JP6904534B2 - Information processing equipment, information processing system, movement route determination method and program - Google Patents

Description

The present invention relates to an information processing device, an information processing system, a movement route determination method and a program.

Conventionally, a method has been proposed in which an optimal route for patrolling the plurality of points in consideration of the staying time at each of the plurality of points is obtained by using an exploratory method (for example, a genetic algorithm) (for example). For example, see Patent Document 1).

However, in the exploratory method as described above, since the combination of routes (patterns that can be taken by the route) extends to the factorial street of the patrol point, the combination of routes increases as the number of patrol points increases, and the optimum route It takes a lot of time to find.

Further, in the above-mentioned conventional technique, one moving body patrolls a plurality of points, and the patrolling of a plurality of points by a plurality of moving bodies is not targeted. It should be noted that, in the patrol of a plurality of points by a plurality of moving bodies, the combination of routes increases and the optimum route is obtained in the patrol of a plurality of points by a plurality of moving bodies than in the patrol of a plurality of points by one moving body. The time required for this also increases.

The present invention has been made in view of the above circumstances, and while suppressing the time required to determine the movement routes of a plurality of moving bodies, the staying time at the patrol point is also taken into consideration in the entire moving body. It is an object of the present invention to provide an information processing apparatus, an information processing system, a moving route determining method and a program capable of optimizing a moving route.

In order to solve the above-mentioned problems and achieve the object, the information processing apparatus according to one aspect of the present invention is a plurality of mobile bodies for patrolling a plurality of points existing on a moving path with a plurality of moving bodies. The generation unit that generates each movement route, the movement time required for the movement of the moving body moving on the movement route, and the staying time at one or more points existing on the movement route for each movement route. A calculation unit that calculates the total patrol time of, and a determination unit that determines whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time of the plurality of calculated patrol times. When it can be changed, the determination unit includes a change unit that changes the plurality of movement routes so as to be shorter than the longest patrol time, and the determination unit increases the patrol time to the minimum. By changing the movement route so that any one or more points patrolled by the moving body moving on the moving path having the longest patrolling time are patrolled by the other moving body, the patrolling time is longer than the longest patrolling time. wherein the plurality of movement paths to be shorter it determines whether it can change.

According to the present invention, it is possible to optimize the movement route of the entire moving body while suppressing the time required to determine the moving route of the plurality of moving bodies and considering the staying time at the patrol point. It plays the effect.

FIG. 1 is a block diagram showing an example of the configuration of the information processing system of the present embodiment. FIG. 2 is a block diagram showing an example of the hardware configuration of the information processing apparatus of the present embodiment. FIG. 3 is a block diagram showing an example of the functional configuration of the information processing apparatus of the present embodiment. FIG. 4 is a flowchart showing an example of the movement route generation process performed by the information processing system of the present embodiment. FIG. 5 is a diagram showing an example of a patrol time (movement time) in the movement path of each robot generated by the generation unit of the present embodiment. FIG. 6 is a diagram showing an example of the patrol time (movement time + working time) in the movement path of each robot calculated by the calculation unit of the present embodiment. FIG. 7 is a diagram showing an example of a movement route change pattern. FIG. 8 is a diagram showing an example of a movement route change pattern. FIG. 9 is a diagram showing an example of a movement route change pattern. FIG. 10 is a diagram showing an example of a movement route change pattern. FIG. 11 is a diagram showing an example of a case where the patrol time of the movement path of each robot can be changed so as to be shorter than the longest patrol time. FIG. 12 is a diagram showing an example of a case where the patrol time of the movement path of each robot cannot be changed so as to be shorter than the longest patrol time. FIG. 13 is an explanatory diagram of an example of a method of changing a movement route. FIG. 14 is an explanatory diagram of an example of a method of changing a movement route. FIG. 15 is an explanatory diagram of an example of a method of changing a movement route. FIG. 16 is a flowchart showing an example of the movement route determination process performed by the information processing system of the present embodiment.

Hereinafter, embodiments of the information processing apparatus, information processing system, movement route determination method, and program according to the present invention will be described in detail with reference to the accompanying drawings.

In the present embodiment, the moving path is a moving path in the warehouse, and a plurality of points existing on the moving path are points where a plurality of products distributed and stored in the warehouse are arranged, and a plurality of moving points. The body is a robot (cart) distributed and arranged in the warehouse to collect (pick) the plurality of products, and the robot collects the products at the point where the products are arranged during the staying time. This is the work time required for the above, and the picking work of picking a plurality of products stored in the warehouse with a plurality of robots will be described as an example, but the present invention is not limited to this. More specifically, the movement path in the warehouse is a path connecting a plurality of nodes on the network, and the goods and the robot will be described assuming that they are arranged on any of the nodes. It is not limited. In the present embodiment, the case where the robot (cart) is a moving body that automatically moves independently will be described as an example, but the present invention is not limited to this, and the robot (cart) is a robot (cart) that is manually moved by the user. May be good.

FIG. 1 is a block diagram showing an example of the configuration of the information processing system 1 of the present embodiment. As shown in FIG. 1, the information processing system 1 includes an information processing device 10, a terminal device 20, and output devices 30-1 to 30-n (n is a natural number of 2 or more). The information processing device 10, the terminal device 20, and the output devices 30-1 to 30-n are connected via the network 2. The network 2 can be realized by, for example, the Internet or a LAN (Local Area Network). In the following description, when it is not necessary to distinguish the output devices 30-1 to 30-n, they may be simply referred to as the output device 30.

The information processing device 10 generates and changes the movement paths of each of the plurality of robots for patrolling and collecting a plurality of products existing on the movement path by the plurality of robots. For example, one or more of them. It can be realized by a computer.

FIG. 2 is a block diagram showing an example of the hardware configuration of the information processing apparatus 10 of the present embodiment. The information processing device 10 includes a control device 101 such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), a main storage device 102 such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an HDD (Hard Disk Disk). Auxiliary storage devices 103 such as Disk Drive) and SSD (Solid State Drive), display devices 104 such as displays, input devices 105 such as keyboards and mice, and communication devices 106 such as communication interfaces are provided. It has a hardware configuration that uses a normal computer.

The terminal device 20 specifies a plurality of products to be collected with respect to the information processing device 10, and examples thereof include a PC (Personal Computer) and a smart terminal.

The output device 30 outputs a movement path determined by the information processing device 10. In the present embodiment, each output device 30 is associated with (equipped with) a robot, and outputs a movement path for the robot. Examples of the output device 30 include a display and a speaker provided in the robot, and a smart terminal owned by the user when the user moves the robot. The movement path may be output in any output mode such as display output, audio output, projection output, and print output.

FIG. 3 is a block diagram showing an example of the functional configuration of the information processing apparatus 10 of the present embodiment. As shown in FIG. 3, the information processing apparatus 10 includes a generation unit 151, a calculation unit 153, a determination unit 155, a change unit 157, and a transmission unit 159. The generation unit 151 and the transmission unit 159 can be realized by, for example, a control device 101, a main storage device 102, a communication device 106, and the like. The calculation unit 153, the determination unit 155, and the change unit 157 can be realized by, for example, the control device 101 and the main storage device 102.

The generation unit 151 generates a movement path for each of the plurality of moving bodies so that the plurality of points existing on the moving path are patrolled by the plurality of moving bodies. In the present embodiment, the generation unit 151 generates a movement path for each of the plurality of robots for patrolling and collecting a plurality of products existing on the movement path by the plurality of robots.

In the present embodiment, the movement paths of a plurality of robots may be generated by any method, but the time required for generation is short and the movement time (movement distance) of the entire movement path can be shortened as much as possible. Method is preferable. For this reason, it is preferable to generate a movement route using an algorithm for generating a movement route that satisfies the above conditions, but even if a movement route is generated using a genetic algorithm as long as the generation time constraint is satisfied. I do not care. In this embodiment, it is assumed that the speed of each moving body is fixed at a constant speed.

FIG. 4 is a flowchart showing an example of the movement route generation process performed by the information processing system 1 of the present embodiment. The flowchart shown in FIG. 4 is a flowchart of a movement route generation process by an algorithm for generating a movement route satisfying the above conditions. According to this algorithm, it is possible to generate a movement path in which the time required for generation is short and the total movement time (movement distance) can be shortened as much as possible.

First, prior to the generation of the movement route, the generation unit 151 generates the movement start position information and the movement end position information of each of the plurality of robots, the collection target position information of each of the plurality of products collected by the plurality of robots, and the movement path. Acquire information (step S101).

The movement start position information indicates the movement start position of the robot, the movement end position information indicates the movement end position of the robot, the collection target position information indicates the position of the product, and the movement path information indicates the robot can move. The moving path (the above-mentioned network) is shown.

Subsequently, the generation unit 151 uses the acquired plurality of movement start position information, the plurality of movement end position information, the plurality of collection target position information, and the movement path information for each of the plurality of robots for each product. The minimum movement amount required for the robot to move on the movement path, collect the goods from the movement start position, and reach the movement end position is calculated (step S103).

In the present embodiment, the case where the minimum movement amount and the movement amount described later are time will be described as an example, but the present invention is not limited to this, and the distance may be used. Further, in the present embodiment, the calculation of the minimum movement amount may be performed by using a known technique such as the Dyxtler method or the A * Star method. In addition, when there are a plurality of movement routes with the minimum movement amount, all movement routes shall be obtained.

Subsequently, the generation unit 151 assigns the product having the maximum minimum movement amount among the plurality of products to the robot having the minimum movement amount required to collect the product among the plurality of robots (step). S105).

Subsequently, in the generation unit 151, the product not assigned to the collecting robot is placed on the movement path for the assigned robot to collect the product with the minimum movement amount and reach the movement end position with the minimum movement amount. If there is, the goods that are not assigned to the collecting robot are further assigned to the assigned robot (step S107).

Subsequently, there are still products that are not assigned to the robot to be collected (Yes in step S109), and the generation unit 151 collects the products having the maximum minimum movement amount among the remaining one or more products. If the robot that minimizes the minimum movement amount required for is not assigned (Yes in step S111), the product that maximizes the minimum value of the minimum movement amount is assigned to the robot (step S113). Then, the process returns to step S107.

On the other hand, in the generation unit 151, the robot that minimizes the minimum movement amount required for collecting the product having the maximum minimum movement amount among the remaining one or more products is not assigned (No. in step S111). ), If there is one or more robots that satisfy the determination formula for determining the degree of dispersion and no product is assigned (Yes in step S115), the minimum value of the minimum movement amount is the maximum among the one or more robots. The product having the maximum minimum movement amount is assigned to the robot having the minimum movement amount required for collecting the product (step S117). Then, the process returns to step S107.

The determination formula for determining the degree of dispersion includes, but is limited to, the minimum movement amount between the robot X and the product Q = the distance between the robot X and the robot Y + the minimum movement amount between the robot Y and the product Q. It's not a thing. The robot X is a robot that is a target of whether or not the determination formula is satisfied, the product Q is a product to be assigned, and the robot Y is an arbitrary robot.

When the above-mentioned determination formula is satisfied, it is determined that the arrangement of the robot X and the robot Y is local, and the robot X and the robot Y are recognized as being included in the group. In this case, since the product Q is assigned to the robot X instead of the robot Y, it is possible to prevent the product from being assigned to the robot Y in a biased manner.

If the generation unit 151 satisfies the determination formula for determining the degree of dispersion and there is no one or more robots to which the product is not assigned (No in step S115), the remaining one or more robots among the plurality of robots. Of the products, the minimum movement amount required to collect the product with the maximum minimum movement amount is the minimum, and the robot with the minimum movement amount has the minimum movement amount so that the increase in the movement amount is the minimum. The product having the maximum minimum value is assigned (step S119). Then, the process returns to step S107.

Regarding the process of step S119, the movement amount is increased to the robot that collects the product having the shortest distance on the movement path with the product having the maximum minimum movement amount among the remaining one or more products. May be assigned so that the minimum value of the minimum movement amount is the maximum.

Further, regarding the process of step S119, the robot having the smallest movement amount among the one or more robots closest to the product having the maximum minimum movement amount among the remaining one or more products and the one or more robots closest to each other on the movement path. , The product that maximizes the minimum value of the minimum movement amount may be assigned so that the increase in the movement amount is minimized.

In step S109, when there are no products left that are not assigned to the robots to be collected (No in step S109), the generation unit 151 generates movement paths for a plurality of robots based on the allocation result (step S121).

FIG. 5 is a diagram showing an example of a patrol time (movement time) in the movement path of each robot generated by the generation unit 151 of the present embodiment. In the example shown in FIG. 5, when seven products (product A to product G) existing on the moving path are patrolled and collected by three robots (robots 1 to 3), the movement path of each robot is used. It shows the patrol time. In the example shown in FIG. 5, the robot 1 collects the product A, the robot 2 collects the products B to E, and the robot 3 collects the products F to G. The patrol time is the time required for the robot to patrol from the movement start point to the movement end point of the movement route. However, the patrol time shown in FIG. 5 does not take into account the work time (stay time) required for collecting the goods at the point where the goods are arranged on the movement route. The legend shown in FIG. 5 shall be similarly applied to the following drawings.

For each movement route generated by the generation unit 151, the calculation unit 153 determines the movement time required for the movement of the moving body moving on the movement route and the staying time at each of one or more points existing on the movement route. , To calculate the total patrol time. In the present embodiment, the calculation unit 153 determines the movement time required for the robot moving on the movement route (time required for movement from the start point to the goal point of the movement route) and the movement route on the movement route. At each of the one or more points where the products are placed in, the patrol time is calculated by adding up the work time required for collecting the products. In the present embodiment, the case where the work time required for collecting the products is uniform regardless of the type and number of the products will be described as an example, but the present embodiment is not limited to this.

FIG. 6 is a diagram showing an example of the patrol time (movement time + working time) in the movement path of each robot calculated by the calculation unit 153 of the present embodiment. In the patrol time shown in FIG. 6, the work time required for collecting the product is added (inserted) to the patrol time in each movement route shown in FIG. 5 at the point where the product is arranged. As described above, the work time required for collecting products is a uniform time regardless of the type and number of products.

It can be expected that the movement path of each robot generated by the generation unit 151 can shorten the movement time of the entire movement path as much as possible if the work time is not taken into consideration. However, if the work time is taken into consideration, the entire movement path can be expected. It cannot be expected that the travel time in Japan can be shortened as much as possible. Therefore, even when the working time is taken into consideration, the following processing is performed in order to shorten the patrol time (moving time + working time) in the entire moving route as much as possible.

The determination unit 155 determines whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time among the plurality of patrol times calculated by the calculation unit 153.

Specifically, the determination unit 155 changes the movement route so that any one or more points patrolled by the moving body moving on the moving path having the longest patrolling time are patrolled by the other moving body. By doing so, it is determined whether or not a plurality of movement routes can be changed so as to be shorter than the longest patrol time.

Specifically, the determination unit 155 determines that any one or more points patrolled by the moving body moving on the moving path having the longest patrolling time is the other movement so that the increase in the patrolling time is the smallest. By changing the movement route so that it is patrolled by the body, it is determined whether or not a plurality of movement routes can be changed so as to be shorter than the longest patrolling time.

For example, in the case of the example shown in FIG. 6, the movement path of the robot 2 has the longest patrol time. Therefore, the determination unit 155 changes the movement route so that any of the products B to E collected by the robot 2 is collected by the robot 1 or 2 so that the increase in the patrol time is the smallest. Then, it is determined whether or not the movement paths of the robots 1 to 3 can be changed so as to be shorter than the longest patrol time (the patrol time of the movement path of the robot 2 before the change).

In this case, the movement path change pattern is a total of 20 patterns, which are 5 patterns shown in FIG. 7, 5 patterns shown in FIG. 8, 5 patterns shown in FIG. 9, and 5 patterns shown in FIG.

The five patterns shown in FIG. 7 are a pattern in which the product B is collected by the robot 1 before the collection of the product A, a pattern in which the product B is collected by the robot 1 after the collection of the product A, and a pattern in which the product B is collected by the robot 3 before the collection of the product F. This is a pattern in which the product B is collected by the robot 3 after the product F is collected and before the product G is collected, and a pattern in which the product B is collected by the robot 3 after the product G is collected.

The five patterns shown in FIG. 8 are a pattern in which the product C is collected by the robot 1 before the collection of the product A, a pattern in which the product C is collected by the robot 1 after the collection of the product A, and a pattern in which the product C is collected by the robot 3 before the collection of the product F. This is a pattern in which the product C is collected by the robot 3 after the product F is collected and before the product G is collected, and a pattern in which the product C is collected by the robot 3 after the product G is collected.

The five patterns shown in FIG. 9 are a pattern in which the product D is collected by the robot 1 before the collection of the product A, a pattern in which the product D is collected by the robot 1 after the collection of the product A, and a pattern in which the product D is collected by the robot 3 before the collection of the product F. This is a pattern in which the product D is collected by the robot 3 after the product F is collected and before the product G is collected, and a pattern in which the product D is collected by the robot 3 after the product G is collected.

The five patterns shown in FIG. 10 are a pattern in which the product E is collected by the robot 1 before the collection of the product A, a pattern in which the product E is collected by the robot 1 after the collection of the product A, and a pattern in which the product E is collected by the robot 3 before the collection of the product F. This is a pattern in which the product E is collected by the robot 3 after the product F is collected and before the product G is collected, and a pattern in which the product E is collected by the robot 3 after the product G is collected.

Here, the determination unit 155 calculates the patrol time (minimum movement amount) of the movement path of the robot whose movement path is changed by the above-mentioned change pattern by using the above-mentioned Dykustra method, A * star method, or the like. Then, the change pattern of the movement route with the smallest increase in the patrol time is searched for.

FIG. 11 is a diagram showing an example in which the patrol time of the movement path of each robot can be changed so as to be shorter than the longest patrol time. In the example shown in FIG. 6, the amount of increase in the patrol time is the smallest. The change pattern of the movement route shows the case where the product D is collected by the robot 3 after the collection of the product F and before the collection of the product G. In the example shown in FIG. 11, when the movement paths of the robots 2 and 3 are changed as described above, the patrol time of any of the movement paths of the robots 1 to 3 is shorter than the longest patrol time before the change. , The determination unit 155 can determine that the patrol time is shorter than the longest patrol time. The travel time surrounded by a thick frame in FIG. 11 indicates the travel time changed due to the change of the travel route.

FIG. 12 is a diagram showing an example in which the patrol time of the movement path of each robot cannot be changed so as to be shorter than the longest patrol time. In the example shown in FIG. 6, the amount of increase in the patrol time is the smallest. The change pattern of the movement route shows the case where the product D is collected by the robot 3 after the collection of the product F and before the collection of the product G. In the example shown in FIG. 12, when the movement paths of the robots 2 and 3 are changed as described above, the patrol time of the movement path of the robot 3 is longer than the longest patrol time before the change, and the determination unit 155. Cannot be determined to be shorter than the longest patrol time. Also in FIG. 12, the travel time surrounded by a thick frame indicates the travel time changed due to the change of the travel route.

When the determination unit 155 determines that the change unit 157 can change a plurality of movement routes so as to be shorter than the longest patrol time, the change unit 157 changes the plurality of movement routes so as to be shorter than the longest patrol time. .. Specifically, the change unit 157 changes a plurality of movement routes to a change pattern determined by the determination unit 155 to be able to change the movement routes of the plurality of robots so as to be shorter than the longest patrol time.

Further, one or more points patrolled by the moving body moving on the moving path having the longest patrolling time is the other moving body so that the determination unit 155 minimizes the increase in the patrolling time. By changing the movement route so as to be patrolled by, it is determined that a plurality of movement routes cannot be changed so as to be shorter than the longest patrolling time. In this case, the changing unit 157 has the shortest patrol time at any one or more points patrolled by the moving body moving on the moving path having a patrol time that is neither the longest patrol time nor the shortest patrol time. A plurality of movement routes are changed so as to be patrolled by a moving body moving on the movement route.

For example, in the case of the example shown in FIG. 13, the movement path of the robot 3 is the longest patrol time, but any of the products F, D, and G collected by the robot 3 so that the amount of increase in the patrol time is the smallest. Even if the movement route is changed so that the robots 1 or 2 collect the products, it is assumed that the movement route of each robot cannot be changed so as to be shorter than the longest patrol time.

Specifically, since the difference between the patrol time of the robot 3 (the longest patrol time) and the patrol time of the robot 2 is shorter than the working time, any of the products F, D, and G collected by the robot 3 can be selected. When the movement route is changed so as to be collected by the robot 2, the patrol time of the movement route of the robot 2 after the change becomes longer than the patrol time (longest patrol time) of the robot 3. Further, the difference between the patrol time of the robot 3 (the longest patrol time) and the patrol time of the robot 1 is longer than the working time, but the product collected by the robot 3 so that the amount of increase in the patrol time is the smallest. Even if the movement route is changed so that any of F, D, and G is collected by the robot 1, the patrol time of the changed movement route of the robot 1 is longer than the patrol time of the robot 3 (the longest patrol time). It shall be long.

In this case, as shown in FIG. 14, the changing unit 157 collects products B, C, and E collected by the robot 2 moving on the moving path having a patrol time that is neither the longest patrol time nor the shortest patrol time. The movement path of each robot is changed so that any one of the above is patrolled by the robot 1 moving on the movement path having the shortest patrolling time. Here, as shown in FIG. 15, the changing unit 157 moves the moving path of each robot so that the product E collected by the robot 2 is patrolled by the robot 1 moving on the moving path having the shortest patrolling time. Is changed.

In this way, the difference between the patrol time of the robot 3 (the longest patrol time) and the patrol time of the robot 2 becomes shorter than the working time, and any of the products F, D, and G collected by the robot 3 can be selected. If the movement path is changed so as to be collected by the robot 2, the patrol time of the movement path of each robot may be shorter than the longest patrol time.

When a plurality of movement routes are changed by the change unit 157, the determination unit 155 sets the movement route having the longest patrol time so that the increase amount of the patrol time is the smallest in the changed plurality of movement routes. By changing the movement route so that one or more points patrolled by the moving moving object are patrolled by the other moving body, the multiple movement routes are changed so as to be shorter than the longest patrolling time. Re-determine whether it can be done.

When the determination unit 155 cannot change the plurality of movement routes so as to be shorter than the longest patrol time, the determination unit 155 determines (determines) a plurality of movement routes. Specifically, the determination unit 155 determines that when the difference between the longest patrol time and the shortest patrol time is less than or equal to the working time, the plurality of movement routes cannot be changed so as to be shorter than the longest patrol time. , Determine multiple travel routes.

When the moving route of each moving body is determined by the determination unit 155, the transmitting unit 159 transmits the moving route information indicating the moving route of the moving body to the output device 30 associated with the moving body for each moving body. Send.

Each output device 30 outputs the movement route indicated by the movement route information transmitted from the information processing device 10.

FIG. 16 is a flowchart showing an example of the movement route determination process performed by the information processing system 1 of the present embodiment.

First, the generation unit 151 determines the movement path of each robot (however, the work time associated with the product collection work is not taken into consideration) for patrolling and collecting a plurality of products existing on the movement path by the plurality of robots. Generate (step S101).

Subsequently, the calculation unit 153 determines the movement time (time required to move from the start point to the goal point of the movement route) required for the movement of the robot moving on the movement route and the product on the movement route for each movement route. At each of the one or more points where the is placed, the patrol time is calculated by adding up the work time required for collecting the product (step S103).

Subsequently, the determination unit 155 determines whether or not the difference between the longest patrol time and the shortest patrol time among the plurality of patrol times calculated by the calculation unit 153 is equal to or less than the working time (step S105). ).

When the difference between the longest patrol time and the shortest patrol time is less than or equal to the working time (Yes in step S105), the determination unit 155 cannot change the movement path of each robot so as to be shorter than the longest patrol time. , The movement route of each robot is determined (determined), and the movement route determination process is completed.

On the other hand, when the difference between the longest patrol time and the shortest patrol time is not less than or equal to the working time (No in step S105), the determination unit 155 is collected by the robot moving on the movement path having the longest patrol time1. When any of the above products is collected by another robot, the change pattern in which the amount of increase in the patrol time in the movement route to which the collection of products is added is the smallest is searched (step S107).

Subsequently, the determination unit 155 determines whether or not the patrol time of the movement path of each robot can be made shorter than the longest patrol time before the change when the changed pattern is changed to the searched pattern (step S109).

When the patrol time of the movement path of each robot can be made shorter than the longest patrol time before the change (Yes in step S109), a plurality of movement paths are changed to the change pattern searched by the determination unit 155 (step S111). Return to step S105.

On the other hand, when the patrol time of the movement path of each robot cannot be made shorter than the longest patrol time before the change (No in step S109), the change unit 157 has a patrol time that is neither the longest patrol time nor the shortest patrol time. One or more products collected by the robot moving on the moving path are changed in a plurality of moving paths so that they are collected by the robot moving on the moving path having the shortest patrol time (step). S111).

Subsequently, unless the work plan is updated (change in step S111) (Yes in step S115), the determination unit 155 cannot change the movement path of each robot so as to be shorter than the longest patrol time, and thus each robot. The movement route of is determined (determined), and the movement route determination process is completed.

On the other hand, if the work plan is updated (change in step S111) (No in step S115), the process returns to step S107.

As described above, according to the present embodiment, even when the work time in the movement route is added after the movement routes of a plurality of moving bodies are generated, the patrol time (movement time + work) in the entire movement route is taken into consideration. Time) can be as short as possible. In particular, according to the present embodiment, since an exploratory method (for example, a genetic algorithm) is not used, the amount of calculation can be significantly reduced as compared with the exploratory method, and the patrol time in the entire movement route (for example, the patrol time in the entire movement route). It is possible to optimize the movement route of the entire moving body while suppressing the time required for determining (moving time + working time).

(Modification example)
In the above embodiment, the case where the work time required for collecting the products is uniform has been described as an example, but the products may be different depending on the type and number of products. In this case, in step S105 of the flowchart shown in FIG. 16, in step S105, the difference between the longest patrol time and the shortest patrol time among the plurality of patrol times calculated by the calculation unit 153 is the shortest working time. It suffices to determine whether or not it is as follows.

Further, in the above embodiment, the case where the goods are (picked) collected by using the cart in the warehouse and the goods are stored by using the cart has been described as an example.

However, the present invention is not limited to this, and can be applied to human transportation by community bus. In this case, the moving body becomes a community bus, and the plurality of points existing on the moving path become places where humans are or send humans, and the moving path becomes a road.

It can also be applied to disaster response plans such as relief and transportation of supplies. In this case, the moving body becomes a car, the plurality of points existing on the moving path become places where the victims, supplies, hospitals, and shelters are located, and the moving path becomes a road.

It can also be applied to home delivery such as collection and delivery. In this case, the moving body becomes a truck, the plurality of points existing on the moving path become a place or a place where the delivery is located, and the moving path becomes a road.

It can also be applied to patrols of sales staff. In this case, the moving body becomes an automobile, the plurality of points existing on the moving path become places where sales staff are present, places to visit, etc., and the moving path becomes a road.

Further, when the moving body is an automobile, the output device 30 may be a car navigation system or a projector. When the output device 30 is a projector, an embodiment such as projecting a moving path onto the windshield of an automobile can be considered.

(program)
The program executed by the information processing apparatus 10 of the above embodiment and each modification is a file in an installable format or an executable format, and is a CD-ROM, a CD-R, a memory card, a DVD (Digital Versatile Disk), or a flexible file. It is stored and provided in a computer-readable storage medium such as a disk (FD).

Further, the program executed by the information processing apparatus 10 of the above-described embodiment and each modification may be provided by storing it on a computer connected to a network such as the Internet and downloading it via the network. Further, the program executed by the information processing apparatus 10 of each of the above-described embodiments and modifications may be provided or distributed via a network such as the Internet. Further, the program executed by the information processing apparatus 10 of each of the above-described embodiments and modifications may be provided by incorporating it into a ROM or the like in advance.

The program executed by the information processing apparatus 10 of the above-described embodiment and each modification has a modular configuration for realizing each of the above-described parts on a computer. As actual hardware, for example, the CPU reads a program from the ROM onto the RAM and executes the program, so that each of the above functional units is realized on the computer.

The above-described embodiment and each modification are presented as examples, and are not intended to limit the scope of the invention. The new embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and the equivalent scope thereof.

1 Information processing system 2 Network 10 Information processing device 20 Terminal device 30-1 to 30-n (30) Output device 151 Generation unit 153 Calculation unit 155 Judgment unit 157 Change unit 159 Transmission unit

Japanese Patent No. 4292062

Claims (12)

A generator that generates a movement path for each of the plurality of moving bodies in order to patrol a plurality of points existing on the moving path with a plurality of moving bodies.
A calculation unit that calculates the total patrol time for each movement route, which is the sum of the movement time required for the movement of the moving body moving on the movement route and the staying time at each of one or more points existing on the movement route. When,
A determination unit that determines whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time among the calculated plurality of patrol times.
If it can be changed, it is provided with a changing unit that changes the plurality of movement routes so as to be shorter than the longest patrol time.
In the determination unit, any one or more points patrolled by the moving body moving on the moving path having the longest patrolling time are patrolled by the other moving body so that the increase amount of the patrol time is the smallest. An information processing device that determines whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time by changing the movement route. Before SL determination unit if it can not change the multiple moving path so as to be shorter than the longest cyclic time, the information processing apparatus according to claim 1 for determining a plurality of moving path. The determination unit changes the movement path so that any one or more points patrolled by the moving body moving on the moving path having the longest patrolling time are patrolled by the other moving body. The information processing apparatus according to claim 2, wherein it is determined whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time. When the plurality of movement routes are changed by the change unit, the determination unit is on the movement route having the longest patrol time so that the increase amount of the patrol time is the smallest in the changed plurality of movement routes. By changing the movement route so that any one or more points patrolled by the moving body is patrolled by the other moving body, the plurality of movements are made shorter than the longest patrolling time. The information processing apparatus according to claim 1, wherein it is redetermined whether or not the route can be changed. The change unit is one of one or more points patrolled by the moving body moving on the movement path having the longest patrolling time so that the increase amount of the patrolling time is minimized by the determination unit. When it is determined that the plurality of movement routes cannot be changed so as to be shorter than the longest patrol time by changing the movement route so as to be patrolled by another moving body, the longest patrol time and the shortest Any one or more points patrolled by a moving body moving on a moving path having a patrolling time that is neither of the patrolling times is patrolled by the moving body moving on the moving path having the shortest patrolling time. By changing the plurality of movement routes as described above,
When the plurality of movement routes are changed by the change unit, the determination unit is on the movement route having the longest patrol time so that the increase amount of the patrol time is the smallest in the changed plurality of movement routes. By changing the movement route so that any one or more points patrolled by the moving body is patrolled by the other moving body, the plurality of movements are made shorter than the longest patrolling time. The information processing apparatus according to claim 1 or 4, wherein it is redetermined whether or not the route can be changed. The determination unit determines that when the difference between the longest patrol time and the shortest patrol time is less than or equal to the stay time, the plurality of movement routes cannot be changed so as to be shorter than the longest patrol time. Item 2. The information processing apparatus according to item 2. An information processing system including an information processing device and a plurality of output devices.
The information processing device
A generator that generates a movement path for each of the plurality of moving bodies in order to patrol a plurality of points existing on the moving path with a plurality of moving bodies.
A calculation unit that calculates the total patrol time for each movement route, which is the sum of the movement time required for the movement of the moving body moving on the movement route and the staying time at each of one or more points existing on the movement route. When,
A determination unit that determines whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time among the calculated plurality of patrol times.
If it can be changed, the change part that changes the plurality of movement routes so as to be shorter than the longest patrol time, and
Each of the plurality of output devices is provided with a transmission unit for transmitting movement route information indicating a changed movement route of the moving body associated with the output device.
In the determination unit, any one or more points patrolled by the moving body moving on the moving path having the longest patrolling time are patrolled by the other moving body so that the increase amount of the patrol time is the smallest. By changing the movement route so as to be performed, it is determined whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time.
Each of the plurality of output devices is an information processing system that outputs a movement route indicated by the movement route information transmitted from the information processing device. Before Symbol judging unit if it can not change the plurality of movement paths to be shorter than the longest cyclic time, the information processing system according to the plurality of movement paths to claim 7 Ru probability Teisu. It is a movement route determination method executed by an information processing device.
A generation step in which the generation unit generates a movement path for each of the plurality of moving bodies so that the plurality of points existing on the moving path are patrolled by the plurality of moving bodies.
For each of the movement routes, the calculation unit calculates the total patrol time of the movement time required for the movement of the moving body moving on the movement route and the staying time at each of one or more points existing on the movement route. Calculation steps to calculate and
A determination step for determining whether or not the plurality of movement routes can be changed so that the determination unit is shorter than the longest patrol time of the plurality of calculated patrol times.
When the change unit can be changed, the change step includes a change step of changing the plurality of movement routes so as to be shorter than the longest patrol time.
In the determination step, any one or more points patrolled by the moving body moving on the moving path having the longest patrolling time are patrolled by the other moving body so that the increase amount of the patrol time is the smallest. A method of determining a movement route for determining whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time by changing the movement route. Before SL determining step, when it is not possible to change the plurality of movement paths to be shorter than the longest cyclic time, moving path determination method according to claim 9 for determining the plurality of moving path. A generation step for generating a movement path for each of the plurality of moving bodies in order to patrol a plurality of points existing on the moving path with a plurality of moving bodies, and a generation step.
A calculation step for calculating the total patrol time for each of the movement routes, which is the total movement time required for the movement of the moving body moving on the movement route and the staying time at each of one or more points existing on the movement route. When,
A determination step for determining whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time among the calculated plurality of patrol times.
If it can be changed, the computer is made to perform the change step of changing the plurality of movement routes so as to be shorter than the longest patrol time.
In the determination step, any one or more points patrolled by the moving body moving on the moving path having the longest patrolling time are patrolled by the other moving body so that the increase amount of the patrol time is the smallest. A program that determines whether or not the plurality of movement routes can be changed so as to be shorter than the longest patrol time by changing the movement route. Before SL determining step, when it is not possible to change the plurality of movement paths to be shorter than the longest cyclic time, a program according to claim 11 for determining the plurality of moving path.

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