WO2020100437A1

WO2020100437A1 - Control system, control method, program, and storage medium

Info

Publication number: WO2020100437A1
Application number: PCT/JP2019/037288
Authority: WO
Inventors: 高橋　宏昌; 寺田　明人; 小林　大介
Original assignee: 株式会社東芝
Priority date: 2018-11-14
Filing date: 2019-09-24
Publication date: 2020-05-22
Also published as: JP6650988B1; JP2020086473A

Abstract

This control system of an embodiment comprises a first detector, a second detector, and a control unit. The first detector detects the position of a mobile body moving within a prescribed first section. The second detector detects the position of a person within the first section. The control unit receives the detection results by the first detector and the second detector. The control unit controls the movement of the mobile body. When a person is detected within the first section by the second detector, the control unit references a plurality of regions set corresponding to the first section, and between a first area comprising one or more of the regions including the region in which the mobile body exists, and a second area comprising one or more of the other of the regions including the region in which the person exists, further sets a third area comprising another one or more of the regions, and moves the mobile body within the first area.

Description

Control system, control method, program, and storage medium

The embodiment of the present invention relates to a control system, a control method, a program, and a storage medium.

Mobiles (eg robots) are used for various tasks. In addition, there are cases where a person enters and works in the section in which the moving body moves. There is a demand for the development of technology that can more reliably prevent contact between a person and a moving body when a person enters the compartment and improve safety.

International Publication No. 2007/029306

The problem to be solved by the present invention is to provide a control system, a control method, a program, and a storage medium that can more reliably prevent contact between a person and a moving body and improve safety.

The control system according to the embodiment includes a first detector, a second detector, and a control unit. The first detector detects the position of a moving body that moves within a predetermined first section. The second detector detects the position of a person in the first section. The controller receives the detection results of the first detector and the second detector. The control unit controls the movement of the moving body. When a person is detected in the first section by the second detector, the control unit refers to a plurality of areas set corresponding to the first section and refers to the area where the moving body exists. Between a first area consisting of one or more of the areas containing the person and a second area consisting of another of the areas of the person in which the person is present. A third area including the area is set, and the moving body is moved within the first area.

It is a block diagram showing the composition of the control system concerning an embodiment. It is a typical perspective view showing an example of the field where the control system concerning an embodiment is applied. It is a typical top view showing an example of the field where the control system concerning an embodiment is applied. It is a schematic diagram which illustrates the process by the control system which concerns on embodiment. It is a schematic diagram which illustrates the process by the control system which concerns on embodiment. It is a block diagram showing the composition of the control system concerning the 1st modification of an embodiment. It is a block diagram showing the composition of the control system concerning the 2nd modification of an embodiment. It is a schematic diagram which illustrates the process by the control system which concerns on the 2nd modification of embodiment. It is a typical top view showing another example of the field where the control system concerning an embodiment is applied. It is a schematic diagram which illustrates the process by the control system which concerns on embodiment. It is a schematic diagram which illustrates the process by the control system which concerns on embodiment. It is a schematic diagram which illustrates the process by the control system which concerns on embodiment. It is a schematic diagram which illustrates the process by the control system which concerns on embodiment. It is a block diagram showing the hardware constitutions of the control system concerning an embodiment.

Each embodiment of the present invention will be described below with reference to the drawings.
The drawings are schematic or conceptual, and the relationship between the thickness and width of each portion, the size ratio between the portions, and the like are not always the same as the actual ones. Even when the same portion is shown, the dimensions and ratios may be different depending on the drawings.
In the specification and the drawings of the application, components similar to those described above are designated by the same reference numerals, and a detailed description thereof will be appropriately omitted.

FIG. 1 is a block diagram showing the configuration of a control system according to the embodiment.
The control system 100 shown in FIG. 1 is used to control the moving body 1. The moving body 1 moves within a certain section and performs a predetermined work. Here, the section in which the moving body 1 moves is referred to as a first section. When a person enters the first section, it is desirable that the moving body 1 operates at a position away from the person from the viewpoint of safety. The control system 100 operates the moving body 1 at a position away from the person in order to avoid contact between the moving body 1 and the person.

Specifically, the control system 100 includes a first detector 11, a second detector 12, and a control unit 20. In the example shown in FIG. 1, the control system 100 further includes a storage unit 30. The moving body 1 may be included in the control system 100 or may be provided separately from the control system 100.

Mobile unit 1 moves within the first section. In the present application, “moving” means that the position of the moving body 1 (for example, the position of the moving mechanism) changes due to the operation of the moving mechanism included in the moving body 1. The moving mechanism includes, for example, at least one of a tire, a crawler, and a linear guide. When the moving body 1 is a flying body such as a drone, the moving mechanism includes, for example, a propeller. When the moving body 1 walks by itself, the moving mechanism includes, for example, a serial link mechanism that functions as a leg. Further, the “motion” means that at least a part of the moving body 1 moves. Movement is a type of movement. For example, in addition to movement, work using the arm of the moving body 1 is included in the operation.

The first detector 11 detects the position of the moving body 1 within the first section. The second detector 12 detects the position of a person in the first section. The first detector 11 and the second detector 12 transmit the detection result to the control unit 20. The control unit 20 receives the detection results of the first detector 11 and the second detector 12. The control unit 20 controls the movement of the moving body 1 based on the detection result.

FIG. 2 is a schematic perspective view showing an example of a site to which the control system according to the embodiment is applied.
Here, a case where the control system 100 according to the embodiment is applied to the site shown in FIG. 2 will be described.

The site shown in FIG. 2 has a plurality of conveyors C1 to C10. The conveyors C1 to C5 are provided side by side with the conveyors C6 to C10, respectively. On the conveyors C1 to C5, the article B flows in the direction of arrow A1. On the conveyors C6 to C10, the article B flows in the direction of arrow A2.

In the example of FIG. 2, the moving body 1 has a dolly. The dolly has tires and a motor (not shown) connected to the tires. The rotation of the motor causes the tire to move and the moving body 1 to move. The moving body 1 moves between the conveyors C1 to C5 and the conveyors C6 to C10.

The mobile unit 1 is provided with an arm for picking up the article B. The moving body 1 conveys the articles B flowing to the respective ends of the conveyors C1 to C5 to one of the conveyors C6 to C10 by using an arm. For example, the space between the conveyors C1 to C5 and the conveyors C6 to C10 corresponds to the first section.

Multiple areas are set in the first section. Each area corresponds to a part of the first section. The whole of the plurality of regions corresponds to the whole of the first section. The plurality of regions are arranged, for example, in a one-dimensional or two-dimensional shape along the horizontal direction. Alternatively, the plurality of regions may be arranged three-dimensionally.

FIG. 3A and FIG. 3B are schematic plan views showing an example of a site to which the control system according to the embodiment is applied.
FIG. 3A is a schematic plan view of the site shown in FIG.

For example, as shown in FIG. 3A, five regions E1 to E5 arranged in a one-dimensional manner are set for the first section D. The area E1 includes a space between the conveyor C1 and the conveyor C6. Similarly, the areas E2 to E5 include the spaces between the conveyors C2 to C5 and the conveyors C7 to C10, respectively.

The control unit 20 moves the moving body 1 within the first section while the position of the person is not acquired by the second detector 12. In the example illustrated in FIG. 3A, the control unit 20 moves the moving body 1 in the areas E1 to E5 in the first section D without setting the limitation of the moving range.

When a person enters the first section D, the fact is detected by the second detector 12. The control unit 20 determines an area where the moving body 1 exists and an area where a person exists based on the detection results of the first detector 11 and the second detector 12. Then, the control unit 20 sets one or more areas including the area in which the moving body 1 exists as the first area. The control unit 20 sets another one or more areas including the area where the person is present as the second area. The control unit 20 sets one or more areas between the first area and the second area as the third area. The control unit 20 moves the moving body 1 within the first area.

FIG. 3 (b) shows the situation when the person H enters the first section D. In the example shown in FIG. 3B, the moving body 1 is detected in the area E2 and the person H is detected in the area E4. For example, the control unit 20 sets the area E1 and the area E2 as the first area F1. The control unit 20 sets the area E4 and the area E5 as the second area F2. The control unit 20 sets the area E3 between the first area F1 and the second area F2 as the third area F3.

Note that the third area is set between the first area and the second area in the direction in which the plurality of areas are arranged. When the plurality of regions are arranged curved or bent, the third area is set between the first area and the second area in the curved or bent arrangement direction.

In the example of FIG. 3B, each of the first area F1 and the second area F2 is composed of a plurality of areas. The third area F3 is composed of only one area. Without being limited to this example, each of the first area F1 and the second area F2 may be composed of only one region. The third area F3 may be composed of two or more regions.

The control unit 20 moves the moving body 1 within the first area F1. That is, the control unit 20 moves the moving body 1 only within the first area F1 so that the moving body 1 does not enter the third area F3.

For example, a plurality of areas are set in advance and stored in the storage unit 30. For example, the storage unit 30 stores the identification information of each area and the coordinates of each area as the information of the plurality of areas. The control unit 20 accesses the storage unit 30 and refers to the information in the plurality of areas. The control unit 20 identifies the coordinates of the moving body 1 and the person H from the detection results of the first detector 11 and the second detector 12. The coordinates of the moving body 1 and the person H are represented by the same coordinate system as the plurality of areas, and the area where the moving body 1 and the person H are present is determined.

The effect of the embodiment will be described.
According to the control system 100 according to the embodiment, when a person is detected in the first section, the control unit 20 causes a gap between the first area where the moving body 1 is present and the second area where the person is present. Then, the third area is set. Then, the control unit 20 moves the moving body 1 within the first area. According to this control, the moving area of the moving body 1 and the area where the person exists are separated by the third area. Therefore, it is possible to more reliably prevent the moving body 1 from coming into contact with a person, and it is possible to improve the safety at the site where the moving body 1 moves.

The control unit 20 moves the mobile unit 1 in the first area so that the mobile unit 1 does not enter the third area. However, regardless of this control, the moving body 1 may enter the third area. For example, if there is an error in the position of the moving body 1 detected by the first detector 11, the moving body 1 may enter the third area. Alternatively, when the moving body 1 includes a movable part such as an arm, the movable part may enter the third area.

For example, the control unit 20 executes the normal mode in which the mobile unit 1 operates in the first area while the first detector 11 detects that the mobile unit 1 exists in the first area. When the first detector 11 detects that at least a part of the moving body 1 has entered the third area, the control unit 20 executes an emergency mode different from the normal mode. For example, the control unit 20 executes the emergency mode different from the normal mode when the first detector 11 detects that at least a part of the mobile body 1 has entered the second area beyond the third area. To do. The emergency mode includes, for example, at least one of deceleration of the mobile unit 1, notification, and movement of the mobile unit 1 to the first area.

For example, the control unit 20 decelerates the moving body 1. This makes it easier for a person to avoid the moving body 1 even when the moving body 1 approaches a person. Decelerating includes stopping. That is, the control unit 20 may decelerate and stop the moving body 1 when the moving body 1 enters the third area.
The control unit 20 may notify that the mobile body 1 may come into contact with a person. The notification is performed using, for example, sound, light, vibration, or the like. The device that emits sound, light, or vibration may be attached to the moving body 1, or may be attached to the floor, wall, facility, etc. of the first section. When the person in the first section owns the terminal device, the notification may be transmitted to this terminal device. By the notification, it is possible to notify the person in the first section that the moving body 1 may approach the person.
The control unit 20 may move the mobile unit 1 from the second area or the third area to the first area. At this time, the control unit 20 may decelerate or accelerate the moving body 1. By moving the mobile unit 1 to the first area, the distance between the mobile unit 1 and the person can be increased.
The safety can be further improved by executing the emergency mode.

In the emergency mode, the control unit 20 preferably moves the mobile unit 1 from the second area or the third area to the first area. After moving to the first area, the mobile unit 1 can move in the first area. The mobile body 1 can continue the work without stopping. Therefore, the work efficiency of the moving body 1 can be improved.

FIG. 4A to FIG. 4C and FIG. 5A to FIG. 5C are schematic views illustrating processing by the control system according to the embodiment.
4 (a) to 4 (c) and 5 (a) to 5 (c) show a plurality of regions E1 to E5 set corresponding to the first section.

The control unit 20 further changes each range or position of the first area to the third area according to the position of the person. In the example shown in FIG. 4A, the moving body 1 exists in the area E1 and the person H exists in the area E4. The area E1 and the area E2 are set as the first area F1. The area E4 and the area E5 are set as the second area F2. The area E3 is set as the third area F3.

The control unit 20 does not change the range or position of each area while the person H is moving in the second area F2. For example, the person H moves from the area E4 to the area E3. That is, the person H enters the third area F3. When the second detector 12 detects the entry of the person H into the third area F3, the control unit 20 transitions the third area F3 in the first direction G1 from the second area F2 toward the first area F1. Let As a result, as shown in FIG. 4B, the area E3 deviates from the third area F3 and the area E2 becomes the third area F3. The area E3 is added to the second area F2. The first area F1 includes only the area E1. The control unit 20 moves the moving body 1 within the changed first area F1.

In this way, the control unit 20 sets the third area F3 again according to the movement of the person H. Thereby, even when the person H moves in the first section D so as to approach the moving body 1, the moving body 1 can be separated from the person H. Therefore, the moving body 1 can be more reliably prevented from coming into contact with a person, and the safety can be further improved.

For example, the mobile unit 1 may exist in a region adjacent to the third area F3. At this time, when the person H enters the third area F3, the distance between the moving body 1 and the person H becomes short. When the third area F3 is transitioned, the moving body 1 is present in the third area F3 after the transition. In this case, the control unit 20 executes the emergency mode, for example. Or, as a result of the first area F1, the second area F2, and the third area F3 being changed while the moving body 1 is moving, the moving body 1 may be present in the changed second area F2. There is also. In this case, the control unit 20 executes the emergency mode, for example. That is, the control unit 20 executes at least one of deceleration of the moving body 1, movement of the moving body 1 in the first direction G1, and notification. As a result, it is possible to more reliably prevent the moving body 1 from coming into contact with a person and further improve safety.

In the emergency mode, the control unit 20 preferably moves the moving body 1 from the changed second area or the third area to the changed first area. After moving to the first area, the mobile unit 1 can move in the first area. The mobile body 1 can continue the work without stopping. Therefore, the work efficiency of the moving body 1 can be improved.

For example, the second detector 12 detects that the person H has moved in the second direction G2 away from the third area F3, as shown in FIG. 4C. At this time, the control unit 20 may transition the third area F3 in the second direction G2, as shown in FIG. That is, the control unit 20 causes the third area F3 to transition toward the direction toward the person H. As a result, the area E2 deviates from the third area F3, and the area E3 becomes the third area F3. The area E2 is added to the second area F2. According to this processing, the range of the first area F1 is expanded according to the movement of the person H. That is, the moving range of the moving body 1 is appropriately expanded. Therefore, the work efficiency of the moving body 1 can be improved.

For example, when the second detector 12 detects that the person H is no longer in the first section D, the control unit 20 sets all of the first section D in the first area F1. As a result, the moving range of the moving body 1 is expanded, and the work efficiency of the moving body 1 can be improved.

Also, the position of the third area F3 set when the person H enters the first section D can be appropriately adjusted. For example, as shown in FIG. 5A, there are two or more regions between the region E1 in which the moving body 1 is present and the region E5 in which a person is present. In this case, the control unit 20 sets the third area F3 so that the distance (the number of areas) between the area E1 and the third area F3 is longer than the distance between the area E5 and the third area F3. To set. According to this setting method, the movable range of the moving body 1 can be further widened. Therefore, the work efficiency of the moving body 1 can be improved.

As shown in FIG. 5B, the control unit 20 sets the distance between the area E5 and the third area F3 to be longer than the distance between the area E1 and the third area F3. You may set 3 area F3. According to this setting method, the moving range of the moving body 1 can be further separated from the person H. Therefore, safety can be further improved.

As shown in FIG. 5C, the control unit 20 sets the distance between the area E1 and the third area F3 to be equal to the distance between the area E5 and the third area F3. Area F3 may be set. This setting is executed, for example, when the number of areas between the area where the moving body 1 is present and the area where the person H is present is an odd number.

Further, in the examples shown in FIGS. 4A to 4C and 5A to 5C, the example in which the third area F3 includes only one area has been described. The third area F3 may include two or more areas. The more area the third area F3 includes between the first area F1 and the second area F2, the longer the distance between the person H and the moving body 1 can be kept. That is, contact between a person and a moving body can be more reliably prevented, and safety can be improved.

Specific examples of each component will be described below.
The first detector 11 may directly or indirectly detect the position of the moving body 1. The second detector 12 may detect the position of the person directly or indirectly. For example, the first detector 11 includes at least one of a transmission sensor, a laser sensor, a magnet sensor, an ultrasonic sensor, an infrared sensor, a pressure sensor, and an image sensor. For example, the second detector 12 includes at least one of a transmission sensor, a laser sensor, a magnet sensor, an ultrasonic sensor, an infrared sensor, a pressure sensor, an image sensor, and an optical position sensor.

The transmission sensor emits light from the light emitting unit toward the light receiving unit, for example. When the moving body 1 or a person moves between the light emitting unit and the light receiving unit, light is blocked and the amount of light received by the light receiving unit changes. The transmission sensor detects the presence of the moving body 1 or a person based on this change.
The laser sensor, for example, emits light from a light emitting unit and forms an image of the reflected light at a light receiving unit. When the moving body 1 or the person exists at the position where the light is irradiated, the position where the image is formed changes from the reference position. The laser sensor detects the presence of the moving body 1 or a person based on this change.
The magnet sensor is provided, for example, on the floor of each area in the first section. When the moving body 1 or a person moves on the magnet sensor, the position of the magnet changes depending on its weight. The magnet sensor detects the presence of the moving body 1 or a person based on the change in magnetic force when the position of the magnet changes.
The infrared sensor irradiates infrared rays, for example, and detects the reflected light. When the moving body 1 or a person passes through the infrared irradiation area, the intensity of the reflected light changes. The infrared sensor detects the presence of the moving body 1 or a person from the change in the intensity of reflected light.
The pressure sensor is provided, for example, on the floor of each area in the first section. When the moving body 1 or a person moves on the pressure sensor, the pressure sensor is distorted due to its weight. The presence of the moving body 1 or a person is detected from the amount of this distortion.
The ultrasonic sensor emits ultrasonic waves toward a detection target. The ultrasonic sensor measures the time from when the ultrasonic wave is emitted until the peak of the intensity of the reflected wave is detected. This time varies depending on the position of the reflected object. The ultrasonic sensor detects the presence of the moving body 1 or the person at the position where the ultrasonic wave is emitted, based on this time.
The image sensor detects light emitted from an object and produces an image. For example, the image sensor includes a processing circuit. This processing circuit compares two images at different photographing times and detects the entry or exit of the moving body 1 or a person at a certain position.
The optical position sensor includes a light emitting unit and a light receiving unit. The light emitting unit emits spot light toward the moving body 1. The light receiving unit collects the light reflected by the moving body 1. The light receiving section is provided at a position different from the light emitting section. The position of the light collected by the light receiving unit changes according to the position of the moving body 1. The optical position sensor detects the change in the position of the moving body 1 based on the change in the position of the condensed light. The optical position sensor includes a processing circuit, for example. This processing circuit detects (estimates) the position of the moving body 1 in the first section from the change in the position of the moving body 1.

For example, provide one of the sensors in each of the multiple areas. Thereby, the position where the mobile body 1 or the person exists can be directly detected. One sensor may function as the first detector 11 and the second detector 12. In this case, for example, a two-step threshold value is set in the sensor in order to discriminate between the moving body 1 and the other body (person).

The first detector 11 and the second detector 12 may include a transmitter and a receiver. For example, a plurality of transmitters are installed in the first section D. A receiver is attached to the mobile unit 1 and a person. Each transmitter emits a radio wave including identification information. Upon receiving the radio wave, the receiver detects the identification information and the radio wave intensity. For example, the receiver receives radio waves from a plurality of transmitters. The receiver detects the positions of the moving body 1 and the person based on the identification information and the radio field intensity.

The first detector 11 may include odometry. For example, the first detector 11 detects the rotation speed of each motor that drives the tire or the crawler of the moving body 1. The 1st detector 11 detects the position of mobile 1 based on the number of rotations of each motor.

The first detector 11 and the second detector 12 may receive Global Positioning System (GPS) signals. The first detector 11 and the second detector 12 attached to the moving body 1 and the person detect the positions of the moving body 1 and the person based on the received GPS signals.

The first detector 11 may execute Simultaneous Localization and Mapping (SLAM). For example, the electronic map of the first section is set in advance and stored in a predetermined storage unit. The first detector 11 is attached to the mobile body 1 and refers to this electronic map. The first detector 11 includes a laser range scanner (range-finding sensor) or a camera, and acquires environmental information around the moving body 1 by these devices. The 1st detector 11 collates the acquired environmental information and an electronic map, and detects the position of mobile 1.

The first detector 11 and the second detector 12 may include a light curtain. The light curtain includes a plurality of light emitting units and a plurality of light receiving units. Light rays are emitted from the plurality of light emitting units to the plurality of light receiving units, respectively. When the moving body 1 or the person passes between the light emitting portion and the light receiving portion, the light is blocked by the moving body 1 or the person. The light curtain determines the object that has passed through, for example, from the number of blocked light rays. The light curtain is provided, for example, at the boundary between the respective areas and detects passage from one area to another area.

The control unit 20 includes, for example, a central processing unit including a processing circuit. The storage unit 30 includes, for example, at least one of a hard disk drive, a network hard disk, and a flash memory.

The moving body 1 may be one that picks up an item as shown in FIG. 2 or another one. For example, the moving body 1 may be one that pulls a cart on which luggage is loaded. Alternatively, the moving body 1 may be a flying body (drone) as described above. For example, the flying object carries an article, photographs the inside of the first section, and the like. The moving body 1 may be a robot having a moving mechanism. For example, the moving body 1 may be an independent walking type robot. Alternatively, the moving body 1 may be a forklift or the like that operates in an unmanned state.

Alternatively, the mobile unit 1 may be capable of mounting a person. The control unit 20 moves the moving body 1 on which a person rides in the first area. In this case, the 2nd detector 12 detects the person in the 1st division different from the person who is riding in mobile 1. That is, the detection target by the second detector 12 does not include a person who moves integrally with the moving body 1.

(First modification)
FIG. 6 is a block diagram showing the configuration of the control system according to the first modified example of the embodiment.
In the control system 110 shown in FIG. 6, the control unit 20 receives a signal from the calculation unit 40. The calculator 40 calculates the priority of each of the plurality of areas corresponding to the first section. The priority indicates the degree to which the mobile unit 1 should work in that area. A higher priority indicates that the mobile unit 1 should preferentially work in that area over other areas. For example, the priority is set to zero in an area in which no work is performed by the mobile unit 1.

Priority is calculated, for example, based on at least one of the amount of work in each area and the importance of work in each area. In the case of the examples shown in FIGS. 2 and 3, the priority of each area is calculated based on the amount of articles B to be transported in each area and the importance of each article B. The calculation unit 40 calculates the priority in each area and sends the calculation result to the control unit 20.

The control unit 20 moves the mobile unit 1 based on the priority transmitted from the calculation unit 40, and causes the mobile unit 1 to perform work. For example, the control unit 20 moves the moving body 1 to the area having the highest priority at each time in the first area, and causes the moving body 1 to perform the work. When the range of the first area is changed, the control unit 20 moves the moving body 1 within the range of the changed first area based on the priority.

Further, in the control system 110 shown in FIG. 6, the control unit 20 refers to the history storage unit 50. The history storage unit 50 stores the past setting history of the second area and the third area. For example, the history storage unit 50 stores the time and the range of each area at that time. Alternatively, the history storage unit 50 may store past detection results of the second detector 12. The past detection result of the second detector 12 also substantially indicates the past setting history of the second area and the third area.

The control unit 20 may correct the priority transmitted from the calculation unit 40 by referring to the history storage unit 50. For example, the control unit 20 raises the priority in a region that is frequently included in the second area or the third area. The control unit 20 may lower the priority in a region included in the second area or the third area and having a low frequency.

-While a certain area is included in the second area or the third area, mobile unit 1 cannot move to that area. Therefore, while the moving body 1 cannot work in the area, a lot of work or important work may be delayed in the area. Due to this delay in work, work downstream of the work may be hindered and work efficiency may be reduced.

Regarding this problem, the control unit 20 corrects the priority in each area according to the frequency included in the third area. This can prevent a large amount of work or important work from being delayed in a specific area. As a result, the efficiency of the entire work including the work performed in the first section can be improved.

The calculation unit 40 and the history storage unit 50 may be provided separately from the control system 110 or may be included in the control system 110. The calculation unit 40 includes, for example, a central processing unit including a processing circuit. The control unit 20 may have a function as the calculation unit 40. The history storage unit 50 includes, for example, at least one of a hard disk drive, a network hard disk, and a flash memory. One storage medium may function as the storage unit 30 and the history storage unit 50.

(Second modified example)
FIG. 7 is a block diagram showing the configuration of the control system according to the second modified example of the embodiment.
In the control system 120 shown in FIG. 7, the control unit 20 receives a signal from the operation unit 60.

The operation unit 60 receives an operation for designating a part of a plurality of areas. For example, when a person enters the first section, the person designates the area to enter using the operation unit 60. When the operation is input, the operation unit 60 transmits a signal indicating the designated area to the control unit 20.

When the control unit 20 receives a signal from the operation unit 60, the control unit 20 sets one or more areas including a part of the designated areas as the second area. Then, the third area is set between the area where the mobile unit 1 is present and the second area. For example, the control unit 20 sets the area other than the second area and the third area among the plurality of areas as the first area.

When the moving body 1 exists in a part of the designated plurality of areas, the control unit 20 decelerates the moving body 1, moves the moving body 1 in a direction away from the designated area, and issues a notification. Do at least one.
In addition, a part of the plurality of designated areas may be adjacent to the area where the moving body 1 exists. In this case, the third area cannot be set. Therefore, the control unit 20 executes, for example, at least one of deceleration of the moving body 1, movement of the moving body 1 in a direction away from the part of the plurality of regions, and notification.
By these controls, when a person enters the designated area, the possibility that the person and the moving body 1 contact each other can be reduced. Moreover, when moving the mobile body 1 in the direction away from the designated area, the first area and the third area may be set after the movement. After setting the third area, the control unit 20 moves the moving body 1 within the first area.

The operation unit 60 may be provided separately from the control system 120 or may be included in the control system 120. The operation unit 60 is installed, for example, outside the first section. The operation unit 60 has a display unit and an input unit. A person who enters the first section operates the input unit to select a part of the plurality of areas. The display unit displays, for example, the entire plurality of areas and the selected area. A person operates the operation unit while confirming the information displayed on the display unit. For example, the display unit is a monitor and the operation unit is a button. The operation unit 60 may have a touch panel that functions as a display unit and an operation unit. Alternatively, a terminal device such as a smartphone may function as the operation unit 60. Alternatively, the operation unit 60 may have a microphone. In this case, a part of the plurality of areas can be designated by voice operation.

FIG. 8A and FIG. 8B are schematic diagrams illustrating the processing by the control system according to the second modification of the embodiment.
For example, as shown in FIG. 8A, the moving body 1 exists in the area E3. At this time, the person who enters the first section D uses the operation unit 60 to specify the area E3. In response to this operation, the control unit 20 moves the moving body 1 to the area E1. Then, the control unit 20 sets the area E3 as the second area F2 as illustrated in FIG. The area E2 and the area E4 are set as the third area F3. Then, the remaining areas E1 and E5 are set as the first area F1.

When the area other than the second area F2 and the third area F3 is set as the first area F1 among the plurality of areas, as illustrated in FIG. 8B, the plurality of first areas F1 separated from each other are It may be set. In this case, the control unit 20 moves the moving body 1 in one of the plurality of first areas F1.

In the control system 120, the control unit 20 may receive information from the calculation unit 40 and the history storage unit 50 like the control system 110. For example, when the control unit 20 receives a signal from the operation unit 60, the control unit 20 temporarily sets the first area F1 to the third area F3. The control unit 20 determines whether or not there are a plurality of first areas F1 separated from each other in the temporary setting. When there are a plurality of divided first areas F1, the control unit 20 refers to the priorities of the areas included in each divided first area F1. For example, the control unit 20 moves the moving body 1 to the first area F1 in which the total priority of the regions included in each divided first area F1 is larger. The control unit 20 sets the first area F1 to the third area F3 after the moving body 1 moves.

In the above example, the plurality of divided first areas F1 are set by the operation on the operation unit 60. The above technique can be applied even when a plurality of divided first areas F1 are set when the person H enters the first section. That is, when the person H enters the first section, the control unit 20 provisionally sets the first area F1 to the third area F3. The control unit 20 determines whether or not there are a plurality of first areas F1 separated from each other in the temporary setting. When there are a plurality of divided first areas F1, the control unit 20 refers to the priorities of the areas included in each divided first area F1. For example, the control unit 20 moves the moving body 1 to the first area F1 in which the total priority of the regions included in each divided first area F1 is larger. The control unit 20 sets the first area F1 to the third area F3 after the moving body 1 moves.

According to this setting method, the work efficiency of the moving body 1 can be improved while more reliably preventing the contact between the moving body 1 and the person H.

FIG. 9 is a schematic plan view showing another example of a site to which the control system according to the embodiment is applied.
FIG. 10A, FIG. 10B, and FIG. 11 are schematic diagrams illustrating the processing by the control system according to the embodiment.

At the site shown in FIG. 9, conveyors C1 to C12 are installed. For example, the moving body 1 picks up the article B by one of the conveyors C1 to C12 and conveys the article B to another one of the conveyors C1 to C12.

In the examples shown in FIGS. 3 to 5, multiple areas were arranged in one direction. As shown in FIG. 9, the plurality of regions may be arranged two-dimensionally in two directions. In the example shown in FIG. 9, a plurality of regions including five columns and five rows are set for the first section D.

For example, as shown in FIG. 10A, when the person H is detected in the first section D, the control unit 20 sets the area where the person H is detected as the second area F2. The control unit 20 sets the third area F3 around the second area F2. The control unit 20 sets the area other than the second area F2 and the third area F3 as the first area F1. The area included in the first area F1 and the area included in the second area F2 are separated by the third area F3. According to this setting method, the movable range of the moving body 1 can be made wider, and the work efficiency of the moving body 1 can be improved.

As shown in FIG. 10B, the control unit 20 may set the third area F3 in the middle of the area where the moving body 1 is detected and the area where the person H is detected. For example, the third area F3 is set along the direction intersecting the direction connecting the moving body 1 and the person H.

As shown in FIG. 11, the control unit 20 sets the area in which the moving body 1 is detected as the first area F1. The control unit 20 sets the third area F3 around the first area F1. The control unit 20 sets the area other than the first area F1 and the third area F3 as the second area F2. According to this setting method, the moving range of the moving body 1 can be further separated from the person H, and the safety can be further improved.

FIG. 12A to FIG. 12C and FIG. 13A to FIG. 13C are schematic views illustrating the processing by the control system according to the embodiment.
As shown in FIG. 12A, the plurality of regions may be arranged in the circumferential direction. In FIG. 12A, ten regions E1 to E10 arranged in the circumferential direction are set corresponding to a certain site.

In the example of FIG. 12A, the moving body 1 is detected by the first detector 11 in the area E1. The person H is detected in the area E5 by the second detector 12. The control unit 20 sets, for example, the area E3 and the area E7 located between the area E1 and the area E5 as the third area F3. The control unit 20 sets the area E1, the area E2, and the areas E8 to E10 as the first area F1. The control unit 20 sets the areas E4 to E6 in the second area F2.

For example, the person H moves to the area E3 from the state shown in FIG. When this movement is detected by the second detector 12, the control unit 20 causes the third area F3 to transition. Specifically, as illustrated in FIG. 12B, the control unit 20 causes the third area F3 to transition in the first direction G1 toward the third area F3 in which the entry is detected from the second area F2. .. As a result, the areas E2 and E5 are set as the third area F3.

Alternatively, the person H moves to the area E7 from the state shown in FIG. When this movement is detected by the second detector 12, the control unit 20 causes the third area F3 to transition in the first direction G1 as illustrated in FIG. As a result, the areas E5 and E8 are set as the third area F3.

As shown in FIG. 13A, the plurality of areas may be arranged in an arc shape. In FIG. 13A, five areas E1 to E5 arranged in an arc shape are set corresponding to a certain site.

In the example of FIG. 13A, the moving body 1 is detected by the first detector 11 in the area E1. The person H is detected in the area E4 by the second detector 12. The control unit 20 sets, for example, the area E3 located between the areas E1 and E4 as the third area F3. The control unit 20 sets the area E1 and the area E2 as the first area F1. The control unit 20 sets the area E4 and the area E5 as the second area F2.

For example, the person H moves to the area E3 from the state shown in FIG. When this movement is detected by the second detector 12, the control unit 20 causes the third area F3 to transition. Specifically, as illustrated in FIG. 13B, the control unit 20 causes the third area F3 to transition in the first direction G1 toward the third area F3 in which the entry is detected from the second area F2. .. As a result, the area E2 is set as the third area F3.

After that, for example, person H moves to area E3. When this movement is detected by the second detector 12, the control unit 20 shifts the third area F3 in the second direction G2 away from the third area F3, as shown in FIG. As a result, the area E3 is set as the third area F3.

FIG. 14 is a block diagram showing the hardware configuration of the control system according to the embodiment.
For example, the control unit 20 of the control systems 100 to 120 is a computer and includes a ROM (Read Only Memory) 20a, a RAM (Random Access Memory) 20b, a CPU (Central Processing Unit) 20c, and an HDD (Hard Disk Drive) 20d. Have.

The ROM 20a stores a program that controls the operation of the computer. The ROM 20a stores a program necessary for causing the computer to function as the control unit 20.

RAM 20b functions as a storage area in which the programs stored in ROM 20a are expanded. The CPU 20c includes a processing circuit. The CPU 20c reads the control program stored in the ROM 20a and controls the operation of the computer according to the control program. Further, the CPU 20c expands various data obtained by the operation of the computer in the RAM 20b. The HDD 20d stores information necessary for reading and information obtained in the reading process. The HDD 20d functions, for example, as the storage unit 30 illustrated in FIG.

The control unit 20 may have an eMMC (embedded MultiMedia Card), SSD (Solid State Drive), SSHD (Solid State Hybrid Drive), etc. instead of the HDD 20d.

An input device 21 and an output device 22 may be connected to the control unit 20. The input device 21 is used by the user to input information to the control unit 20. The input device 21 includes at least one of a microphone, a keyboard, a mouse (voice input), and a touch pad. The information transmitted from the control unit 20 is output to the output device 22. The output device 22 includes at least one of a monitor, a speaker, a printer, and a projector. A device having both functions of the input device 21 and the output device 22 such as a touch panel may be used.

The same hardware configuration as in FIG. 14 can be applied to the calculation unit 40 in the control system 110. Alternatively, in the control system 110, one computer may function as the control unit 20 and the calculation unit 40. The respective processes and functions of the control unit 20 and the calculation unit 40 may be realized by cooperation of more computers.

By using the control system and control method according to the embodiment described above, contact between a person and a moving body can be more reliably prevented, and safety can be improved. Similarly, by using a program for operating a computer as a control system, contact between a person and a moving body can be more reliably prevented, and safety can be improved.

The processing of the above various data is executed based on, for example, a program (software). For example, the computer stores the program and reads the program to perform the processing of the above various information.

The above-described processing of various information is a magnetic disk (flexible disk, hard disk, etc.), optical disk (CD-ROM, CD-R, CD-RW, DVD-ROM, DVD ± R) as a program that can be executed by a computer. , DVD ± RW, etc.), semiconductor memory, or other recording medium.

For example, the information recorded on the recording medium can be read by a computer (or an embedded system). In the recording medium, the recording format (storage format) is arbitrary. For example, the computer reads the program from the recording medium and causes the CPU to execute the instruction described in the program based on the program. In the computer, acquisition (or reading) of the program may be performed via a network.

The control unit according to the embodiment includes one or more devices (for example, a personal computer). The control unit according to the embodiment may include a plurality of devices connected by a network.

Although some embodiments of the present invention have been illustrated above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are also included in the invention described in the claims and the scope of equivalents thereof. Further, the above-described respective embodiments can be implemented in combination with each other.

Claims

A first detector that detects the position of a moving body that moves within a predetermined first section;
A second detector for detecting the position of a person in the first compartment;
A control unit that receives the detection results of the first detector and the second detector and controls the movement of the moving body;
Equipped with
The control unit, when a person is detected in the first section by the second detector,
Referring to a plurality of areas set corresponding to the first section,
A first area including one or more areas including the area where the moving body exists, a second area including another one or more areas including the area including the person, and the first area An area and a third area comprising one or more of the areas between the second area,
Moving the moving body within the first area,
Control system.
The control unit is
While the first detector detects that the moving body is present in the first area, executes a normal mode of operating the moving body in the first area,
When the first detector detects that at least part of the moving body has entered the third area, an emergency mode different from the normal mode is executed.
The control system according to claim 1.
The control system according to claim 2, wherein the emergency mode includes at least one of deceleration of the moving body, movement of the moving body to the first area, and notification.
When the second detector detects that the person has entered the third area, the control unit causes the third area to transition in a first direction from the second area to the first area. The control system according to any one of claims 1 to 3.
When the area in which the moving body is present is included in the transitioned third area, the control unit decelerates the moving body, moves the moving body in the first direction, and / or notifies The control system according to claim 4, which executes.
The control unit causes the third area to transition to the second direction when the second detector detects that the person has moved in a second direction away from the third area. The control system according to any one of 1.
7. The control unit sets all of the plurality of areas to the first area when the second detector detects that a person has left the first section. Control system described in one.
An operation unit for inputting an operation for designating a part of the plurality of areas is further provided,
When the operation is input to the operation unit, the control unit sets the third area between the region in which the moving body exists and the part of the designated plurality of regions. The control system according to any one of claims 1 to 7.
When the area in which the moving body exists is included in the part of the plurality of designated areas, the control unit decelerates the moving body, and directs the direction away from the part of the plurality of areas. The control system according to claim 8, which executes at least one of movement and notification of a moving body.
The control unit refers to a priority indicating a priority of a work by the moving body in each of the plurality of areas, and moves the moving body within the first area based on the priority. 9. The control system according to any one of 9 to 9.
The control unit refers to the past setting history of the second area and the third area, and sets the priority in each of the plurality of areas to the second area and the third area in each of the plurality of areas. The control system according to claim 10, wherein the correction is performed based on the frequency set as the area.
The control unit, when the person is detected in the third area by the second detector,
A new second area including the area where the person is present, a new first area separated from the second area, and a new area between the new first area and the new second area. And setting the third area,
When the moving body is present in the newly set third area, the moving body is moved to the new first area,
The control system according to claim 1.
An operation unit for inputting an operation for designating a part of the plurality of regions set corresponding to the first section,
The control unit, when the operation is input to the operation unit,
A first area including one or more areas including the area where the moving body exists, and a second area including another one or more areas including the part of the designated plurality of areas , A third area consisting of one or more other areas between the first area and the second area, and moving the moving body within the first area,
When the moving body exists in the second area or the third area set based on the input of the operation to the operation unit, the moving body is moved to the first area,
The control system according to claim 1.
When setting the first area, the second area, and the third area, the control unit sets a plurality of the first areas that are separated from each other by the second area and the third area. In this case, referring to the priority indicating the priority of the work by the moving body in each of the plurality of areas, and moving the moving body to one of the plurality of first areas based on the priority, The control system according to claim 1.
An operation unit for inputting an operation for designating a part of the plurality of regions set corresponding to the first section,
The control unit, when the operation is input to the operation unit,
A first area including one or more areas including the area where the moving body exists, and a second area including another one or more areas including the part of the designated plurality of areas , A third area consisting of one or more other areas between the first area and the second area,
When a plurality of the first areas separated from each other are set by the second area and the third area set based on the input of the operation to the operation unit, each of the plurality of areas Referring to a priority indicating the priority of the work by the moving body in, and moving the moving body to one of the plurality of first areas based on the priority.
The control system according to claim 1.
The detection result transmitted from the first detector that detects the position of the moving body that moves in the predetermined first section, and the detection result that is transmitted from the second detector that detects the position of the person in the first section. When a person is detected in the first section by the second detector, the controller is configured to control the movement of the moving body.
Referring to a plurality of areas set corresponding to the first section,
Between a first area including one or more areas including the area where the moving body exists and a second area including another one or more areas including the area including the person. , Further setting a third area consisting of one or more of the other areas,
Moving the moving body within the first area,
A control system including the control unit.
A control method for controlling movement of a moving body moving in a predetermined first section,
If a person is present in the first section,
Referring to a plurality of areas set corresponding to the first section,
Between a first area including one or more areas including the area where the moving body exists, and a second area including another one or more areas including the area including the person. , Further setting a third area consisting of one or more of the other areas,
Moving the moving body within the first area,
Control method.
While the moving body is present in the first area, a normal mode for operating the moving body in the first area is executed,
When at least a part of the moving body enters the third area, an emergency mode different from the normal mode is executed,
The control method according to claim 17.
The control method according to claim 18, wherein the emergency mode includes at least one of deceleration of the moving body, movement of the moving body to the first area, and notification.
The control method according to any one of claims 17 to 19, wherein when the person enters the third area, the third area is transitioned in a first direction from the second area to the first area.
21. The control method according to claim 17, wherein when the person moves in a second direction away from the third area, the third area is transitioned to the second direction.
To the control unit, the detection result transmitted from the first detector that detects the position of the moving body that moves in the predetermined first compartment, and the second detector that detects the position of the person in the first compartment. Received detection result,
When a person is detected in the first compartment by the second detector,
Referring to a plurality of areas set corresponding to the first section,
Between a first area including one or more areas including the area where the moving body exists and a second area including another one or more areas including the area including the person. , Further setting a third area consisting of one or more other areas,
Moving the moving body within the first area,
program.
A storage medium storing the program according to claim 22.