and “4” are specified. The specifying unit 23 uses, for example, the current position received from the mobile body 3 and the current position included in the stop instruction to determine the distance between the terminal device 1 that transmitted the stop instruction and each mobile body 3. By calculating and comparing the distance with a threshold value such as 10 meters or 20 meters, it is determined whether each mobile body 3 belongs to the set identified by the set identifier included in the stop instruction. Identification may be performed. Further, the processing after the mobile unit 3 is specified by the specifying unit 23 is the same as that described above, and the description thereof is omitted.

  Further, as described above, a set corresponding to the attribute of the moving body 3 may be associated with two or more stop buttons. The attribute may be a functional type of the moving body 3 (for example, a transfer robot, a cleaning robot, etc.) as described above, or may be an attribute for simply grouping the moving bodies 3. Good. The attribute for grouping the moving bodies 3 may be visually recognizable, for example, the color of the moving body 3 or a mark placed on the moving body 3. Specifically, the plurality of moving bodies 3 are color-coded such as “red”, “yellow”, “blue”, etc., and a set of moving bodies 3 of each color is associated with two or more stop buttons. May be. Also in the server 2, the relationship between the mobile object ID and the color of the mobile object 3 identified by the mobile object ID may be held. For example, when the stop button corresponding to “red” is operated, the moving body 3 of “red” may be stopped. By doing so, for example, it becomes possible to designate the moving body 3 to be stopped according to the color. The same applies to attributes other than color. Also, the server 2 may dynamically change visually recognizable attributes such as the color and mark of the moving body 3. By doing so, for example, a situation where only the red moving body 3 is autonomously moving can be avoided. Specifically, when N attributes (for example, a color or a mark) can be set in the moving body 3 (N is an integer of 2 or more), the server 2 currently moves autonomously. The moving bodies 3 may be divided into N groups, and each group may be set to have a specific attribute (for example, color or mark). The N groupings are preferably performed so as to be even. Each mobile unit 3 may output the attributes set by the server 2 so that they can be visually recognized. Specifically, the color set by the server 2 may be indicated by an indicator lamp of the moving body 3, and the mark set by the server 2 may be displayed on a display provided on the moving body 3. . In this case, the terminal device 1 has N stop buttons corresponding to the N groups.

  In the present embodiment, for example, the case where the stop buttons 51 to 54 are displayed as shown in FIG. 9A or the case where the stop buttons 61 to 63 are displayed as shown in FIG. 9C has been described. Those stop buttons may be displayed together. For example, in the terminal device 1, the stop buttons 51 to 54 in FIG. 9A and the stop buttons 62 and 63 in FIG. 9C may be used together. In that case, for example, when the operator wants to stop the nearby moving body 3, he / she operates the stop button 63 corresponding to the set within 10 meters and stops the related moving body, You may make it operate the stop button 52 corresponding to the group of related mobile bodies.

  Moreover, although the case where the stop method is associated with the stop button has been described in the present embodiment, this need not be the case. When the stop method is not associated with the stop button, the stop instruction may not include the stop method identifier, and the stop command may not correspond to the stop method.

  Moreover, although this Embodiment demonstrated the case where the mobile body 3 transmitted the present position to the server 2, it may not be so. When the current position of the moving body 3 is not used when specifying each moving body 3 included in the set of moving bodies 3 identified by the set identifier, or when the position of the moving body 3 is not displayed on the terminal device 1 The mobile unit 3 may not transmit the current position to the server 2.

  In the above embodiment, each process or each function may be realized by centralized processing by a single device or a single system, or may be distributedly processed by a plurality of devices or a plurality of systems. It may be realized by doing.

  In the above embodiment, the information exchange between the components is performed by one component when, for example, the two components that exchange the information are physically different from each other. It may be performed by outputting information and receiving information by the other component, or when two components that exchange information are physically the same, one component May be performed by moving from the phase of the process corresponding to to the phase of the process corresponding to the other component.

  In the above embodiment, information related to processing executed by each component, for example, information received, acquired, selected, generated, transmitted, or received by each component In addition, information such as threshold values, mathematical formulas, addresses, and the like used by each constituent element in processing may be temporarily or for a long time held in a recording medium (not shown), even if not specified in the above description. Further, the storage of information on the recording medium (not shown) may be performed by each component or a storage unit (not shown). Further, reading of information from the recording medium (not shown) may be performed by each component or a reading unit (not shown).

  In the above embodiment, when information used by each component, for example, information such as a threshold value, an address, and various setting values used by each component may be changed by the user, Even if it is not specified in the description, the user may be able to change the information as appropriate, or may not be so. If the information can be changed by the user, the change is realized by, for example, a not-shown receiving unit that receives a change instruction from the user and a changing unit (not shown) that changes the information in accordance with the change instruction. May be. The change instruction received by the receiving unit (not shown) may be received from an input device, information received via a communication line, or information read from a predetermined recording medium, for example. .

  In the above embodiment, when two or more components included in the terminal device 1, the server 2, and the mobile body 3 have a communication device, an input device, etc., the two or more components are physically single. You may have a device or you may have a separate device.

  In the above-described embodiment, each component may be configured by dedicated hardware, or a component that can be realized by software may be realized by executing a program. For example, each component can be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. At the time of execution, the program execution unit may execute the program while accessing the storage unit or the recording medium. The program may be executed by being downloaded from a server or the like, or may be executed by reading a program recorded on a predetermined recording medium (for example, an optical disk, a magnetic disk, a semiconductor memory, or the like). Good. Further, this program may be used as a program constituting a program product. Further, the computer that executes the program may be singular or plural. That is, centralized processing may be performed, or distributed processing may be performed.

  Further, the present invention is not limited to the above-described embodiment, and various modifications are possible, and it goes without saying that these are also included in the scope of the present invention.

  As described above, according to the mobile system according to the present invention, an effect that a plurality of mobile bodies can be quickly stopped within a necessary range is obtained, which is useful as a system having a plurality of mobile bodies.

DESCRIPTION OF SYMBOLS 1 Terminal device 2 Server 3 Mobile body 11 Reception part 12 Terminal transmission part 13 Terminal reception part 14 Display part 15 Terminal present position acquisition part 21 Server reception part 22 Storage part 23 Specification part 24 Server transmission part 31 Moving mechanism 32 Mobile body reception part 33 Mobile body current position acquisition unit 34 Mobile body transmission unit 35 Control unit 51-54, 61-63 Stop button

Claims (5)

A mobile system comprising a terminal device, a server, and a plurality of mobile bodies,
The terminal device
A receiving unit that receives a stop operation by two or more stop buttons that are buttons used to stop the moving body, and that respectively correspond to two or more sets of moving bodies to be stopped;
A terminal transmission unit that transmits a stop instruction including a set identifier that identifies a set of mobile objects corresponding to a stop button for which the stop operation has been received, when a stop operation is received by the reception unit; Prepared,
The server
A server receiving unit that receives a stop instruction transmitted from the terminal device;
A specifying unit for specifying each mobile unit included in a set of mobile units identified by a set identifier included in the stop instruction received by the server reception unit;
A server transmission unit that transmits a stop command to each mobile unit identified by the identification unit,
The moving body is
A moving mechanism for moving the moving body;
A control unit for controlling the moving mechanism;
A mobile body receiving unit for receiving a stop command transmitted from the server,
The said control part is a mobile body system which stops the movement by the said moving mechanism, when the stop command is received by the said mobile body receiving part. The two or more stop buttons include a set of all moving objects, a set of moving objects currently assigned to the terminal device, and a moving object assigned to the terminal device, depending on an operation at the time of the assignment. The mobile system according to claim 1, wherein at least two sets selected from a set of currently operating mobile bodies and a set of mobile bodies selected by the terminal device are associated with each other. The mobile system according to claim 1, wherein the two or more stop buttons are associated with two or more sets of mobile bodies respectively present in two or more ranges based on a current position of the terminal device. The terminal device
A terminal current position acquisition unit that acquires the current position of the terminal device;
The terminal transmission unit transmits a stop instruction including the current position acquired by the terminal current position acquisition unit,
The moving body is
A moving body current position acquisition unit for acquiring a current position of the moving body;
A mobile body transmission unit that transmits the current position acquired by the mobile body current position acquisition unit to the server;
The server reception unit also receives the current position transmitted from the mobile body,
The specifying unit accumulates the current position received by the server reception unit, and includes the accumulated current position of the moving body and the current position of the terminal device included in the stop instruction. The mobile body system according to claim 3, wherein each mobile body included in a set of mobile bodies identified by a set identifier is identified. Each of the two or more stop buttons is associated with one of stop methods, that is, a pause that can resume the movement after the stop and a complete stop that cannot resume the movement after the stop,
The stop instruction includes a stop method identifier for identifying a stop method associated with the stop button corresponding to the stop instruction,
The server transmission unit is identified by a stop method identifier included in the stop instruction for each mobile body included in the set of mobile bodies identified by the set identifier included in the stop instruction received by the server reception unit. Send a stop command corresponding to the stop method,
5. The mobile system according to claim 1, wherein the control unit stops the movement by the moving mechanism by a stop method corresponding to a stop command received by the mobile body reception unit.

Images