WO2020179321A1

WO2020179321A1 - Control system and control method

Info

Publication number: WO2020179321A1
Application number: PCT/JP2020/004159
Authority: WO
Inventors: 井川　喜博; 博白水
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2019-03-04
Filing date: 2020-02-04
Publication date: 2020-09-10
Also published as: JPWO2020179321A1; JP7407401B2

Abstract

The purpose of the present invention is to provide a control system and control method with which it is possible to realize smooth passage of a moving body. This control system controls the passage of a moving body (10) using a passage control module (M1) that includes a section (Z1) set in a part of a prescribed area (A1) in which the moving body (10) moves, and a state output unit (G1) provided corresponding to the section (Z1). The state output unit (G1) outputs state information indicating whether a permitted state is in effect in which the passage of the moving body (10) is permitted, or a not-permitted state is in effect in which the passage of the moving body (10) is not permitted, in a first direction and/or a second direction. The first direction is a direction in which the moving body (10) moves from outside the section (Z1) into the section (Z1), and the second direction is a direction in which the moving body (10) moves from inside the section (Z1) out of the section (Z1).

Description

Control system and control method

The present disclosure relates to a control system and a control method. More specifically, the present disclosure relates to a control system and a control method for controlling a moving body that moves within a predetermined area.

Patent Document 1 describes a mobile robot control system (control system) including a plurality of automatic transporters (mobile bodies) and a server device that wirelessly communicates with the automatic transporters. In Patent Document 1, the server device includes a storage unit that stores map information, route information of an automatic carrier, and carrier information, a route search unit that searches a moving route of the automatic carrier based on the map information, and route information. Based on this, it has a movement control unit that gives a movement instruction to the automatic carrier.

In Patent Document 1, when the movement control unit determines that the movements of the plurality of automatic carriers may interfere with each other based on the carrier information and the route information, the route search unit automatically detects the interference. Modify the route information for at least one of the carriers to avoid interference. Here, as the number of automatic carriers increases, the number of situations in which it is determined that the movements of the plurality of automatic carriers may interfere with each other increases, which may hinder the smooth passage of the automatic carriers. there were.

JP, 2017-134794, A

An object of the present disclosure is to provide a control system and a control method capable of realizing smooth passage of a moving body.

The control system according to an aspect of the present disclosure controls the passage of a moving body using a passage control module. The traffic control module includes an area set in a part of a predetermined area in which the moving body moves and a status output unit. The status output unit is provided corresponding to the area. The state output unit is a state indicating whether it is a permitted state that allows the passage of the moving body or a disallowed state that disallows the passage of the moving body in at least one of the first direction and the second direction. Output information. The first direction is the direction in which the moving body moves from the outside to the inside of the area, and the second direction is the direction in which the moving body moves from the inside to the outside of the area.

A control method according to an aspect of the present disclosure includes a first setting process, a second setting process, and a control process. In the first setting process, an area is set in a part of a predetermined area where the moving body moves. In the second setting process, the passage of the moving body is permitted or the passage of the moving body is not permitted in at least one of the first direction and the second direction corresponding to the area. A state output unit is provided for outputting state information indicating whether the state is a non-permitted state. The first direction is the direction in which the moving body moves from the outside to the inside of the area, and the second direction is the direction in which the moving body moves from the inside to the outside of the area. In the control process, the state indicated by the state information output by the state output unit is controlled to the permitted state or the non-permitted state.

FIG. 1 is a plan view showing a part of a predetermined area in which a moving body that is a control target of the control system according to the first embodiment of the present disclosure moves. FIG. 2 is a block diagram showing a schematic configuration of the same control system. FIG. 3 is an explanatory diagram illustrating a state where a traffic control module included in the control system of the above is provided in a predetermined area. FIG. 4 is a flowchart illustrating the operation of the same control system. FIG. 5 is a flowchart illustrating the operation of the moving body controlled by the control system of the same. FIG. 6 is an explanatory diagram showing an operation example 1 of the traffic control by the control system of the above. FIG. 7: is explanatory drawing which shows the operation example 2 of traffic control by the control system same as the above. FIG. 8: is explanatory drawing which shows the operation example 3 of the traffic control by the control system same as the above. FIG. 9 is an explanatory diagram showing an operation example 4 of traffic control by the same control system. FIG. 10: is explanatory drawing which shows the operation example 5 of traffic control by the control system same as the above. FIG. 11: is explanatory drawing which shows the operation example 6 of traffic control by the control system same as the above. FIG. 12 is an explanatory diagram showing an operation example 7 of traffic control by the same control system. FIG. 13 is an explanatory diagram showing an operation example 8 of traffic control by the same control system. FIG. 14: is explanatory drawing which shows the operation example 9 of the traffic control by the control system same as the above. FIG. 15 is a block diagram showing a schematic configuration of the control system according to the second embodiment. FIG. 16 is a schematic plan view of a predetermined area in which a moving body, which is a control target of the control system, moves. 17A, 17B, and 17C are explanatory diagrams showing an example of cooperative control by the control system of the above. FIG. 18 is an explanatory diagram showing an example of cooperative control by the control system of the above. FIG. 19 is an explanatory diagram showing an example of priority control by the control system of the above. FIG. 20: is explanatory drawing which shows the example of the specific area in the control system same as the above. FIG. 21 is a flowchart illustrating the operation of the control system of the same. FIG. 22 is a block diagram showing a schematic configuration of the control system according to the third embodiment.

(Embodiment 1)
(1.1) Overview As shown in FIG. 2, the control system 50 according to the present embodiment is a system for controlling the moving body 10 that moves within a predetermined area A1 (see FIG. 1). Although only one mobile body 10 is shown in FIGS. 1 and 2, the control system 50 controls the passage of a plurality of mobile bodies 10. Here, the control system 50 configures the mobile body system 1 together with a plurality of mobile bodies 10 that are controlled by the control system 50. In other words, the mobile body system 1 according to the present embodiment includes the control system 50 and a plurality of mobile bodies 10.

The control system 50 uses the traffic control module M1 including a zone Z1 (see FIG. 1) provided in a part of the predetermined area A1 and a state output unit G1 provided corresponding to the zone Z1 to move the moving body 10 Control the passage of traffic. Whether the state output unit G1 is in a permission state in which the passage of the moving body 10 is permitted in at least one of the first direction D1 and the second direction D2, or is in a non-permission state in which the passage of the moving body 10 is not permitted. The status information indicating is output. The first direction D1 (hereinafter, also referred to as “incoming direction”) is a direction in which the moving body 10 moves from the outside to the inside of the zone Z1. The second direction D2 (hereinafter, also referred to as “outgoing direction”) is a direction in which the moving body 10 moves from the inside of the zone Z1 to the outside.

The term “moving body” as used in the present disclosure includes a carrier device for carrying an object (eg, luggage), an unmanned guided vehicle (AGV: Automated Guided Vehicle), a mobile robot, an autonomous navigation ship, a drone, and the like. The “mobile robot” in the present disclosure is, for example, a wheel-type, crawler-type, or leg-type (including walking type) robot. The moving body 10 not only moves within the predetermined area A1 but also has a function of performing various works such as transportation, picking, welding, mounting, display, customer service, security, assembly and inspection. Good. The "predetermined area" A1 is a range in which a plurality of moving bodies 10 move, and as an example, a factory, a warehouse, a construction site, a store, a distribution center, an office, a park, a house, a school, a hospital, a station, an airport. Or a parking lot or the like. Furthermore, for example, when the moving body 10 is installed inside a vehicle such as inside a ship, train or airplane, the inside of the vehicle becomes the predetermined area A1.

The "area" Z1 is set in the predetermined area A1 where the moving body 10 moves. The zone Z1 only needs to have a size that can accommodate at least a part of the mobile body 10, and may have a size that can accommodate a plurality of mobile bodies 10. Further, although the area Z1 shown in FIG. 1 is a square area, the shape of the area Z1 is not limited to the square, and the size and shape of the area Z1 can be changed as appropriate. Although one section Z1 is provided in the predetermined area A1 in FIG. 1, a plurality of sections Z1 may be provided in the predetermined area A1.

"The status output part" G1 is provided corresponding to the zone Z1. The state output unit G1 may be provided at the boundary of the area Z1, or may be provided at a portion outside the area Z1 through which the moving body 10 entering and exiting the area Z1 passes. In the map information about the map of the predetermined area A1, the state output unit G1 of the present embodiment virtually locates the position corresponding to the zone Z1 (for example, the position indicated by the two-dimensional orthogonal coordinates based on the reference position on the map). It is provided in. The state output unit G1 is a virtual configuration provided for outputting state information indicating whether the state is permitted or not, at least one of the first direction D1 and the second direction D2. Therefore, the "output" of the state information means that the state output unit G1 triggers the output process to output the state information from the control system 50 to the moving body 10, that is, the state output unit G1 is the moving body from the control system 50. It may include a mode of indirectly outputting the state information to 10.

In the following embodiment, for example, the control system 50 outputs the state information to the moving body 10 by triggering the output processing when the moving body 10 approaches the position of the state output unit G1 provided in the area Z1. .. When the moving body 10 moving in the predetermined area A1 approaches the position where the state output unit G1 is provided, the moving body 10 acquires the state information output from the control system 50 triggered by the approach to the state output unit G1. To do. In the present embodiment, the state output unit G1 is virtually provided in the map information regarding the map of the predetermined area A1, and the control system 50 holds the state information of the state output unit G1. Acquires from the control system 50 the state information of the state output unit G1 held by the control system 50.

The state output unit G1 is not limited to a virtual configuration (that is, a configuration without an entity), and may be a configuration with an entity such as a traffic light installed around an area Z1 provided in a predetermined area A1 in a real space. .. If the state output unit G1 is a configuration accompanied by a substance, the state output unit G1 may directly output the state information to the moving body 10 approaching the state output unit G1. The state information is directly acquired from the output unit G1.

Therefore, the output of the state information may include a mode in which the state output unit G1 directly outputs the state information to the moving body 10 and a mode in which the state information is indirectly output.

The mobile body 10 passes through the position where the state output unit G1 is provided if the state information indicates a permitted state based on the state information directly or indirectly output from the state output unit G1. Further, if the state information indicates a disallowed state based on the state information directly or indirectly output from the state output unit G1, the moving body 10 is at or in front of the position where the state output unit G1 is provided. Stop. As described above, in the control system 50 of the present embodiment, the passage of the moving body 10 can be controlled based on the state information directly or indirectly output from the state output unit G1. Therefore, in the control system 50 of the present embodiment, the state information directly or indirectly output from the state output unit G1 by (virtually) arranging the traffic control module M1 at a desired position in the predetermined area A1. The movement of the moving body 10 can be controlled based on the above. Therefore, it is possible to provide the control system 50 capable of realizing smooth passage of the mobile bodies 10 even when the number of the mobile bodies 10 increases.

(1.2) Details Hereinafter, the configurations of the control system 50 and the mobile system 1 according to the present embodiment will be described in detail with reference to FIGS. 1 to 3. Numerical values, shapes, materials, positions of constituent elements, positional relations between plural constituent elements, connection relations, and the like shown below are examples, and are not intended to limit the present disclosure. Further, the drawings referred to below are all schematic views, and the ratio of the size and the thickness of each component in the drawing does not necessarily reflect the actual dimensional ratio.

In the following, it is assumed that the control target of the control system 50, that is, the mobile object 10 included in the mobile object system 1 has a transfer function of transferring the transfer target object 40 (see FIG. 2 ). In the present embodiment, the moving body 10 is a dedicated work device, that is, a transfer device, which is specialized for the work of transporting the transport object 40 in the predetermined area A1, and is particularly an automatic guided vehicle. The automatic guided vehicle as the moving body 10 performs a work of carrying the object 40 to be carried while moving in the predetermined area A1. In the present embodiment, for example, the moving body 10 executes a work of transporting parts in a factory, and the transport object 40 is, for example, a pallet (see FIG. 1) on which luggage such as parts is placed. .. The details of the configuration of the moving body 10 exemplified in this embodiment will be described in the section “(1.2.4) Moving body”.

(1.2.1) Overall Configuration As shown in FIGS. 1 and 2, the moving body system 1 includes a control system 50 and one or more moving bodies 10. In this embodiment, the mobile body system 1 includes a plurality of mobile bodies 10.

(1.2.2) Traffic Control Module The traffic control module M1 includes the zone Z1 provided in a part of the predetermined area A1 and the state output unit G1 provided corresponding to the zone Z1, as described above.

The traffic control module M1 can be provided in any part of the predetermined area A1. For example, when the user or the like of the moving body 10 designs a moving route along which the moving body 10 moves in the predetermined area A1, one or a plurality of traffic control modules M1 are virtually arranged at desired locations on the map of the predetermined area A1. It is provided in. Here, the traffic control module M1 sets an area in which the movement of the moving body 10 is desired to be controlled, such as an area where a plurality of moving routes intersect, an area where a plurality of moving bodies 10 pass alternately, and an area where the moving body 10 is congested. It is preferably provided.

FIG. 1 shows a traffic control module M1 provided in the middle of a passage 100 in which a moving body 10 moves in a predetermined area A1. In the example of FIG. 1, a section Z1 of the traffic control module M1 is provided in a part of the passage 100. The zone Z1 is a rectangular area that is large enough to accommodate one moving body 10. It is not essential that the area Z1 has a size that can accommodate the entire moving body 10, and it is sufficient that the area Z1 has a size that can accommodate at least a part of the moving body 10. The shape of the zone Z1 is not limited to a rectangle, and the shape of the zone Z1 can be changed as appropriate. Further, the width of the passage 100 may be wider than the width that at least one moving body 10 can pass through, and may have a width that allows a plurality of moving bodies 10 to pass each other.

The state output unit G1 is provided corresponding to the zone Z1. In the example of FIG. 1, in the passage 100, the state output unit G1 is provided at a position where the moving body 10 moving in and out of the zone Z1 passes. The state output unit G1 outputs the state information indicating whether the state is the permitted state or the unpermitted state in at least one of the first direction D1 (incoming direction) and the second direction D2 (outgoing direction). It is provided corresponding to Z1. In the present embodiment, the state output unit G1 outputs state information indicating whether the state is the permitted state or the unpermitted state in one of the first direction D1 and the second direction D2 (for example, the first direction D1). To be done. Therefore, the state information directly or indirectly output from the state output unit G1 does not limit the passage of the moving body 10 in the other of the first direction D1 and the second direction D2 (for example, the second direction D2). That is, the state output unit G1 has a function of a traffic light that displays (outputs) information (state information) indicating whether to allow or prohibit the passage of the moving body 10. In other words, the state output unit G1 has a function of a virtual gate appearing at a position corresponding to the area Z1 so as to block the passage of the moving body 10 in the unauthorized state. In the present embodiment, the state output unit G1 outputs state information indicating whether the state is permitted or not, only in one of the first direction D1 and the second direction D2. For example, the state output unit G1 is provided so that state information indicating whether the state is permitted or not permitted can be output only in the first direction D1. Therefore, when it is desired to control the passage of the moving body 10 also in the second direction D2, the state output unit for outputting the state information indicating whether the state is the permitted state or the non-permitted state in the second direction D2 is further provided. It should be provided. That is, the state output unit G1 for outputting the state information indicating whether the state is the permission state or the non-permission state in the first direction D1 corresponding to the zone Z1 and whether the state is the permission state in the second direction D2. It suffices if a state output unit for outputting state information indicating whether the state is the non-permitted state is provided.

In the present embodiment, the control system 50 holds the position where the state output unit G1 is provided in the predetermined area A1 and the state information indicating the state (permitted state or disallowed state) set for the state output unit G1. Has been done. Further, each of the plurality of moving bodies 10 moving in the predetermined area A1 is located at the position where the traffic control module M1 is provided in the predetermined area A1 (that is, the zone Z1 and the state output unit G1 on the map of the predetermined area A1). (Position) information is held. The moving body 10 also has a function of detecting the current position of the moving body 10 within the predetermined area A1. When the moving body 10 approaches the position where the state output part G1 is provided when moving in the predetermined area A1 toward the zone Z1, the moving body 10 requests the control system 50 to output the state information assigned to the state output part G1. .. Here, if the state information of the state output unit G1 acquired by the moving body 10 from the control system 50 is in the permitted state, the moving body 10 passes through the position where the state output unit G1 is provided and moves to the area Z1. To do. On the other hand, if the state information of the state output unit G1 acquired from the control system 50 by the moving body 10 is in an unauthorized state, the moving body 10 stops at the position where the state output unit G1 is provided or in front of the position.

In the present embodiment, the state output unit G1 crosses the passage 100, for example, in a virtual plane VA1 (see FIG. 3) when the predetermined area A1 is viewed from above, corresponding to the position where the state output unit G1 is provided. It is expressed as the provided vector B1. Therefore, the moving body 10 has the coordinates of the starting point of the vector B1 and the coordinates of the ending point of the vector B1 as information about the state output unit G1. Here, the direction of the vector B1 is a direction corresponding to the direction (first direction D1 or second direction D2) for controlling the passage of the moving body 10. For example, as shown in FIG. 3, if the direction in which the movement of the moving body 10 is controlled is the first direction D1 (the direction from the right side to the left side in FIG. 3), the vector B1 is the same as the vector B1 and the moving body 10. The direction is such that the outer product (B1 × C1) with the vector C1 representing the velocity is positive (the direction indicated by the solid arrow in FIG. 3). Here, the case where the direction of the cross product of the vectors is upward is positive. If the direction of the vector B1 is opposite to the direction shown by the solid line arrow in FIG. 3, the outer product (B1×C1) of the vector B1 and the vector C1 becomes negative, and thus the moving body 10 moving in the first direction D1. Is not controlled by the traffic control module M1.

In the present embodiment, the control system 50 controls whether the state information output by the state output unit G1 is allowed or disallowed, and the state indicated by the state information is that of the other mobile body 10. It will be changed as appropriate according to the traffic conditions.

On the other hand, the moving body 10 which is the control target of the control system 50 holds the information of the current position of the moving body 10 and the information of the vector C1 representing the speed of the moving body 10. The starting point of the vector C1 is, for example, the reference position of the moving body 10 (for example, the position that is the center of rotation when the moving body 10 rotates), and the direction of the vector C1 is the moving direction of the moving body 10 and the size of the vector C1. Corresponds to the moving speed of the moving body 10. Here, the moving body 10 sequentially updates the information of the vector C1 according to the current position and the current moving speed of the moving body 10. Further, the moving body 10 holds the information of one or a plurality of traffic control modules M1 provided in the predetermined area A1, and the position information regarding the position where the state output unit G1 is provided (that is, the start point and the end point of the vector B1). Information about the coordinates of) is held.

The moving body 10 determines whether or not the vector C1 has moved to a position where the vector C1 intersects the vector B1 based on the position information regarding the position where the state output unit G1 is provided and the information of the vector C1. When the moving body 10 moves to a position where the vector C1 intersects with the vector B1, the moving body 10 obtains an outer product (B1×C1) between the vector B1 and the vector C1, and if the sign of the outer product (B1×C1) is positive, the status output The control system 50 is requested to transmit the status information set for the section G1. If the state information acquired from the control system 50 is in the permitted state, the moving body 10 passes through the position where the state output unit G1 is provided, and if the state information is not permitted, the position where the state output unit G1 is provided. Or stop before that. Further, if the sign of the outer product (B1 × C1) is negative, the moving body 10 determines that the passage is not restricted by the passage control module M1 and passes through the position where the state output unit G1 is provided as it is. Further, in FIG. 3, the state output unit G1 in which the state indicated by the state information is the permitted state is represented by the solid line vector B1 marked with “◯”, and the state indicated by the state information is the disallowed state output. The portion G1 is represented by a dotted line vector B1 marked with "x".

In this way, when the moving body 10 moving in the predetermined area A1 toward the zone Z1 approaches the position where the state output unit G1 is provided, the moving body 10 is triggered by the approach to the state output unit G1. Then, the state information of the state output unit G1 is acquired from the control system 50. Then, the moving body 10 determines whether the state indicated by the state information is a permitted state or a disallowed state based on the state information of the state output unit G1. If the state information indicates the permitted state, the moving body 10 passes through the position where the state output unit G1 is provided and enters the zone Z1. If the state information indicates the disapproval state, the moving body 10 stops at or before the position where the state output unit G1 is provided.

Here, the position where the vector C1 intersects the vector B1 is the confirmation position where the moving body 10 confirms the state information set for the state output unit G1. Since the direction and size of the vector C1 change depending on the state of the moving body 10, the position where the vector C1 intersects the vector B1 (that is, the confirmation position) changes. The state of the moving body 10 includes the moving direction of the moving body 10, the moving speed, the weight of the moving body 10 (including the transported object), and the like. Then, the moving body 10 passes or stops based on the result of confirming the state indicated by the state information output by the state output unit G1 at the confirmation position in front of the state output unit G1, so that the state information indicates the non-permission state. In the case shown, the moving body 10 can be stopped at a safe position (confirmation position) before the status output unit G1.

The control system 50 of the present embodiment can control the passage of the moving body 10 by providing the passage control module M1 at a desired location on the map of the predetermined area A1. Therefore, when designing the movement route in which the moving body 10 moves within the predetermined area A1, by providing the traffic control module M1 at one or a plurality of places within the predetermined area A1, the moving body 10 moves within the predetermined area A1. The passage of the moving body 10 can be controlled so that the vehicle can pass smoothly.

(1.2.3) Control System The control system 50 of the present embodiment is realized by, for example, a server device, and includes a control unit 51, a communication unit 61, and a storage unit 62, as shown in FIG. ..

The communication unit 61 is configured to be able to communicate with each of the plurality of mobile bodies 10. Here, "communicable" means that information can be exchanged directly or indirectly via a network NT1 or a repeater 70 or the like by an appropriate communication method of wired communication or wireless communication. That is, the control system 50 and each of the plurality of moving bodies 10 can exchange information with each other. Further, the control system 50 and the moving body 10 can communicate with each other bidirectionally. Therefore, both transmission of information from the control system 50 to the mobile body 10 and further transmission of information from the mobile body 10 to the control system 50 are possible. In the present embodiment, each of the plurality of mobile bodies 10 communicates with any of the plurality of repeaters 70 arranged in the predetermined area A1 by wireless communication using radio waves as a medium. Therefore, the control system 50 and the plurality of mobile bodies 10 indirectly communicate with each other via at least the network NT1 and the relay 70.

In short, each relay device 70 is a device (access point) that relays communication between each mobile body 10 and the control system 50. The repeater 70 communicates with the communication unit 61 of the control system 50 via the network NT1. In this embodiment, as an example, communication between the repeater 70 and the mobile body 10 does not require Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or a low-power radio that does not require a license. Adopt wireless communication that complies with standards such as (specified low power wireless). Further, the network NT1 is not limited to the Internet, and for example, a local communication network within the predetermined area A1 or the operating company of the predetermined area A1 may be applied.

The storage unit 62 is realized by a non-transitory recording medium such as a rewritable nonvolatile semiconductor memory. The storage unit 62 includes, for example, map information regarding the map of the predetermined area A1, information regarding the position of the zone Z1 provided in the predetermined area A1, position information regarding the position of the state output unit G1 provided corresponding to the zone Z1, and The state information and the like set for the state output unit G1 are stored. In the present embodiment, the state output unit G1 is provided corresponding to the area Z1 provided in the predetermined area A1, and the state output unit G1 has no substance. Therefore, the control system 50 stores, as data, the traffic control module M1 virtually provided in the predetermined area A1 by storing information about the traffic control module M1 in the storage unit 62.

The control unit 51 mainly has, for example, a computer system including a memory and a processor. That is, when the processor executes the program recorded in the memory of the computer system, the functions of the control unit 51 (for example, the functions of the detection unit 52 and the state control unit 53) are realized. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

Based on the current position information indicating the current position of the mobile unit 10 received by the communication unit 61 from the mobile unit 10 and the information on the zone Z1 stored in the storage unit 62, the detection unit 52 detects that the mobile unit 10 is in the zone Z1. It detects whether or not it exists. When the moving body 10 exists in the zone Z1, the detection unit 52 may further detect the number of moving bodies 10 in the zone Z1.

The state control unit 53 sets the states indicated by the state information set to the state output unit G1 of the traffic control module M1 for one or a plurality of traffic control modules M1 provided in the predetermined area A1 into a permitted state and a non-permitted state. To control either. The state control unit 53 controls the state indicated by the state information directly or indirectly output by the state output unit G1 to be either a permitted state or a disallowed state, based on the detection result of the detection unit 52, for example. .. When the state control unit 53 controls the state indicated by the state information output by the state output unit G1 to the permitted state, the moving body 10 is provided with the state output unit G1 in the predetermined area A1 based on the state indicated by the state information. Can pass through the position. Further, when the state control unit 53 controls the state indicated by the state information output by the state control unit 53 to the non-permission state, the moving body 10 causes the state output unit G1 in the predetermined area A1 based on the state indicated by the state information. Stops at or before the position where is provided. In this way, the state control unit 53 controls the state indicated by the state information output by the state output unit G1 to be either the permitted state or the non-permitted state, so that the passage control module M1 allows the passage of the moving body 10. Can be changed to allow or disallow.

In the present embodiment, the state control unit 53 changes the direction of the vector B1 representing the state output unit G1 to set the directions determined by the state output unit G1 to the permitted state or the disallowed state in the first direction D1 and the first direction D1. It can be set to either of the two directions D2. Therefore, the control system 50 can control the passage of the moving body 10 in a desired direction by using the passage control module M1. The control system 50 of the present embodiment indirectly controls the moving body 10 by using the state output unit G1. That is, the state control unit 53 can intermittently control the moving body 10 controlled according to the state information output from the state output unit G1 by controlling the state indicated by the state information. ‥

(1.2.4) Moving Body Next, the configuration of the moving body 10 exemplified in this embodiment will be described in more detail.

The moving body 10 is an automatic guided vehicle for transporting the pallet 40 within the predetermined area A1, and the pallet 40 is loaded and autonomously travels to the destination. In the present embodiment, the control system 50 communicates with the mobile unit 10 via the network NT1 and the relay 70 to control the movement of the mobile unit 10.

As shown in FIGS. 1 and 3, the moving body 10 autonomously travels on a flat moving surface 110 composed of, for example, the floor surface of a predetermined area A1. Here, as an example, the moving body 10 includes a storage battery and operates using the electric energy stored in the storage battery. In this embodiment, the moving body 10 travels on the moving surface 110 with the pallets 40 loaded. Thereby, the moving body 10 can transport the pallet 40 placed at one place to another place in the predetermined area A1, for example.

The moving body 10 includes a main body 11. The main body 11 is formed in a rectangular parallelepiped shape. In the present embodiment, the two forks 12 project rearward from the lower portion of the main body 11, and the pallets 40 are stacked on the forks 12 by scooping up the pallets 40 with the two forks 12. Further, the moving body 10 can move down the pallet 40 from the forks 12 by moving forward while lifting the front sides of the two forks 12.

The moving body 10 has a plurality of (for example, four) wheels below the main body 11 and the two forks 12. Of the four wheels, at least two wheels provided at the bottom of the main body 11 are drive wheels, and the drive wheels are individually driven so that the moving body 10 moves in a desired direction along the moving surface 110. Can be moved to. Here, the drive wheels of the plurality of wheels may be omnidirectional wheels such as omni wheels, for example.

As shown in FIG. 2, the moving body 10 includes a control unit 21, a communication unit 31, a position detection unit 33, a traveling device 34, and a storage unit 32. The control unit 21, the communication unit 31, the position detection unit 33, the traveling device 34, and the storage unit 32 of the moving body 10 are mounted on the main body unit 11.

The communication unit 31 communicates with the control system 50 (the communication unit 61 of the control system 50) via the relay 70 and the network NT1. Here, the communication unit 31 communicates with the repeater 70 by a wireless communication method.

The storage unit 32 is realized by a non-transitory recording medium such as a rewritable nonvolatile semiconductor memory. The storage unit 32 stores, for example, map information regarding the map of the predetermined area A1, information regarding the position of the zone Z1 provided in the predetermined area A1, and position information regarding the position of the state output unit G1 provided in the predetermined area A1. Store information.

The position detection unit 33 detects the current position information regarding the current position of the moving body 10 within the predetermined area A1. The position detection unit 33 includes, for example, a receiver that receives beacon signals transmitted by radio waves from a plurality of transmitters. The plurality of transmitters are arranged at a plurality of locations within the predetermined area A1 in which the moving body 10 moves. The position detection unit 33 measures the current position of the mobile body 10 based on the positions of the plurality of transmitters and the received radio wave intensity of the beacon signal at the receiver. The position detection unit may be realized by using a satellite positioning system such as GPS (Global Positioning System). The mobile unit 10 periodically transmits the detection result of the position detection unit 33 from the communication unit 31 to the control system 50 at predetermined transmission time intervals (for example, one second intervals). The mobile body 10 may irregularly transmit the detection result of the position detection unit 33 from the communication unit 31 to the control system 50 in response to a transmission request or the like from the control system 50.

The traveling device 34 receives a control command from the control unit 21 and drives a plurality of driving wheels provided in the main body portion 11 to drive the moving body 10 in a desired direction.

The control unit 21 mainly has, for example, a computer system including a memory and a processor. That is, the functions of the control unit 21 (for example, the functions of the route acquisition unit 22, the state information acquisition unit 24, the travel control unit 23, etc.) are realized by the processor executing the program recorded in the memory of the computer system. It The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The route acquisition unit 22 acquires route information regarding the movement route of the mobile body 10 from the control system 50 via the communication unit 31. The route acquisition unit 22 acquires work information regarding the content of the work executed by the mobile body 10 from the control system 50 via the communication unit 31, and determines the movement route of the mobile body 10 based on the work information. The route information may be acquired. For example, when the work information that the moving body 10 in the first area 201 (see FIG. 6) carries a load from the first area 201 to the third area 203 is acquired, the route acquisition unit 22 of the moving body 10 performs this work. Acquire route information based on the information. That is, the route acquisition unit 22 moves the moving body 10 from the position where the luggage is loaded in the first area 201 to the position where the luggage is unloaded in the third area 203 through the aisle area 204 based on the work information. Get the travel route.

The state information acquisition unit 24 acquires the state information output by the state output unit G1 when the moving body 10 moves to the position of the state output unit G1 provided in the predetermined area A1. The control unit 21 determines whether the state indicated by the state information is a permitted state or a disallowed state based on the state information of the state output unit G1 acquired by the state information acquisition unit 24, and the state output unit according to the determination result. Determine whether to pass or stop where G1 is located.

The traveling control unit 23 controls the traveling device 34 to cause the moving body 10 to travel (move) in a desired direction. The traveling control unit 23 causes the moving body 10 to travel according to the route information acquired by the route acquisition unit 22, for example.

(1.3) Operation Hereinafter, the operation of the control system 50 according to the present embodiment and the moving body 10 that is a control target of the control system 50 will be described in detail with reference to FIGS. 4 to 14.

(13.1) Operation of control system A series of series in which the control system 50 updates the state information of the state output unit G1 provided in the predetermined area A1 and transmits the state information in response to a request from the mobile body 10. The process will be described with reference to the flowchart of FIG.

The control unit 51 of the control system 50 updates the current position information of the mobile unit 10 when the communication unit 61 receives the current position information transmitted from the mobile unit 10 periodically (for example, every one second) (S1: Yes). Then, it is stored in the storage unit 62. At this time, the detection unit 52 performs a detection process for detecting the presence or absence of the moving body 10 in the area Z1 provided in the predetermined area A1 based on the current position information received by the communication unit 61 (S2). When the moving body 10 exists in the area Z1, the detection unit 52 further detects the number of moving bodies 10 existing in one area Z1 based on the current position information transmitted from the plurality of moving bodies 10. May be.

When the detection unit 52 detects the presence or absence of the moving body 10 in the area Z1, the state control unit 53 corresponds to the state output unit G1 provided corresponding to the area Z1 based on the detection result by the detection unit 52 or the like. The information is set to the permitted state or the disallowed state (S3). For example, when the moving body 10 exists in the area Z1, the state control unit 53 disallows the state indicated by the state information set for the state output unit G1 and moves the moving body 10 into the area Z1. Prohibit Further, when the moving body 10 does not exist in the area Z1, the state control unit 53 permits the state indicated by the state information set for the state output unit G1 and moves the moving body 10 into the area Z1. To give permission. Then, the state control unit 53 stores in the storage unit 62 the state information corresponding to the state output unit G1 set in the process of S3.

After that, when the communication unit 61 receives a request signal requesting the output of the state information corresponding to the state output unit G1 from any of the mobile bodies 10 (S4: Yes), the state control unit 53 corresponds to the state output unit G1. Then, the communication unit 61 transmits the set status information to the requesting mobile unit 10 (S5), and the process ends.

The control unit 51 of the control system 50 periodically executes the above-described processing to update the state information of the state output unit G1 and, when receiving the request for the state information from the mobile unit 10, the requesting mobile unit 10 Then, the status information set corresponding to the status output unit G1 is transmitted.

When the area Z1 can accommodate the moving bodies 10 up to a predetermined limit number, in the process of S3, the state control unit 53 states if the number of the moving bodies 10 existing in the area Z1 is less than the predetermined limit number. The state indicated by the state information corresponding to the output unit G1 may be the permitted state. As a result, the control system 50 controls the passage of the moving body 10 so as to allow the moving body 10 to move into the area Z1 until the number of the moving bodies 10 existing in the area Z1 reaches the limit number. be able to.

The flowchart shown in FIG. 4 is merely an example of the operation of the control system 50 according to the present embodiment, and the order of processing may be changed as appropriate, or the processing may be appropriately added or omitted.

(1.3.2) Operation of the moving body The operation of the moving body 10 when the traveling control unit 23 of the moving body 10 is traveling the moving body 10 according to the route information acquired by the route acquisition unit 22 is shown in FIG. This will be described with reference to the flowchart.

The position detection unit 33 of the moving body 10 sequentially updates the current position where the moving body 10 exists in the predetermined area A1, and the control unit 21 transmits the current position information detected by the position detecting unit 33 from the communication unit 31. The control system 50 is made to transmit (S11).

When the position detection unit 33 updates the current position information, the control unit 21 approaches the position where the state output unit G1 is provided based on the current position information and the position information of the state output unit G1 stored in the storage unit 32. It is determined whether or not it has been done (S12). Here, if the vector C1 representing the moving speed and the moving direction of the moving body 10 intersects the vector B1 representing the state output unit G1, the control unit 21 determines that the position where the state output unit G1 is provided is approached. To do.

If it is determined in S12 that the control unit 21 has not approached the position where the state output unit G1 is provided (S12: No), the process returns to S11 and the processes from S11 are executed.

If the control unit 21 determines that the position where the state output unit G1 is provided is approached in the determination of S12 (S12: Yes), the control unit 21 communicates a request signal requesting the state information of the state output unit G1. The control unit 50 is transmitted from the unit 31 (S13).

After that, when the communication unit 31 receives the state information transmitted from the control system 50 (S14), the state information acquisition unit 24 acquires the state information via the communication unit 31, and the control unit 21 based on the state information. It is determined whether to pass or stop the position where the state output unit G1 is provided. That is, if the state information received in the process S14 is the permitted state (S15: Yes), the control unit 21 controls the moving body 10 so as to pass through the position where the state output unit G1 is provided. On the other hand, if the state information received in the process S14 is an unauthorized state (S15: No), the control unit 21 controls the moving body 10 so as to stop before the position where the state output unit G1 is provided. When the control unit 21 cannot receive the state information from the control system 50 even though the request signal is transmitted, it is preferable that the control unit 21 stops at the position where the state output unit G1 is provided, and the moving body 10 is safe. Passing can be realized.

As described above, the control unit 21 of the moving body 10 is provided with the state output unit G1 depending on whether the state indicated by the state information output by the state output unit G1 is a permitted state or a disallowed state. Decide whether to pass or stop the position. The control system 50 uses the traffic control module M1 to control (setting) whether the status indicated by the status information set for the status output unit G1 of the traffic control module M1 is a permitted status or a disallowed status. By doing so, the passage of the moving body 10 can be controlled. Therefore, the control system 50 can realize smooth passage of the moving body 10 by using the passage control module M1.

The flowchart shown in FIG. 5 is merely an example of the operation of the moving body 10, and the order of processing may be appropriately changed, and processing may be added or omitted as appropriate.

(1.3.3) Traffic control of the moving body by the control system Next, see FIGS. 6 to 14 for the operation when the moving body 10 passes through the place where the traffic control module M1 is provided in the predetermined area A1. And will be described in detail.

(1.3.3.1) Operation example 1
An operation example 1 of the traffic control of the moving body 10 by the control system 50 will be described based on FIG. 6.

FIG. 6 is a schematic plan view of a predetermined area A1 in which a plurality of moving bodies 10 move. In the present embodiment, the predetermined area A1 includes the first area 201, the second area 202, the third area 203, and the passage area 204 in the factory. Here, the first area 201 is an area where the first component is manufactured, and the second area 202 is an area where the second component is manufactured. The third area 203 is an area in which the first part manufactured in the first area 201 and the second part manufactured in the second area 202 are assembled. The passage area 204 is an area that serves as a passage that connects the first area 201, the second area 202, and the third area 203. The moving body 10 moves from the first area 201 or the second area 202 to the third area 203 through the passage area 204, for example. Further, the moving body 10 moves from the third area 203 to the first area 201 or the second area 202 through the passage area 204, for example. Here, the control system 50 controls the passage of the moving body 10 in the passage area 204 so that the moving body 10 does not pass each other in the passage area 204. That is, the control system 50 makes the passage of the moving body 10 in the passage area 204 in the direction from the first area 201 or the second area 202 to the passage area 204, and from the third area 203 to the first area 201 or the second. It is switched alternately in the direction toward the area 202.

In the operation example 1, the control system 50 sets the passage area 204 in the predetermined area A1 as the zone Z11, and three state output units G11, G12, G13 are set corresponding to the zone Z11. In the operation example 1, the traffic control module M11 including the area Z11 and the state output units G11, G12, and G13 provided corresponding to the area Z11 is provided. Here, the state output unit G11 is provided near the entrance 211 that connects the first area 201 and the zone Z11. The state output unit G12 is provided near the doorway 212 that connects the second area 202 and the zone Z11. The state output unit G13 is provided near the doorway 213 that connects the third area 203 and the zone Z11.

The detection unit 52 of the control system 50 detects whether or not the moving body 10 exists in the area Z11, and the state control unit 53 detects the state output units G11, G12, based on the detection result of the detection unit 52. The state indicated by the state information set for G13 is controlled. For example, when the moving body 10 does not exist in the zone Z11, the state control unit 53 alternately repeats the first state and the second state with a predetermined cycle. In the first state, the state information set for the state output units G11 and G12 is information indicating a permission state, and the state information set for the state output unit G13 is information indicating a non-permission state. It is in a state. In the second state, the state information set for the state output units G11 and G12 is information indicating a non-permitted state, and the state information set for the state output unit G13 is information indicating a permitted state. It is in a state.

Here, in the first state, the moving body 10 existing in the first area 201 and the second area 202 can enter the passage area 204, and the moving body 10 existing in the third area 203 can enter the passage area 204. I can't. Therefore, the first state is a state in which the moving body 10 that has entered the passage area 204 from the first area 201 and the second area 202 can move to the third area 203 through the passage area 204. In the first state, one or more moving bodies 10 existing in the first area 201 or the second area 202 enter the passage area 204 (zone Z11), and the detection unit 52 of the control system 50 moves the moving body 10 to the zone Z11. When detecting the presence, the state control unit 53 holds the state information output by the state output units G11 to G13 in the first state. As a result, the moving body 10 existing in the third area 203 cannot move to the passage area 204, and one or more moving bodies 10 entering the passage area 204 from the first area 201 or the second area 202 Only one-way movement to the aisle area 204 is possible. After that, when one or a plurality of moving bodies 10 existing in the passage area 204 all move to the third area 203 and the moving body 10 does not exist in the passage area 204, the state control unit 53 is in the first state. The state indicated by the state information output by the state output units G11 to G13 is controlled (set) so that the above and the second state are alternately repeated at a predetermined cycle.

On the other hand, in the second state, the moving bodies 10 existing in the first area 201 and the second area 202 cannot enter the passage area 204, and the moving bodies 10 existing in the third area 203 enter the passage area 204. You can Therefore, in the second state, the moving body 10 that has entered the passage area 204 from the third area 203 can move to the first area 201 or the second area 202 through the passage area 204. In the second state, one or more moving bodies 10 existing in the third area 203 enter the passage area 204 (area Z11), and the detection unit 52 of the control system 50 detects that the moving body 10 exists in the area Z11. Then, the state control unit 53 holds the state information output by the state output units G11 to G13 in the second state. As a result, the moving bodies 10 existing in the first area 201 and the second area 202 cannot move to the passage area 204, and one or a plurality of moving bodies 10 that have entered the passage area 204 from the third area 203 pass through the passage. Only one-way movement to the area 204 is possible. After that, when one or a plurality of moving bodies 10 existing in the passage area 204 all move to the first area 201 or the second area 202 and the moving body 10 does not exist in the passage area 204, the state control unit 53 Controls (sets) the state indicated by the state information output by the state output units G11 to G13 so that the first state and the second state are alternately repeated at a predetermined cycle.

As described above, the control system 50 alternately switches the one-way passage between the first area 201, the second area 202, and the third area 203, and thereby the first area 201, the second area 202, and the third area 203. The moving body 10 can be smoothly passed to and from the area 203.

The control operation of the state control unit 53 described in Operation Example 1 is an example, and can be changed as appropriate. For example, the state control unit 53 sets the state output units G11 to G13 when there is no moving body 10 in the passage area 204 (area Z11) and there is no request signal for requesting state information from the moving body 10. You may control all the states indicated by the state information to be performed to the disallowed state.

In this state, for example, when the moving body 10 existing in the first area 201 approaches the position where the state output unit G11 is provided, the moving body 10 requests the control system 50 for the state information of the state output unit G11. Send a signal. When the state control unit 53 of the control system 50 receives the request signal requesting the state information of the state output unit G11 from the moving body 10 existing in the first area 201, the moving body 10 does not exist in the aisle area 204. The state information of the state output units G11 to G13 is controlled so that the movement from the first area 201 to the passage area 204 is permitted. The state control unit 53 of the control system 50 uses the state information set for the state output units G11 and G12 as information indicating the permitted state, and the state information set for the state output unit G13 indicates the non-permitted state. Information. As a result, the state control unit 53 of the control system 50 determines that the passage of the moving body 10 in the aisle area 204 can be moved from the first area 201 and the second area 202 to the third area 203 through the aisle area 204. To do. Then, when the moving body 10 that has entered the passage area 204 from the first area 201 moves to the third area 203 and the moving body 10 does not exist in the passage area 204, the state control unit 53 of the control system 50 is in a state. The status information set for the output units G11, G12, and G13 is all information indicating the disallowed status.

That is, when the moving body 10 does not exist in the passage area 204 (area Z11) and there is no request signal requesting the state information from the moving body 10, the state control unit 53 of the control system 50 has the state output units G11 to G13. All the status information output by is the information indicating the disallowed status. Then, the state control unit 53 of the control system 50 receives the request signal requesting the state information from the mobile body 10 existing in any of the first area 201, the second area 202, and the third area 203, and then outputs the state output unit. The state information set for G11 to G13 is controlled to either the first state or the second state, and the moving body 10 that has transmitted the request signal is allowed to move to the passage area 204. After that, the moving body 10 that has entered the passage area 204 from any of the first area 201, the second area 202, and the third area 203 moves to a desired area, and the moving body 10 does not exist in the passage area 204. Then, the state control unit 53 sets all the state information set for the state output units G11 to G13 as information indicating the non-permission state.

In this way, the state control unit 53 of the control system 50 receives the request signal from the mobile unit 10 and determines the state indicated by the state information set to the state output units G11 to G13, and sets the determined state. Are switching. Until the state control unit 53 switches the state indicated by the state information set for the state output units G11 to G13 by using the request signal from the mobile unit 10 as a trigger, the state output units G11 to G13 are set. Since all the state information to be performed is in a disallowed state, it is possible to prevent the moving body 10 from entering the passage area 204 in this state, and it is possible to realize smooth passage.

Further, the state control unit 53 controls, for each of the plurality of state output units G1 included in the one or more traffic control modules M1, whether the state indicated by the state information is a permitted state or a non-permitted state. The state control unit 53 can realize smooth passage of the moving body 10 by connecting and controlling (setting) the states indicated by the state information output from the plurality of state output units G11 to G13. The state control unit 53 sets the states indicated by the state information output by the state output units G1 (G11 to G13) of the plurality of traffic control modules M1 (M11) provided in a plurality of places to the permitted state and the non-permitted state. It may be controlled to either of the above, and smooth passage of the moving body 10 can be realized.

(1.3.3.2) Operation example 2
An operation example 2 of the traffic control of the moving body 10 by the control system 50 will be described based on FIG. 7.

FIG. 7 is a plan view showing a part of the predetermined area A1 in which the plurality of moving bodies 10 move. In the example of FIG. 7, the area where the four passages 211 to 214 intersect in the predetermined area A1 is a zone Z21, and the state output parts G21, G22, corresponding to the portions where the

passages

211, 212, 213 are connected in the zone Z21. G23 is provided. That is, the predetermined area A1 is provided with the traffic control module M21 including the area Z21 and the state output units G21, G22, and G23 provided corresponding to the area Z21. In other words, the traffic control module M21 includes a plurality of state output units G21, G22, G23 provided corresponding to the plurality of

passages

211, 212, 213 connected to the area Z21, respectively.

In the operation example 2, the state control unit 53 of the control system 50 indicates the state indicated by the state information output by each of the state output units G21, G22, and G23 provided corresponding to the area Z21 as a permitted state and a disallowed state. Control (set) to one of.

The detection unit 52 of the control system 50 detects whether or not the moving body 10 is present in the zone Z21, and the state control unit 53, based on the detection result of the detection unit 52, outputs the state output units G21, G22, It controls (sets) the state indicated by the state information output by G23. For example, when the moving body 10 does not exist in the zone Z21, the state control unit 53 sequentially changes the first switching state, the second switching state, and the third switching state in order every time a predetermined switching time elapses. repeat. Here, in the first switching state, only the state information set for the state output unit G21 is the information indicating the permitted state. In the second switching state, only the state information set for the state output unit G22 is the information indicating the permitted state. In the third switching state, only the state information set for the state output unit G23 is the information indicating the permitted state.

For example, in the first switching state, the moving body 10 existing in the passage 211 can enter the area Z21, and the moving body 10 existing in the

passages

212 and 213 cannot enter the area Z21. Therefore, in the first switching state, only the moving body 10 existing in the passage 211 can move to the passage 214 through the zone Z21. When the detection unit 52 of the control system 50 detects that the moving body 10 existing in the passage 211 has entered the area Z21 in the first switching state, the state control unit 53 refers to the state output units G21, G22, and G23. All the set status information is information indicating the disallowed status. Accordingly, the moving body 10 existing in the

passages

211, 212, and 213 cannot continuously enter the zone Z21 which is the intersection, and the moving body 10 that has entered the zone Z21 can be smoothly moved to the passage 214. You can

After that, when the moving body 10 does not exist in the area Z21, the state control unit 53 switches the state information set for the state output units G21 to G23 into the first switching state, the second switching state, and the third switching state. It repeats cyclically in the order of states.

As described above, in the operation example 2, the traffic control module M21 includes a plurality of state output units G21 to G23 provided corresponding to the plurality of passages 211 to 213 connected to the area Z21, respectively. When the state control unit 53 controls the state indicated by the state information output by one of the plurality of state output units G21 to G23 to the permitted state, the state control unit 53 outputs the remaining state of the plurality of state output units G21 to G23. The state indicated by the state information output by the unit is controlled to the disallowed state. As a result, the control system 50 can realize smooth passage even when the moving body 10 passes through a plurality of passages.

(1.3.3.3) Operation example 3
An operation example 3 of the traffic control of the moving body 10 by the control system 50 will be described based on FIG. 8.

FIG. 8 is a plan view showing a part of the predetermined area A1 in which the plurality of moving bodies 10 move. In the example of FIG. 8, in the predetermined area A1, two adjacent areas in the middle of the passage 215 are defined as zones Z31 and Z32. A state output unit G31 is provided at a position corresponding to the zone Z31 and entering the zone Z31 from the side opposite to the zone Z32. Further, a state output part G32 is provided at a position corresponding to the zone Z32 and entering the zone Z32 from the side opposite to the zone Z31. That is, in the operation example 3, the traffic control module M31 including the zone Z31 and the state output unit G31 provided corresponding to the zone Z31 and the state output provided corresponding to the zones Z32 and Z32 in the predetermined area A1. And a traffic control module M32 including a section G32.

In the operation example 3, the state control unit 53 of the control system 50 allows the states indicated by the state information output from the state output units G31 and G32 provided corresponding to the zones Z31 and Z32 to the permitted state and the non-permitted state, respectively. Control (set) to any of the above.

The detection unit 52 of the control system 50 detects whether or not the moving body 10 exists in the areas Z31 and Z32, and the state control unit 53 detects the state output unit G31, based on the detection result of the detection unit 52. It controls the state indicated by the state information output by G32. For example, when the moving body 10 does not exist in the area Z31 and the area Z32, the state control unit 53 controls only the state indicated by the state information set for the state output unit G31 to the permitted state, and the state output unit. The state in which only the state indicated by the state information set for G32 is controlled to the permitted state is alternately switched. Further, when the moving body 10 is present in at least one of the area Z31 and the area Z32, the state control unit 53 controls both the state information set for the state output units G31 and G32 to the disallowed state.

In the state where the moving body 10 does not exist in the area Z31 and the area Z32, the state control unit 53 of the control system 50 has the state information set for the state output unit G31 and the state information set for the state output unit G32. And are alternately controlled to the permitted state, and the zones Z31 and Z32 can be passed from either direction. Then, in a state where the moving body 10 exists in at least one of the areas Z31 and Z32, the state control unit 53 of the control system 50 disallows both the state information set for the state output units G31 and G32, respectively. To control. As a result, entry into the zones Z31, Z32 is prohibited, and smooth passage of the moving body 10 existing in the zones Z31, Z32 can be realized.

Further, in the operation example 3, a plurality of areas Z31 and Z32 are provided along the path on which the moving body 10 moves in the predetermined area A1, and the plurality of areas Z31 and Z32 are arranged at desired locations to move. The smooth passage of the body 10 can be realized.

(1.3.3.4) Operation example 4
An operation example 4 of the traffic control of the moving body 10 by the control system 50 will be described based on FIG. 9.

FIG. 9 is a plan view showing a part of the predetermined area A1 in which the plurality of moving bodies 10 move. In the example of FIG. 9, when two one-

way passages

222 and 223 join the one-way passage 221 at different places, the area where the one-way passage 222 and the passage 222 meet is defined as the area Z41, and the passage in the passage 221. The area that merges with 223 is referred to as zone Z43. Further, in the passage 222, the area where the passage 221 merges is designated as the standby area Z42, and in the passage 223, the area where the passage 221 merges is designated as the standby area Z44. Then, a state output unit G42 is provided between the area Z41 and the standby area Z42 corresponding to the area 41, and the state output unit G41 is provided in front of the area Z41 (the side where the moving body 10 enters) in the passage 221. It is provided. Further, corresponding to the area 43, the state output unit G44 is provided between the area Z43 and the standby area Z44, and the state output unit G43 is provided in front of the area Z43 in the passage 221. Here, the traffic control module M41 is composed of the area Z41 and the state output units G41 and G42 provided in the plurality of

passages

211 and 222 connected to the area Z41, and the area Z43 and the plurality of passages 221 connected to the area Z43. A traffic control module M43 is configured with the status output units G43 and G44 provided in 223. That is, the traffic control modules M41 and M43 include a plurality of state output units G41 to G44 provided corresponding to the plurality of

passages

221, 222 and 223 connected to the areas Z41 and Z43, respectively.

In the operation example 4, the state control unit 53 of the control system 50 causes the state control unit 53 of the control system 50 to give priority to the moving body 10A passing through the passage 221 over the moving body 10B trying to enter the passage 221 from the

passages

222 and 223. Controls the state indicated by the state information output by G44.

The storage unit 62 of the control system 50 stores the position information of the zones Z41, Z43 and the standby areas Z42, Z44, and the detection unit 52 causes the moving body 10 to move in each of the zones Z41, Z43 and the standby areas Z42, Z44. The presence or absence of (10A, 10B) is detected.

The state control unit 53 of the control system 50 controls the state indicated by the state information output by the state output units G41 and G43 to the permitted state when the moving body 10 does not exist in the standby areas Z42 and Z44, and the state output unit The state indicated by the state information output by G42 and G44 is controlled to the non-permission state. As a result, the moving body 10 passing through the passage 221 can pass through the positions where the state output units G41 and G43 are provided as they are, and the moving body 10 can be smoothly moved in the passage 221. Further, since the moving body 10B existing in the

passages

222 and 223 stops at the position where the state output units G42 and G44 are provided, the possibility of obstructing the passage of the moving body 10A moving in the passage 221 can be reduced.

On the other hand, when the detection unit 52 detects that the moving body 10 exists in the standby area Z42, the state control unit 53 outputs, for example, the state output unit G41 at the first time point after the predetermined first delay time has elapsed. The status indicated by the status information is changed from the permitted status to the disallowed status. As a result, the moving body 10 passing through the passage 221 stops before the state output unit G41.

Further, the state control unit 53 has a second time point after a predetermined second delay time (standby time) has elapsed from the first time point when the state indicated by the state information output by the state output unit G41 is changed to the disallowed state. Then, the state indicated by the state information output by the switching target state output unit G42 is changed from the disapproval state to the permission state. Accordingly, the moving body 10 passing through the passage 221 can be entered into the passage 221 in a state where the moving body 10 passing through the passage 221 is stopped before the state output unit G41, and smooth passage can be realized.

(1.3.3.5) Operation example 5
An operation example 5 of the traffic control of the moving body 10 by the control system 50 will be described based on FIG. 10.

FIG. 10 is a plan view showing a part of the predetermined area A1 in which the plurality of moving bodies 10 move. In the example of FIG. 10, the one-way passage 232 merges with the one-way passage 231. In the predetermined area A1, the zone Z51 is provided in the area where the passage 232 merges in the passage 231. An adjacent area Z52 is provided in an area adjacent to the Z51. The adjacent area Z52 is on the front side in the traveling direction with respect to the area Z51. Further, a standby area Z53 is provided in an area adjacent to the area Z51 in the passage 232. Here, two state output units G51 and G52 are provided corresponding to the area Z51. The state output unit G51 is provided between the area Z51 and the adjacent area Z52, and the state output unit G52 is provided between the area Z51 and the standby area Z53. A zone Z51 and state output sections G51 and G52 provided corresponding to the zone Z51 are included in the traffic control module M51, and the state control section 53 of the control system 50 controls the state output sections G51 and G52. Control (set) the state indicated by the state information set in the above to either the permitted state or the disallowed state.

Here, the storage unit 62 of the control system 50 stores position information of the zone Z51, the adjacent area Z52, and the standby area Z53. The detection unit 52 of the control system 50 detects whether or not the mobile body 10 exists in each of the zone Z51, the adjacent area Z52, and the standby area Z53, based on the current position information transmitted from the mobile body 10. Then, the state control unit 53 of the control system 50 controls the state indicated by the state information output by the state output units G51 and G52 based on the detection result of the detection unit 52.

For example, when the moving body 10 does not exist in the standby area Z53, the state control unit 53 permits the state indicated by the state information output by the state output unit G51, and the state information output by the state output unit G52. With the indicated state as the disallowed state, the moving body 10A passing through the passage 231 is allowed to pass as it is, and the moving body 10B passing through the passage 232 is stopped before the state output unit G52.

On the other hand, if the moving body 10B exists in the standby area Z53 and the moving body 10 does not exist in both the area Z51 and the adjacent area Z52, the state control unit 53 receives the state information output by the state output unit G51. The indicated state is regarded as a disallowed state, and the state indicated by the state information output by the state output unit G52 is regarded as a permitted state, and the moving body 10B existing in the passage 232 is permitted to move to the passage 231.

In the operation example 5, the control system 50 gives priority to the passage of the passage 231 over the passage 232, and the state indicated by the state information output by the state output unit G51 is normally set to the permitted state. Therefore, it takes a certain amount of time for the moving body 10 passing through the passage 231 to stop from the traveling state. In the operation example 5, when the moving body 10B exists in the standby area Z53, the state control unit 53 does not have the moving body 10 in both the zone Z51 connected to the standby area Z53 and the adjacent area Z52 in front of the zone Z51. In the state, the state indicated by the state information output by the state output unit G52 is changed to the permitted state. Therefore, when the moving body 10B existing in the passage 232 (standby area Z53) enters the zone Z51, it is possible to reduce the possibility that the moving body 10A existing in the passage 231 enters the zone Z51 from the adjacent area Z52. Therefore, smooth passage can be realized by the control system 50.

(1.3.3.6) Operation example 6
An operation example 6 of the traffic control of the moving body 10 (10A) by the control system 50 will be described based on FIG.

FIG. 11 shows an application example in which the control system 50 is applied to a roundabout type intersection. In the example of FIG. 11, four passages 241 to 244 are connected to an annular passage 240 through which the moving body 10 passes counterclockwise in a plan view. Then, in the annular passage 240, passage control modules M61 to M64 are provided in the areas where the four passages 241 to 244 merge, respectively.

The passage control module M61 includes a zone Z61 provided in the area where the passage 241 merges in the passage 240, and state output units G611 and G612 provided corresponding to the zone Z61. In the passage 240, the moving body 10 determines whether or not to allow passage from the outside to the inside of the area Z61 based on the state information output by the state output unit G611. In addition, the moving body 10 passing through the passage 241 determines whether or not to permit passage to the zone Z61 based on the state information output by the state output unit G612.

The passage control module M62 includes an area Z62 provided in the area where the passage 242 joins in the passage 240, and state output units G621 and G622 provided corresponding to the area Z62. The moving body 10 passing through the passage 240 determines whether to permit passage from the outside to the inside of the zone Z62 based on the state information output by the state output unit G621. Further, the moving body 10 passing through the passage 242 determines whether or not to permit passage to the zone Z62, based on the state information output by the state output unit G622.

The passage control module M63 includes a zone Z63 provided in an area where the passage 243 merges in the passage 240, and state output units G631 and G632 provided corresponding to the zone Z63. The moving body 10 passing through the passage 240 determines whether or not to allow passage from the outside to the inside of the zone Z63 based on the state information output by the state output unit G631. Further, the moving body 10 passing through the passage 243 determines whether or not to allow the moving body 10 to pass through the area Z63 based on the state information output by the state output unit G632.

The passage control module M64 includes an area Z64 provided in an area where the passage 244 merges in the passage 240, and state output units G641 and G642 provided corresponding to the area Z64. The moving body 10 passing through the passage 240 determines whether or not to allow passage from the outside to the inside of the zone Z64 based on the state information output by the state output unit G641. Further, the moving body 10 passing through the passage 244 determines whether or not to allow the moving body 10 to pass through the area Z64 based on the state information output by the state output unit G642.

Further, in the operation example 6, each of the passages 241 to 244 is provided with the standby areas Z65 to Z68 in an area that joins with the passage 240, and the position information of the standby areas Z65 to Z68 is registered in the storage unit 62. There is.

Here, the detection unit 52 of the control system 50 detects whether or not the moving body 10 exists in each of the areas Z61 to Z64 and the standby areas Z65 to Z68 based on the current position information acquired from the moving body 10. .. Then, the state control unit 53 controls (sets) the state indicated by the state information output by the state output units G611 to G641 and G612 to G642 included in the traffic control modules M61 to M64 based on the detection result of the detection unit 52. Therefore, it is possible to smoothly control the traffic at the roundabout intersection.

For example, in a state where the moving body 10 does not exist in the standby areas Z65 to Z68, the state control unit 53 allows the state indicated by the state information output by the state output units G611, 621, 631, and G641 to be the permitted state and the state output unit G612. , 622,632, The state indicated by the state information output by G642 is regarded as a disallowed state. As a result, the moving body 10 cannot enter the passage 240 from the passages 241 to 244, and the passage of the moving body 10 passing through the passage 240 is prioritized.

On the other hand, for example, when the moving body 10A is present in the standby area Z65, the state control unit 53 switches the state indicated by the state information output by the state output unit G611 from the permitted state to the prohibited state. After that, when the predetermined standby time has elapsed, the state control unit 53 switches the state indicated by the state information output by the state output unit G611 from the disallowed state to the permitted state. As a result, the moving body 10A existing in the standby area Z241 can enter the passage 240.

(1.3.3.7) Operation example 7
An operation example 7 of the traffic control of the moving body 10 by the control system 50 will be described based on FIG.

In the example of FIG. 12, the zone Z71 is provided in a part of the passage 251, and the state output unit G71 is provided corresponding to the zone Z71. Here, a stop prohibition area 252 (hatched portion in FIG. 12) is provided between the state output unit G71 provided corresponding to the area Z71 and the area Z71. The stop prohibition area 252 is, for example, another passage that intersects with the passage 251. When the state information set for the state output unit G71 indicates the non-permission state, the moving body 10 can be stopped at a position before the stop-prohibiting area 252, and the mobile body can be stopped in the stop-prohibiting area 252. The possibility that 10 will stop can be reduced.

(1.3.3.8) Operation example 8
An operation example 8 of the traffic control of the moving body 10 by the control system 50 will be described based on FIG. 13.

FIG. 13 shows an application example in which the control system 50 is applied to a predetermined area A1 in which an evacuation path 262 for passing each other is provided in the middle of the passage 261.

In the example of FIG. 13, the area Z81 is provided in the area where one end of the evacuation path 262 joins (connects) with the passage 261, and the state output unit G81 is provided corresponding to the area Z81. The state output unit G81 is provided at a position where one end of the evacuation path 262 is connected to the passage 261 and determines whether or not to allow the moving body 10C existing in the evacuation path 262 to enter the passage 261.

Further, in the passage 261, a zone Z82 is provided in an area where the other end of the evacuation path 262 joins (connects) with the passage 261, and a state output unit G82 is provided corresponding to the zone Z82. The state output unit G82 is provided at a position where the other end of the retreat path 262 is connected in the passage 261, and determines whether or not the moving body 10B existing in the passage 261 is allowed to enter the zone Z82.

Here, the detection unit 52 of the control system 50 detects whether or not the moving body 10 exists in each of the zones Z81 to Z82. For example, when the moving body 10 does not exist in the zones Z81 to Z82, the state control unit 53 controls the states indicated by the state information output by the state output units G81 and G82 to be the permitted state and allows the moving body 10 to pass. To give permission. On the other hand, when the moving body 10A is present in the zone Z81, the state control unit 53 controls the state indicated by the state information output by the state output unit G81 to the non-permitted state, and the moving body 10C present in the evacuation path 262 is Restrict movement to zone Z81. When the moving body 10D is present in the zone Z82, the state control unit 53 controls the state indicated by the state information output by the state output unit G82 to be the non-permission state, and moves in the passage 261 toward the zone Z82. The moving body 10B is stopped before the state output unit G82. As a result, the moving body 10D can move to the evacuation path 262 without being obstructed by the moving body 10B.

In this way, the state control unit 53 controls the state indicated by the state information output by the state output units G81 and G82 based on the detection result of the detection unit 52, and the moving body 10 smoothly passes by. It can be controlled so that it can be done.

(1.3.3.9) Operation example 9
An operation example 9 of the traffic control of the moving body 10 by the control system 50 will be described based on FIG. 14.

In FIG. 14, a traffic control module M91 is provided in a standby area provided in front of the charging spaces SP1 and SP2 of the moving body 10 in the predetermined area A1. Here, the traffic control module M91 includes a zone Z91 provided in the standby area and a state output unit G91 provided corresponding to the zone Z91. The state information output by the state output unit G91 is information indicating whether the state is a permission state in which the moving body 10 is permitted to enter the zone Z91 from the passage 271 connected to the zone Z91, or a non-permission state.

The detection unit 52 of the control system 50 detects whether or not the mobile body 10 exists in the zone Z91 and the charging spaces SP1 and SP2.

The state control unit 53 of the control system 50 controls the state indicated by the state information output by the state output unit G91 to be either a permitted state or a disallowed state, based on the detection result of the detection unit 52.

For example, when the moving body 10 exists in the zone Z91, or when the moving body 10 exists in both the charging spaces SP1 and SP2, the state control unit 53 sets the state indicated by the state information output by the state output unit G91. The mobile body 10 is controlled in the non-permitted state and stopped before the state output unit G91.

On the other hand, when the mobile unit 10 does not exist in the zone Z91 and the mobile unit 10 does not exist in at least one of the charging spaces SP1 and SP2, the state control unit 53 indicates the state information output by the state output unit G91. The state is controlled to the permitted state, and the moving body 10 is made to enter the area Z91.

Here, nodes ND1 and ND2 indicating the stop position of the moving body 10 are set in the area Z91.

Chargers

301 and 302 are installed in the charging spaces SP1 and SP2, and nodes ND3 and ND4 indicating the stop positions of the moving body 10 are set in the charging spaces SP1 and SP2. The mobile unit 10 stores in the storage unit 32 the position information of the nodes ND1 to ND4 and the position information regarding the installation positions of the

chargers

301 and 302.

Here, when the state indicated by the state information output by the state output unit G91 is the permitted state and the moving body 10 moves into the zone Z91, the moving body 10 has the moving body 10 among the nodes ND1 and ND2. Stop at the node position corresponding to no charging space. When the mobile body 10 stops at, for example, the node ND1, the mobile body 10 moves from the node ND1 to the node ND3 in the charging space SP1 and is then connected to the charger 301 to be charged. When charging is completed, the mobile unit 10 leaves the charger 301, moves to the node ND3, and moves from the node ND3 to the node ND1. Then, the moving body 10 goes out of the zone Z91 and moves to a desired position in the predetermined area A1.

(1.4) Modifications The first embodiment described above is only one of various embodiments of the present disclosure. The first embodiment can be variously modified according to the design and the like as long as the object of the present disclosure can be achieved. Further, the same function as the control system 50 may be embodied by a control method of the control system 50, a computer program, a non-transitory recording medium recording the program, or the like. The control method of the control system 50 according to one aspect controls the passage of the moving body 10 moving in the predetermined area A1. The control method includes a first setting process, a second setting process, and a control process. The first setting process is a process of setting the zone Z1 in a part of the predetermined area A1 in which the moving body 10 moves. The second setting process is a process of providing a state output unit G1 for outputting the state information, corresponding to the zone Z1. The state information indicates whether the moving state of the moving body 10 is permitted in at least one of the first direction D1 and the second direction D2, or whether the moving body 10 is not permitted. This is the information to be shown. The first direction D1 is a direction in which the moving body 10 moves from the outside to the inside of the zone Z1. The second direction D2 is a direction in which the moving body 10 moves from the inside of the zone Z1 to the outside. In the control process, the state indicated by the state information output by the state output unit G1 is controlled to be the permitted state or the disallowed state. A (computer) program according to one aspect is a program for causing a computer system to execute a process of controlling the state indicated by the state information output by the state output unit G1 to a permitted state or a disallowed state.

The following is a list of modifications of the first embodiment. The modifications described below can be applied in appropriate combination. Hereinafter, the first embodiment may be referred to as a “basic example”.

The control system 50 in the present disclosure includes a computer system. The computer system mainly comprises a processor as a hardware and a memory. The function as the control system 50 in the present disclosure is realized by the processor executing the program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. readable by the computer system. May be provided. A processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The integrated circuit such as an IC or an LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, FPGAs (Field-Programmable Gate Arrays) that are programmed after the manufacture of LSIs, or logic devices that can be reconfigured for junction relationships within LSIs or for circuit sections within LSIs should also be adopted as processors. You can The plurality of electronic circuits may be integrated in one chip, or may be distributed and provided in the plurality of chips. The plurality of chips may be integrated in one device, or may be distributed and provided in the plurality of devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large scale integrated circuit.

Further, it is not an essential configuration for the control system 50 that a plurality of functions in the control system 50 are integrated in one housing, and the components of the control system 50 are distributed and provided in the plurality of housings. May be. Furthermore, at least a part of the functions of the control system 50, for example, a part of the functions of the state control unit 53 and the like may be realized by a cloud (cloud computing) or the like.

The traffic control module M1 may have an entity provided at a desired position in the predetermined area A1. In this case, the control system 50 includes the traffic control module M1 arranged in the predetermined area A1, and controls the state indicated by the state information output by the state output unit G1 of the traffic control module M1 to be the permitted state or the non-permitted state. .. Here, the state output unit G1 of the traffic control module M1 may output the state information by any one of light, sound, and radio waves, and the moving body 10 outputs any one of light, sound, and radio waves by the state output unit G1. The state information output by is directly obtained, and it is determined whether to move or stop based on the state information.

The state output unit G1 is provided in a position corresponding to the zone Z1 provided in the predetermined area A1 in the real space, and determines whether the state is the permitted state or the unpermitted state in at least one of the first direction and the second direction. The state information shown may be directly output to the moving body 10 by light, sound, a radio wave signal, or the like.

Further, the state control unit 53 may control the state indicated by the state information output by the state output unit G1 according to the purpose for which the moving body 10 moves (for example, the type of luggage carried by the moving body 10). Good. For example, when it is desired to deliver the package carried by the mobile unit 10 to the destination earlier, the state control unit 53 controls the state indicated by the state information output by the state output unit G1 to be the permitted state and preferentially. You may pass by.

In the basic example, the state information output by the state output unit G1 indicates whether or not the movement of the moving body 10 is permitted in the first direction D1, but the movement of the moving body 10 is permitted in the second direction D2. It may indicate whether or not to do so. Further, the state information output by the state output unit G1 may indicate whether or not the movement of the moving body 10 is permitted in both the first direction D1 and the second direction D2.

In the basic example, the moving body 10 carries the pallet 40, but the article carried by the moving body 10 is not limited to the pallet 40, and articles other than the pallet 40 may be carried. Further, the moving body 10 is not limited to a carrying device that carries articles, and may be a moving body that carries people. Further, the moving body 10 is a carrier vehicle that travels in the predetermined area A1, but the moving body 10 may be a ship (autonomous traveling ship) or an aircraft (drone). When the mobile body 10 is an autonomous navigation ship, the water area in which the autonomous navigation ship travels is the predetermined area A1, and when the mobile body 10 is a drone, the space in which the drone flies is the predetermined area A1.

(Embodiment 2)
(2.1) Overview As shown in FIG. 15, the control system 50 according to the present embodiment includes an acquisition unit 54 and a consideration generation unit 55. The acquisition unit 54 acquires operation information regarding the operations of the plurality of mobile bodies 10 in the predetermined area A1. The consideration generation unit 55 generates a consideration including at least one of an incentive and a penalty for any one of the plurality of moving bodies 10 based on the operation information acquired by the acquisition unit 54. The control system 50 controls the plurality of moving bodies 10 moving in the predetermined area A1.

The "compensation" referred to in the present disclosure is an incentive or a penalty generated for each of a plurality of mobile bodies 10. The "compensation" is realized by, for example, benefits including services such as money (including credits and virtual currency), points (points), goods, and maintenance of the moving body 10.

According to the control system 50 described above, based on the operation information related to the operation of the plurality of mobile bodies 10, a compensation for any one of the plurality of mobile bodies 10 is generated. Therefore, in the moving body 10, motivation (motivation) is given to perform a specific movement. For example, when there is a possibility that the movements of a plurality of mobile units 10 interfere with each other, an incentive is generated as a consideration for an operation including a route change that avoids the interference. Then, in at least one of the moving bodies 10 that can cause interference, by positively adopting an operation including a route change that avoids the interference, the operation including the route change is a specific movement. It becomes difficult to concentrate on the body 10. As a result, there is an advantage that unevenness in work efficiency is unlikely to occur among a plurality of moving bodies 10.

(2.2) Details Hereinafter, the configurations of the control system 50 and the mobile system 1 according to the present embodiment will be described in detail with reference to FIGS. 1 and 15. In the following description, the same components as those of the first embodiment will be designated by the same reference numerals and the description thereof will be omitted.

The mobile body system 1 of the present embodiment includes a control system 50 and a plurality of mobile bodies 10 as shown in FIG. The control system 50 has a host system 51A. Each of the plurality of mobile bodies 10 has a lower system 21A. Here, the "upper" of the upper system 51A and the like and the "lower" of the lower system 21A and the like are simply used as labels for distinguishing between the two, and have the meaning of specifying their respective positions and ranks. is not.

In the present embodiment, each of the upper system 51A and the lower system 21A has a computer system including a memory and a processor as a main configuration. That is, each function of the upper system 51A and the lower system 21A is realized by the processor executing the program recorded in the memory of the computer system. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The host system 51A included in the control system 50 is a system for integrally controlling a plurality of mobile bodies 10. On the other hand, the lower system 21A included in the mobile unit 10 is a system for actually controlling the individual mobile units 10 according to an instruction from the upper system 51A. In other words, the control system 50 indirectly controls the plurality of moving bodies 10 by issuing an instruction from the upper system 51A to the lower system 21A of each moving body 10.

The control system 50 according to the present embodiment is realized by, for example, a server device, and includes a host system 51A, a communication unit 61, and a storage unit 62, as shown in FIG. Since the communication unit 61 and the storage unit 62 have the same configuration as that of the first embodiment, the description thereof will be omitted.

The upper system 51A has a detection unit 52, a state control unit 53, an acquisition unit 54, a consideration generation unit 55, and a cooperation control unit 56.

The upper system 51A mainly has a computer system including a memory and a processor, for example. That is, when the processor executes the program recorded in the memory of the computer system, the functions of the host system 51A (for example, the detection unit 52, the state control unit 53, the acquisition unit 54, the consideration generation unit 55, and the cooperation control unit 56). And other functions) are realized. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card. Here, since the detection unit 52 and the state control unit 53 have the same configuration as that of the first embodiment, the description thereof will be omitted.

The acquisition unit 54 acquires operation information regarding the operation of the plurality of mobile units 10 in the predetermined area A1. The "motion information" referred to in the present disclosure includes general movements of the moving body 10, for example, current position information indicating the current position of the moving body 10 in a predetermined area A1, and moving speed and moving direction of the moving body 10. Including information such as. The acquisition unit 54 may acquire the operation information from the mobile unit 10 via the communication unit 61, or may acquire the operation information within the host system 51A. That is, since the host system 51A handles information related to the control of the mobile unit 10, the information handled within the host system 51A also includes information about the operation of the mobile unit 10 (motion information). .. For example, when the state control unit 53 performs the later-described priority control for any of the moving bodies 10 (priority moving bodies), the state output unit G1 preferentially controls the moving bodies 10 (priority moving bodies). Become. In such a case, the information handled by the state control unit 53, that is, the information used when the state control unit 53 performs the priority control on any one of the moving bodies 10 (priority moving bodies) is the moving body 10 (priority movement). It becomes the movement information about the movement of the body). Details of the priority control will be described in the section “(2.3.3) Priority control”.

The consideration generation unit 55 generates a consideration for any one of the plurality of mobile units 10 based on the operation information acquired by the acquisition unit 54. The “consideration” in the present disclosure includes at least one of an incentive and a penalty, as described above. Details of the consideration generating unit 55 will be described in the section “(2.3.1) Occurrence of consideration”.

The cooperative control unit 56 executes cooperative control. In the cooperative control, one of the plurality of moving bodies 10 is set as the target moving body, and the target moving body is controlled by controlling the cooperative moving body other than the target moving body among the plurality of moving bodies 10. It is a control to secure the course of. Here, the control of the cooperative moving body in the cooperative control unit 56 includes both movement and stop of the cooperative moving body. That is, the cooperative control unit 56 performs the cooperative control to stop the moving body 10 as the cooperative moving body at the end of the passage 100, for example, and the moving body 10 as the target moving body overtakes the cooperative moving body in the meantime. Thus, the moving body 10 as the target moving body can be controlled. Details of the cooperative control will be described in the section “(2.3.2) Cooperative control”.

Next, the configuration of the moving body 10 illustrated in the present embodiment will be described in more detail.

As shown in FIG. 15, the mobile body 10 includes a lower system 21A, a communication unit 31, a storage unit 32, a position detection unit 33, a traveling device 34, and a notification unit 35. The lower system 21A of the mobile unit 10, the communication unit 31, the storage unit 32, the position detection unit 33, the traveling device 34, and the notification unit 35 are mounted on the main body unit 11. Since the communication unit 31, the storage unit 32, the position detection unit 33, and the traveling device 34 have the same configuration as that of the first embodiment, the communication unit 31, the storage unit 32, the position detecting unit 33, and the traveling device 34 The description is omitted.

The notification unit 35 gives notification by sound and/or display (including light). As a result, the notification unit 35 can notify a person (worker or the like) around the moving body 10. In the present embodiment, the notification unit 35 performs notification at least during cooperative control.

The lower system 21A includes a route acquisition unit 22, a state information acquisition unit 24, a travel control unit 23, and a request generation unit 25.

The lower system 21A mainly has a computer system including a memory and a processor, for example. That is, when the processor executes the program recorded in the memory of the computer system, the functions of the lower system 21A (for example, the route acquisition unit 22, the state information acquisition unit 24, the travel control unit 23, the request generation unit 25, and the like). Function) is realized. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card. Since the route acquisition unit 22, the state information acquisition unit 24, and the travel control unit 23 have the same configuration as that of the first embodiment, the description of the route acquisition unit 22, the state information acquisition unit 24, and the travel control unit 23 will be described. Omit it.

The request generation unit 25 generates a request (cooperative request) for starting cooperative control and transmits it to the control system 50.

(2.3) Operation Hereinafter, the operation of the control system 50 according to the present embodiment and the moving body 10 that is a control target of the control system 50 will be described in detail with reference to FIGS. 16 to 21. The description of the operation common to the first embodiment will be omitted below, and the operation of the characteristic part of the present embodiment will be described.

(2.3.1) Generation of Consideration Next, among the operations of the control system 50, any one of the plurality of moving bodies 10 is based on the operation of the consideration generation unit 55, that is, the operation information acquired by the acquisition unit 54. The consideration generation process for generating the consideration will be described in detail.

The “compensation” in the present disclosure is an incentive or a penalty generated for each of the plurality of mobile units 10 as described above. The "compensation" is realized by, for example, benefits including services such as money (including credits and virtual currency), points (points), goods, and maintenance of the moving body 10. As an example, the owner of the control system 50 or the like receives the incentive benefit or the penalty as a consideration, and the owner or the like of the mobile body 10 receives the incentive or pays the penalty. The settlement of consideration (benefit and receipt) may be performed every time the work by the mobile body 10 is completed, or may be performed every predetermined calculation period (for example, one month).

In this embodiment, consideration may occur in various situations. Therefore, hereinafter, the operation of the consideration generating unit 55 will be described for the cooperative control of the control system 50, the priority control, and other situations.

(2.3.2) Coordinated Control First, the operation of the value generation unit 55 (value generation processing) during the cooperative control will be described with reference to FIGS. 16 to 17C.

FIG. 16 is a schematic plan view of a part of the predetermined area A1. In the example of FIG. 16, the predetermined area A1 includes a work area A11, a passage area A12, a passage area A13, and a waiting area A14. Here, the work area A11 is an area in which work by the moving body 10 is performed, and a plurality of objects 40 to be transported are arranged in the work area A11. The passage areas A12 and A13 are areas that serve as passages connecting the work area A11 and other areas. For example, when performing a work (transport work of the transport object 40), the moving body 10 picks up the transport object 40 in the work area A11, passes through the passage area A12 or the passage area A13, and within the predetermined area A1. The object to be transported 40 is transported.

The standby area A14 is an area in which the moving body 10 waits for work (transportation work) in the work area A11. Here, the waiting area A14 constitutes a rotary-shaped passage so that the plurality of moving bodies 10 can be lined up in a ring and stand by. As a result, in the waiting area A14, a plurality of moving bodies 10 can stand by in a line. In the example of FIG. 16, six moving bodies 10 are waiting in a waiting line for waiting for work in the work area A11. In this state, when a new work occurs in the work area A11, the moving body 10 located at the head of the waiting line among the moving bodies 10 of a plurality of units (6 units in this case) executes the work. .. That is, the moving body 10 located at the head of the waiting line enters the work area A11, picks up the conveyance target 40, and conveys the conveyance target 40.

A case where cooperative control is executed for the moving body 10 located in the standby area A14 as described above will be described with reference to FIGS. 17A to 17C. 17A to 17C are schematic plan views showing only the area of the standby area A14 (and its periphery) in the example of FIG. In the example of FIG. 17A, six mobile bodies 10A to 10F form a waiting line in the waiting area A14. Unless the six moving bodies 10A to 10F are particularly distinguished, each of the six moving bodies 10A to 10F is also simply referred to as "moving body 10".

Here, it is assumed that the moving body 10C located in the middle of the waiting line comes out of the waiting line in a situation where the waiting line is configured as shown in FIG. 17A. In order for the moving body 10C located in the middle of the waiting line to exit from the waiting line, the other moving

bodies

10A and 10B located on the path of this moving body 10C need to make a way for the moving body 10C. .. In such a case, the control system 50 according to the present embodiment executes cooperative control.

As described above, the cooperative control is to control one of the plurality of moving bodies 10 as a target moving body and control a cooperative moving body other than the target moving body among the plurality of moving bodies 10. Thus, the control is to secure the course of the target moving body. Here, the moving body 10C is the "target moving body", and the other moving

bodies

10A, 10B, 10D, 10E, and 10F are the "cooperative moving bodies".

In such a situation, the cooperation control unit 56 controls the moving

bodies

10A, 10B, 10D, 10E, and 10F as the cooperative moving bodies by executing the cooperative control, and thus the moving body 10C as the target moving body. Secure the course of. That is, the cooperative control is a control for smoothly moving the target moving body by asking the cooperation of the cooperating moving body when the target moving body moves.

In the present embodiment, the cooperative control unit 56 executes cooperative control in response to a request from the target mobile body. Specifically, the request generation unit 25 of the lower system 21A outputs a cooperation request to the control system 50, and the cooperation control unit 56 starts cooperative control. The request from the moving body 10 (target moving body) includes a request from the lower system 21A that controls the moving body 10. That is, even when the lower system 21A is separate from the moving body 10, the request from the lower system 21A having the moving body 10 under its control is regarded as the request from the moving body 10.

Therefore, in the example of FIG. 17A, the cooperative control is started only when there is a request from the mobile unit 10C as the target mobile unit. Therefore, the moving body 10C as the target moving body outputs a request (cooperation request), for example, when there is a need to exit the waiting line. As an example of the case where it is necessary to get out of the waiting line, when the remaining capacity of the storage battery decreases and it becomes necessary to move to the charging space set in the predetermined area A1, and the work area in the predetermined area A1 There are cases where work other than A11 occurs.

Further, in the present embodiment, the cooperative control unit 56 notifies the surroundings of the target moving body at the time of cooperative control. That is, when performing cooperative control, the cooperative control unit 56 makes a sound and / or informs a person (worker or the like) around the target moving body that the movement of the target moving body and the cooperative moving body is started. Notification is given by display (including light). Specifically, the cooperation control unit 56 causes the notification unit 35 of the target moving body to notify by sound and/or display by transmitting a notification signal to the target moving body. As a result, for example, when an obstacle is left in the path of the target moving object, it is possible to encourage people around the target moving object to remove the obstacle.

In the example of FIG. 17A, the moving body 10C as the target moving body performs notification by sound (horn). The moving body 10C as the target moving body may start the notification at the same time as outputting the cooperation request, for example, without waiting for the notification signal from the cooperation control unit 56.

Further, the cooperative control unit 56 sets only the mobile body 10 existing in the area related to the route of the target mobile body in the predetermined area A1 among the plurality of mobile bodies 10 as the cooperative mobile body. That is, if all the moving bodies 10 other than the target moving body existing in the predetermined area A1 are the cooperative moving bodies, the moving body 10 that is not related to the movement of the target moving body is forced to perform the cooperative control as the cooperative moving body. Become. Therefore, in the present embodiment, by focusing on the moving body 10 existing in the region related to the course of the target moving body and making it a cooperative moving body, it is possible to avoid forcing the unrelated moving body 10 to perform cooperative control. .. The area related to the course of the target moving body includes not only the course of the target moving body but also the area indirectly related to the course of the target moving body such as the course of any cooperative moving body.

In the example of FIG. 17A, the area related to the course of the moving body 10C as the target moving body is the standby area A14. Therefore, the cooperation control unit 56 selects the moving

bodies

10A, 10B, 10D, 10E, and 10F other than the moving body 10C (target moving body) among the plurality of moving bodies 10A to 10F located in the standby area A14 as “cooperating moving bodies”. ".

Then, the cooperation control unit 56 secures the path of the target moving body by moving the cooperative moving body located on the path of the target moving body. That is, the cooperative control unit 56 vacates the course of the target moving body by moving the cooperative moving body on the course of the target moving body so as to evacuate from the course of the target moving body. In other words, in cooperative control, the cooperative mobile body gives way to the target mobile body to secure the path of the target mobile body, and the target mobile body can move on the path.

In the example of FIG. 17A, the moving

bodies

10A and 10B as cooperative moving bodies are located on the path of the moving body 10C as the target moving body, that is, in front of the moving body 10C. Therefore, when the cooperative control is started, as shown in FIG. 17B, the moving

bodies

10A and 10B as cooperative moving bodies start moving. As a result, the moving body 10C as the target moving body can move from the standby area A14 to the aisle area A12. Further, in the present embodiment, the cooperation control unit 56 moves the moving

bodies

10D, 10E, 10F as the cooperative moving bodies so as to follow the moving body 10B.

After that, the moving

bodies

10A, 10B, 10D, 10E, and 10F as the cooperative moving bodies move so as to make one round (one lap) in the standby area A14 that constitutes the rotary-shaped passage, as shown in FIG. 17C. To do. As a result, at least the moving body 10A located at the head of the waiting line returns to the head of the waiting line after the cooperative control. That is, in the present embodiment, the cooperative control unit 56 secures the course of the target moving body and moves the cooperative moving body to the position before the cooperative control after the movement of the target moving body is completed. As a result, it is possible to prevent the order of the plurality of moving bodies 10 arranged in the waiting line from being significantly changed before and after the cooperative control. In the example of FIG. 17C, since the moving body 10C is removed, the moving

bodies

10D, 10E, and 10F are packed in front of the waiting line (on the moving body 10B side) by the amount of the moving body 10C.

By the cooperative control as described above, the moving body 10C located in the middle of the waiting line can escape from the waiting line.

By the way, in the control system 50 according to the present embodiment, the consideration generating unit 55 generates a consideration for at least one of the target moving body and the cooperative moving body when the cooperative control is executed. That is, in the above-described example, a consideration is generated for at least one of the moving body 10C as the target moving body and the moving

bodies

10A, 10B, 10D, 10E, 10F as the cooperating moving bodies.

In the present embodiment, the consideration generating unit 55 generates a penalty as a consideration for the target moving body when the cooperative control is executed. That is, in the example of FIGS. 17A to 17C, a penalty will be incurred for the moving body 10C as the target moving body. In short, in the coordinated control, in order to make the target moving body movable, it is necessary to seek cooperation from the moving body 10 (cooperating moving body) other than the target moving body, which may lead to opportunity loss of the cooperative moving body. There is. Therefore, in order to prevent the mobile body 10 from silently using cooperative control as the target mobile body, it is preferable to impose a penalty on the mobile body 10 as the target mobile body.

On the other hand, the consideration generation unit 55 generates an incentive as a consideration for the cooperative mobile when the cooperative control is executed. That is, in the examples of FIGS. 17A to 17C, an incentive is generated as a consideration for the moving

bodies

10A, 10B, 10D, 10E, and 10F as the cooperative moving bodies. In short, in the coordinated control, in order to make the target moving body movable, it is necessary to seek cooperation from the moving body 10 (cooperating moving body) other than the target moving body, which may lead to opportunity loss of the cooperative moving body. There is. Therefore, it is preferable to pay an incentive to the moving body 10 which is a cooperative moving body in order to compensate for the disadvantage due to the cooperative control.

Also, the penalty generated as a consideration for the target mobile unit and the incentive generated as a consideration for the cooperative mobile unit may be balanced with each other. This makes it possible to offset the penalties and incentives that accompany one coordinated control with each other.

FIG. 18 is a schematic sequence diagram showing the cooperative control shown in FIGS. 17A to 17C, including the operation of the consideration generating unit 55.

That is, as shown in FIG. 18, the cooperative control is started when the cooperative request (S21) is output from the mobile body 10C as the target mobile body to the control system 50. Upon receiving the cooperation request, the control system 50 outputs a movement instruction (S22) to the moving

bodies

10A, 10B, 10D, 10E and 10F as the cooperative moving bodies. The

mobile bodies

10A, 10B, 10D, 10E, and 10F as cooperative mobile bodies start the movement after accepting the movement instruction. The control system 50 outputs a result notification (S23) to the moving body 10C as the target moving body when the moving

body

10A, 10B, 10D, 10E, 10F as the cooperative moving body receives a reply to the movement instruction.

The "result notification" here is a notification of the result for the cooperation request, and is a notification indicating whether or not the cooperation request from the target moving body has been accepted (accepted) by the cooperating moving body. When the control system 50 receives a reply from the cooperating mobile body to accept the movement instruction, the control system 50 determines that the cooperation request from the target mobile body has been accepted by the cooperating mobile body, and notifies the target mobile body of a result indicating the request acceptance. Is output. On the contrary, when receiving a reply from the cooperating mobile body to reject the movement instruction, the control system 50 determines that the cooperative request from the target moving body has not been accepted by the cooperating moving body, and rejects the request to the target moving body. Outputs a result notification indicating. The mobile unit 10C as the target mobile unit starts moving upon receiving the result notification indicating the request acceptance.

-Cooperative control is realized by the series of processes up to this point. Then, when the cooperation request is accepted, the control system 50 incurs a penalty (S24) as a consideration for the moving body 10C as the target moving body. Further, the control system 50 generates an incentive (S25) as a consideration for the moving

bodies

10A, 10B, 10D, 10E, and 10F as the cooperative moving bodies.

(2.3.3) Priority Control Next, the operation of the value generation unit 55 (value generation processing) during priority control will be described with reference to FIG.

FIG. 19 is a schematic plan view of a part of the predetermined area A1. In the example of FIG. 19, the predetermined area A1 includes a main line area A21 and a plurality of branch line areas A22 to A27. Here, the main area A21 is an area that serves as a passage for the moving body 10 to pass through, and in the example of FIG. 19, is a linear area extending in the left-right direction. The plurality of branch line areas A22 to A27 are all areas that serve as passages for the moving body 10 to pass through, and are connected to the main line area A21. In the example of FIG. 19, the plurality of branch line areas A22 to A27 are all linear areas extending in the vertical direction.

In the example of FIG. 19, in the predetermined area A1, an area where the main line area A21 and the pair of branch line areas A22 and A23 intersect is a zone Z31, and three state output parts G1 are provided in the zone Z31. Similarly, in the predetermined area A1, an area where the main line area A21 and the pair of branch line areas A24 and A25 intersect is defined as a zone Z32, and three state output parts G1 are provided in the zone Z32. Similarly, in the predetermined area A1, an area where the main line area A21 and the pair of branch line areas A26 and A27 intersect is defined as a zone Z33, and three state output parts G1 are provided in the zone Z33. In this example, the state control unit 53 of the control system 50 controls the state of the state information corresponding to the three state output units G1 provided corresponding to each area Z31 to Z33. In FIG. 19, the state output unit G1 in which the state information is in the permitted state is represented by a solid line vector B1 with a “◯” mark, and the state output unit G1 in which the state information is in the unauthorized state is indicated by “X”. It is indicated by a dotted vector B1 with.

A case where priority control is executed for the moving body 10 located in the predetermined area A1 as described above will be described with reference to FIG. In the example of FIG. 19, four moving bodies 10A to 10D are present in the predetermined area A1. When the four moving bodies 10A to 10D are not particularly distinguished, each of the four moving bodies 10A to 10D is also simply referred to as "moving body 10".

In the priority control, one of the plurality of moving bodies 10 is set as the priority moving body, and the state of the state information output by the state output unit G1 on the path of the priority moving body is preferentially permitted. By doing so, control is performed to secure the route of the priority moving body. That is, the state control unit 53 preferentially permits the state of the state information output by the state output unit G1 on the path of the priority mobile body, which is one of the plurality of mobile bodies 10. Execute. Here, of the four mobile units 10A to 10D, the case where the mobile unit 10A traveling in the main area A21 is the “priority mobile unit” is illustrated.

In this case, the state control unit 53 gives priority to the state of the state information output by the state output unit G1 on the route of the moving body 10A as the preferential moving body, that is, the state output unit G1 on the main area A21. And In other words, the state output unit G1 on the main line area A21 is preferentially set to the permitted state with respect to the state output unit G1 that controls entry into the main line area A21 from the plurality of branch line areas A22 to A27. Specifically, the state control unit 53 sets all of the states of the state information output by the state output unit G1 that controls the entry into the main line area A21 from the plurality of branch line areas A22 to A27 to the non-permitted state, The state of the state information output by the state output unit G1 on the A21 is set as the permitted state. As a result, as shown in FIG. 19, all the state output parts G1 on the main line area A21 are in the permitted state, and all the state output parts G1 on the plurality of branch line areas A22 to A27 are in the non-permitted state.

By executing the priority control as described above, the moving body 10A stops because all the states of the state information output by the state output unit G1 on the course of the moving body 10A as the priority moving body are permitted states. You can pass through the main line area A21 without any. On the other hand, since all the states of the state information output by the state output unit G1 that controls entry into the main line area A21 from the plurality of branch line areas A22 to A27 are non-permitted states, in the moving bodies 10B to 10D other than the priority moving body Is restricted from entering the main line area A21 from a plurality of branch line areas A22 to A27. As a result, as if all the traffic lights on the route of the moving body 10A as the preferential moving body are "green light", the passage of the moving body 10A as the preferential moving body is not limited to the moving body 10B other than the preferential moving body. Priority is given to 10D traffic.

By the priority control as described above, the moving body 10A traveling in the main area A21 can preferentially pass through the main area A21. As for the priority control, like the cooperative control, it is preferable that the priority control is started in response to a request (priority request) from the priority mobile unit.

By the way, in the control system 50 according to the present embodiment, the consideration generating unit 55 generates a penalty as a consideration for a priority moving body when the priority control is executed. That is, in the example of FIG. 19, a penalty occurs for the moving body 10A as the priority moving body. In short, in the priority control, the state output unit G1 is operated unfairly in order to preferentially move the priority mobile unit, which may lead to an opportunity loss of the mobile units 10 other than the priority mobile unit. .. Therefore, in order to prevent the mobile unit 10 from silently using priority control as the priority mobile unit, it is preferable to impose a penalty on the mobile unit 10 to be the priority mobile unit.

Further, the consideration generating unit 55 may generate an incentive as a consideration for the mobile bodies 10 other than the priority moving body when the priority control is executed. That is, in the example of FIG. 19, incentives may be generated as compensation for the mobile units 10B to 10D. Further, the penalty generated as a consideration for the priority moving body and the incentive generated as a consideration for the moving body 10 other than the priority moving body may be balanced with each other. This makes it possible to cancel out the penalties and incentives that accompany one priority control.

(2.3.4) Others Next, the operation (value generation processing) of the value generation unit 55 in situations other than cooperative control and priority control will be described.

As a first example, the consideration generation unit 55 generates a consideration for each of the plurality of mobile bodies 10 according to the status information compliance status. That is, a consideration is generated depending on whether or not the moving body 10 operates according to the state information corresponding to the state output unit G1. As an example, when the moving body 10 does not stop before the position where the state output unit G1 is provided even though the state information of the state output unit G1 is the non-permitted state, On the other hand, it is subject to a penalty as consideration. That is, since the moving body 10 that violates the instruction of the state output unit G1 has a high risk of collision with other moving bodies 10, it is preferable to impose a penalty in order to promote the correction. On the contrary, an incentive may be generated as compensation for the mobile body 10 that continues to comply with the instruction of the state output unit G1 for a certain period. That is, it is preferable to pay an incentive to the excellent moving body 10 that complies with the state information so as to serve as a sample of another moving body 10.

As a second example, the price generation unit 55 generates a price for each of the plurality of mobile units 10 in exchange for entering the specific section A31 (see FIG. 20). In the present embodiment, as shown in FIG. 20, the predetermined area A1 includes a specific section A31. In the example of FIG. 20, the predetermined area A1 includes a normal section A32 and a branch line area A33 in addition to the specific section A31. Here, the specific section A31 and the normal section A32 are both areas that serve as passages for the moving body 10 to pass through, and in the example of FIG. 20, they are linear areas extending in the left-right direction. The branch line area A33 is an area that serves as a passage for the moving body 10 to pass through, and is connected to the normal section A32. In the example of FIG. 20, the branch line area A33 is a linear area extending in the vertical direction.

In the example of FIG. 20, in the predetermined area A1, the area where the normal section A32 and the branch line area A33 intersect is a zone Z21, and two state output parts G21 and G22 are provided in the zone Z21. In this example, the state control unit 53 of the control system 50 controls the state of the state information output by the two state output units G21 and G22 provided corresponding to the area Z21, respectively. In the example of FIG. 20, one moving body 10A exists in the specific section A31, and one moving body 10B exists in the normal section A32. When the two moving

bodies

10A and 10B are not particularly distinguished, each of the two moving

bodies

10A and 10B is also simply referred to as "moving body 10".

That is, in the example of FIG. 20, the specific section A31 is an area where the state output units G21 and G22 do not exist. Therefore, the moving body 10A can pass through the specific section A31 without stopping. Such a specific section A31 corresponds to an expressway (or a motorway). As a result, the moving body 10A passing through the specific section A31 can reach the destination earlier than the moving body 10B traveling in the normal section A32.

Therefore, in the example of FIG. 20, in exchange for the entry into the specific section A31, a penalty is generated as a consideration for the moving body 10A. As a result, it is possible to prevent the moving body 10 from silently using the specific section A31, and it is possible to ensure fairness among the plurality of moving bodies 10. On the contrary, an incentive may be generated as a consideration for the moving body 10A in exchange for the entry into the specific section A31.

As a third example, the price generation unit 55 generates a price for each of the plurality of mobile bodies 10 in exchange for energy supply. Specifically, the consideration generating unit 55 generates a penalty as a consideration for the moving body 10 that replenishes energy. In the present embodiment, the mobile body 10 includes a storage battery and operates by using the electric energy stored in the storage battery. Therefore, the energy supplied to the moving body 10 is electric energy. That is, charging the storage battery corresponds to supplying energy. Here, the moving body 10 can charge the storage battery at any time in the charging space set in the predetermined area A1. However, in order to prevent the moving body 10 from charging the charging space indiscriminately, it is preferable that a penalty is imposed on the moving body 10 that replenishes energy in exchange for the replenishment of energy.

As a fourth example, the price generation unit 55 generates a price for each of the plurality of moving bodies 10 according to the transported object 40. That is, in the present embodiment, as described above, each of the plurality of moving bodies 10 has the transfer function of transferring the transfer target object 40. Specifically, the consideration generation unit 55 generates an incentive or a penalty as consideration according to the size, weight, and the like of the object to be transported 40. In short, the magnitude of the load applied to the moving body 10 to be transported differs depending on the object to be transported 40, and in some cases, it may lead to opportunity loss of the moving body 10. As an example, a penalty is charged as a consideration for the moving body 10 that carries the carrying object 40 that is a lightweight object, and an incentive is paid as a consideration for the moving body 10 that carries the carrying object 40 that is a heavy object.

(2.3.5) Flowchart FIG. 21 is a flowchart showing an operation for generating the above-mentioned consideration.

As shown in FIG. 21, the control system 50 first acquires operation information regarding the operation of a plurality of mobile bodies 10 in a predetermined area A1 by the acquisition unit 54 (S31). Then, the control system 50 determines whether or not the penalty condition is satisfied for any of the plurality of mobile bodies 10 by the consideration generating unit 55 based on the acquired operation information (S32). Penalty conditions are conditions that must be met in order to be subject to a penalty as consideration. That is, the penalty condition includes, for example, the target moving body when the cooperative control is executed, the priority moving body when the priority control is executed, and the like. When the penalty condition is satisfied (S32: Yes), the consideration generating unit 55 generates a penalty (S33).

On the other hand, if the penalty condition is not satisfied (S32: No), the control system 50 causes the consideration generation unit 55 to satisfy the incentive condition for any of the plurality of moving bodies 10 based on the acquired operation information. Is determined (S34). The incentive conditions are the conditions that must be met in order to be eligible for incentives as consideration. In other words, the incentive conditions include that the mobile body is a cooperative mobile body when the cooperative control is executed, and that it is not the priority mobile body when the priority control is executed. When the incentive condition is satisfied (S34: Yes), the consideration generating unit 55 generates an incentive (S35).

The consideration generation unit 55 updates the consideration (S36) when a penalty is generated (S33) or an incentive is generated (S35). As a result, the penalty or incentive for the mobile unit 10 is reflected.

If the update of the consideration is completed or the incentive condition is not satisfied (S34: No), the control system 50 ends the operation for generating the consideration. The control system 50 repeatedly executes the processes S31 to S36.

The flowchart shown in FIG. 21 is merely an example of the operation of the control system 50 according to the present embodiment, and the order of processing may be appropriately changed, and processing may be added or omitted as appropriate.

(2.4) Modified Example The second embodiment is only one of various embodiments of the present disclosure. The second embodiment can be variously modified according to the design and the like as long as the object of the present disclosure can be achieved. The same function as the control system 50 may be embodied by a control method, a (computer) program, a non-transitory recording medium recording the program, or the like. The control method according to one aspect is a control method for controlling a plurality of moving bodies 10 moving in a predetermined area A1, and is an acquisition process (corresponding to “S31” in FIG. 21) and a consideration generation process (FIG. 21). Corresponding to “S33” and “S35”). The acquisition process is a process of acquiring motion information regarding the motion of the plurality of mobile units 10 in the predetermined area A1. The consideration generating process is a process of generating a consideration including at least one of an incentive and a penalty for any one of the plurality of moving bodies 10 based on the operation information obtained in the obtaining process. A program according to one aspect is a program for causing one or more processors to execute the control method.

The following is a list of modifications of the second embodiment. The modifications described below can be applied in appropriate combination.

The control system 50 in the present embodiment includes a computer system as in the first embodiment. The computer system mainly comprises a processor as a hardware and a memory. When the processor executes the program recorded in the memory of the computer system, the function as the control system 50 in the present embodiment is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. readable by the computer system. May be provided.

Further, it is not an essential configuration of the control system 50 that a plurality of functions in the control system 50 are integrated in one housing, and the constituent elements of the control system 50 are distributed and provided in the plurality of housings. May be. The lower system 21A may be separate from the mobile unit 10. Furthermore, at least a part of the function of the control system 50, for example, a part of the function of the state control unit 53 may be realized by a cloud (cloud computing) or the like.

Further, in the second embodiment, in the cooperative control, the case where the cooperative moving body is moved is illustrated, but the cooperative control is not limited to such control. For example, in cooperative control, the course of the target moving body may be secured by stopping the cooperative moving body on the shoulder of the road.

(Embodiment 3)
As shown in FIG. 22, the control system 50A according to the present embodiment is different from the control system 50 according to the second embodiment in that it does not include the state control unit 53 (see FIG. 15). Hereinafter, the same components as those in the second embodiment will be designated by the common reference numerals and the description thereof will be omitted as appropriate.

In this embodiment, the traffic control module M1 (including the area Z1 and the state output unit G1) does not exist. Therefore, the state information acquisition unit 24 (see FIG. 15) does not exist in the lower system 21A.

Further, the control system 50A according to the present embodiment has the work generation unit 57 in the upper system 51A. The work generation unit 57 generates work information regarding the content of the work to be executed by the moving body 10.

In this embodiment, the upper system 51A determines whether or not to grant permission to the request (work request) output from the lower system 21A. When the permission is given to the request (work request), the lower system 21A causes the subordinate mobile unit 10 to perform the work corresponding to the request. The work request is generated by the request generation unit 25.

Further, the lower system 21A outputs a request corresponding to the "work" specified by this work information by outputting the request in a form corresponding to the work information generated by the higher system 51A. Further, the lower system 21A is configured to output the instruction information regarding the content of the work corresponding to the request when the permission is given to the request. Therefore, the mobile body 10 can execute the work corresponding to the request (work request) for which the permission is given by executing the "work" defined by the instruction information output from the lower system 21A.

Further, the control system 50A according to the present embodiment may be configured to be communicable with the command system 80. The command system 80 is mainly composed of a computer system including a memory and a processor, like the upper system 51A and the lower system 21A. The command system 80 outputs a work command to the control system 50A. Upon receiving the work order from the command system 80, the control system 50A generates work information based on the work order. In the present embodiment, the control system 50A generates a plurality of work information for realizing one work command based on one work command.

Therefore, according to the control system 50A according to the present embodiment, when the host system 51A receives one work command, the host system 51A generates a plurality of work information related to the contents of the work. In the lower system 21A, a request (work request) can be output corresponding to the work specified by each of the plurality of work information. Then, when the host system 51A gives permission to the request corresponding to all of the plurality of work information, the moving body 10 can execute all the work defined by the plurality of work information, and one work. The order is fulfilled.

By the way, in the control system 50A according to the present embodiment, when the moving body 10 executes the work, the consideration generating unit 55 generates an incentive as a consideration for the executed work. As a result, the lower system 21A or the mobile body 10 is given motivation to perform the work. When an incentive is generated, the lower system 21A is given permission for a request (work request), and when the subordinate mobile body 10 is caused to perform the work, information about the incentive obtained by this work, or It may have a function of holding the "number of work points" which is the actual work record.

Furthermore, when incentives occur, the size of the incentives is preferably determined for each work. The “magnitude of incentive” in the present disclosure means the amount of consideration paid as an incentive.For example, if the incentive is money, the amount of money (amount) increases as the magnitude of the incentive increases. Get higher That is, it is possible not to generate a uniform incentive for all work but to make the size of the incentive different depending on the work.

In this case, it is preferable that the priority of the work is reflected in the size of the incentive. In other words, the size of the incentive is determined by the priority of each work. At this time, the higher the priority, the greater the incentive. As a result, it is possible to reduce the concentration of requests for specific work (work requests), and to efficiently operate the control system 50 as a whole. As an example, by setting the priority of urgent work, high-risk work, and the like to be higher than that of other works, it becomes easier to collect requests for such work.

In addition, when the size of the incentive is determined for each work, the size of the incentive may be, instead of or together with the priority of the work, for example, a “work burden” that is a burden of performing the work. May be reflected. The "work load" referred to in the present disclosure includes at least one of the type of work, the capacity required to execute the work (loading weight, etc.), the time required to execute the work (required time), and the like. As an example, regarding the required time, the longer the required time, the greater the work burden and the greater the incentive.

However, the absence of the traffic control module M1 (including the area Z1 and the state output unit G1) is not an essential configuration for the control system 50A according to the third embodiment. Even if the traffic control module M1 is present, the control system 50A does not include the state control unit 53, and therefore does not have the function of executing the control (priority control or the like) of the state output unit G1 in the traffic control module M1.

The various configurations (including the modified examples) described in the third embodiment can be appropriately combined with the various configurations (including the modified examples) described in the first or second embodiment.

(Summary)
As described above, the control system (50, 50A) according to the first aspect controls the passage of the moving body (10) using the passage control module (M1). The traffic control module (M1) includes an area (Z1) set as a part of a predetermined area (A1) on which the moving body (10) moves, and a state output unit (G1) provided corresponding to the area (Z1). And, including. The state output unit (G1) is in a permitted state that allows the moving body (10) to pass in at least one of the first direction (D1) and the second direction (D2), or does not allow the moving body (10) to pass. The status information indicating whether the status is permitted or not is output. The first direction (D1) is the direction in which the moving body (10) moves from the outside to the inside of the area (Z1), and the second direction (D2) is the direction in which the moving body (10) moves from the inside of the area (Z1). This is the direction to move to the outside.

According to this aspect, it is possible to provide the control system (50, 50A) capable of realizing smooth passage of the moving body (10).

In the control system (50, 50A) according to the second aspect, in the first aspect, one of the first direction (D1) and the second direction (D2) by the state output unit (G1), the state information Is output.

According to this aspect, the passage of the moving body (10) can be controlled in one of the first direction (D1) and the second direction (D2).

In the control system (50, 50A) according to the third aspect, in the first or second aspect, a plurality of passage control modules (M1) are provided corresponding to a plurality of passages connected to the zone (Z1), respectively. Includes the state output unit (G1) of.

According to this aspect, it is possible to control the traffic between the plurality of passages and the zone (Z1).

In the control system (50, 50A) according to the fourth aspect, in any one of the first to third aspects, a state control unit (a state control unit that controls the state indicated by the state information to either a permitted state or a disallowed state). 53) is further provided.

According to this aspect, since the state control unit (53) can change the state determined by the state output unit (G1), smoother traffic can be realized.

In the control system (50, 50A) according to the fifth aspect, in the fourth aspect, the state control unit (53) includes a plurality of state output units (G1) included in one or more traffic control modules (M1). For each of them, it controls whether the state indicated by the state information is a permitted state or a non-permitted state.

According to this aspect, smoother traffic can be realized by controlling the states determined by the plurality of state output units (G1) in conjunction with each other.

In the control system (50, 50A) according to the sixth aspect, in the fourth aspect, the traffic control module (M1) has a plurality of status outputs provided respectively corresponding to the plurality of passages connected to the zone (Z1). Includes part (G1). When the state control unit (53) controls the state indicated by the state information output by one of the plurality of state output units (G1) to the permitted state, the remaining state output unit (G1) remains. The state indicated by the state information output by the state output unit (G1) is controlled to be an unauthorized state.

According to this aspect, the state control unit (53) makes it possible to pass one of the plurality of passages connected to the zone (Z1), so that the passage of the plurality of passages can be arranged smoothly. Passing can be realized.

In the control system (50, 50A) according to the seventh aspect, in the fourth aspect, the traffic control module (M1) is provided with a plurality of status outputs provided respectively corresponding to the plurality of passages connected to the zone (Z1). Includes part (G1). The state control unit (53), at a second time point after a predetermined waiting time has elapsed from the first time point when all the states indicated by the state information output by the plurality of state output sections (G1) are set to the non-permission state, The state indicated by the state information output by the state output unit (G1) to be switched among the plurality of state output units (G1) is controlled to be the permitted state.

According to this aspect, all the states determined by the plurality of state output units (G1) are set to the non-permission state, and after the passage between the plurality of passages and the zone (Z1) is blocked, the state output unit to be switched ( Since G1) is controlled to the permitted state, smoother passage can be realized.

In the control system (50, 50A) according to the eighth aspect, in any of the fourth to seventh aspects, the state control unit (53) outputs a state according to the purpose for which the moving body (10) moves. The state indicated by the state information output by the section (G1) is controlled.

According to this aspect, the state determined by the state output unit (G1) can be controlled to either the permitted state or the unpermitted state according to the purpose of the moving body (10) to move.

In the control system (50, 50A) according to the ninth aspect, in any one of the fourth to eighth aspects, a detection unit that detects whether or not a moving body (10) exists inside the area (Z1). (52) is further provided. The state control unit (53) controls the state indicated by the state information output by the state output unit (G1) according to the detection result of the detection unit (52).

According to this aspect, the state control unit (53) controls the state determined by the state output unit (G1) based on the detection result of the detection unit (52). For example, when the moving body (10) exists inside the zone (Z1), the state determined by the state output unit (G1) is set to the non-permission state, so that another movement from the outside to the inside of the zone (Z1) is performed. It is possible to suppress the movement of the body (10) and realize smooth passage.

In the control system (50, 50A) according to the tenth aspect, in any one of the first to ninth aspects, the moving body (10) is at a confirmation position before the position where the status output unit (G1) is provided. Based on the result of confirming the state indicated by the state information output by the state output unit (G1), the vehicle passes or stops. The confirmation position changes according to the state of the moving body (10).

According to this aspect, when the moving body (10) decides to stop based on the state determined by the state output unit (G1), the confirmation position can be changed so that the moving body (10) can stop at the stop position.

In the control system (50, 50A) according to the eleventh aspect, in any one of the first to tenth aspects, a plurality of zones (Z1 are provided along a route along which the moving body (10) moves in the predetermined area (A1). ) Is provided.

According to this aspect, the passage of the mobile body (10) can be smoothly controlled by providing the plurality of zones (Z1) along the route along which the mobile body (10) moves.

The control system (50, 50A) according to the twelfth aspect includes the acquisition section (54) and the consideration generation section (55) in the fourth aspect. The acquisition unit (54) acquires operation information regarding the operation of a plurality of moving bodies (10) in the predetermined area (A1). The consideration generation unit (55) generates a consideration including at least one of an incentive and a penalty for any one of the plurality of moving bodies (10) based on the operation information acquired by the acquisition unit (54). The control system (50, 50A) controls a plurality of moving bodies (10) that move within the predetermined area (A1).

According to this aspect, based on the operation information regarding the operation of the plurality of moving bodies (10), a consideration is generated for any of the plurality of moving bodies (10). Therefore, the moving body (10) is motivated to perform a certain specific operation. For example, when interference may occur in the movement of a plurality of moving bodies (10), an incentive is generated as a consideration for an operation including a route change for avoiding the interference. Then, in at least one of the moving bodies (10) that can cause interference, the operation including the route change can be specified by positively adopting the operation including the route change so as to avoid the interference. It becomes difficult to concentrate on the moving body (10). As a result, there is an advantage that unevenness in work efficiency is unlikely to occur among the plurality of moving bodies (10).

In the control system (50, 50A) according to the thirteenth aspect, in the twelfth aspect, the state control unit (53) is a priority moving body (10) which is one of a plurality of moving bodies (10). Priority control is executed in which the state indicated by the state information output by the state output unit (G1) on the path of is preferentially permitted. The consideration generation unit (55) generates a penalty as a consideration for the priority moving body (10) when the priority control is executed.

According to this aspect, when the priority control is performed in which inequality may occur between the priority mobile unit (10) and another mobile unit (10), the priority mobile unit (10) is charged a value. Inequalities in work efficiency between the body (10) and other moving bodies (10) are less likely to occur.

In the control system (50, 50A) according to the fourteenth aspect, in the twelfth or thirteenth aspect, the consideration generating unit (55) determines whether or not the plurality of mobile bodies (10) comply with the status information. Generate compensation.

According to this aspect, it is possible to give motivation for observing the state information to a plurality of moving bodies (10), and it is possible to realize smoother passage of the plurality of moving bodies (10).

In the control system (50, 50A) according to the fifteenth aspect, in any one of the twelfth to fourteenth aspects, the predetermined area (A1) includes the specific section (A31). The consideration generation unit (55) generates a consideration for each of the plurality of moving bodies (10) in exchange for entry into the specific section (A31).

According to this aspect, it is possible to prevent the moving body (10) from using the specific section (A31) unobtrusively, and unfairness is less likely to occur among the plurality of moving bodies (10).

In the control system (50, 50A) according to the sixteenth aspect, in any one of the twelfth to fifteenth aspects, the consideration generating unit (55) supplies energy to each of the plurality of moving bodies (10). In exchange, you will be charged.

According to this aspect, it is possible to prevent the moving body (10) from supplying the energy indiscriminately, and it becomes difficult to cause unfairness among the plurality of moving bodies (10).

In the control system (50, 50A) according to the seventeenth aspect, in any one of the twelfth to sixteenth aspects, each of the plurality of moving bodies (10) has a transport function for transporting the transport object (40). Have. The consideration generation unit (55) generates a consideration for each of the plurality of moving bodies (10) according to the object (40) to be conveyed.

According to this aspect, inequalities between the plurality of moving bodies (10) due to the transfer target (40) are less likely to occur.

The control method according to the eighteenth aspect includes a first setting process, a second setting process, and a control process. The first setting process is a process of setting the zone (Z1) in a part of the predetermined area (A1) in which the moving body (10) moves. The second setting process is a process of providing the state output unit (G1) corresponding to the zone (Z1). The state output unit (G1) is in a permission state permitting passage of the moving body (10) in at least one of the first direction (D1) and the second direction (D2), or the passage of the moving body (10). Outputs status information indicating whether or not the status is disallowed. The first direction (D1) is the direction in which the moving body (10) moves from the outside to the inside of the area (Z1). The second direction (D2) is the direction in which the moving body (10) moves from the inside to the outside of the area (Z1). In the control process, the state indicated by the state information output by the state output unit (G1) is controlled to a permitted state or a disallowed state.

According to this aspect, it is possible to provide a control method of the control system (50, 50A) capable of realizing smooth passage of the mobile body (10).

The control method according to the nineteenth aspect further includes an acquisition process and a consideration generation process in the eighteenth aspect. The acquisition process is a process for acquiring operation information regarding the operation of a plurality of moving bodies (10) in a predetermined area (A1). The consideration generating process is a process of generating a consideration including at least one of an incentive and a penalty for any of the plurality of moving bodies (10) based on the operation information acquired in the acquisition process. In this control method, a plurality of moving bodies (10) moving in the predetermined area (A1) are controlled.

The control system (50, 50A) according to the twentieth aspect further includes a coordination control section (56) in the twelfth aspect. The cooperative control unit (56) sets one moving body (10) among the plurality of moving bodies (10) as the target moving body (10), and the target moving body (10) among the plurality of moving bodies (10). By controlling the cooperative mobile body (10) other than 10), the cooperative control for securing the course of the target mobile body (10) is executed. The consideration generator (55) generates a consideration for at least one of the target moving body (10) and the cooperative moving body (10) when cooperative control is executed.

According to this aspect, at least of the target mobile body (10) and the cooperative mobile body (10) in executing the cooperative control in which inequality may occur between the target mobile body (10) and the cooperative mobile body (10). Since compensation is incurred on one side, inequality in work efficiency between the two is less likely to occur.

In the control system (50, 50A) according to the 21st aspect, in the 20th aspect, the consideration generating unit (55) penalizes the target moving body (10) as a consideration when the cooperative control is executed. To occur.

According to this aspect, by imposing a penalty on the target moving body (10), it is possible to suppress the moving body (10) from using the cooperative control as the target moving body (10) without any darkness.

In the control system (50, 50A) according to the 22nd aspect, in the 20th or 21st aspect, the consideration generating unit (55) pays for the cooperative mobile body (10) when the cooperative control is executed. As an incentive to generate.

According to this aspect, by generating an incentive for the cooperative mobile body (10), it is possible to compensate for a disadvantage due to cooperative control in the cooperative mobile body (10).

In the control system (50, 50A) according to the 23rd aspect, in any of the 20th to 22nd aspects, the cooperative control unit (56) performs cooperative control in response to a request from the target mobile body (10). Execute.

According to this aspect, when it becomes necessary for the target moving body (10) to request another moving body (10) to move as a cooperative moving body (10), the target moving body (10) determines the target. By issuing a request from the moving body (10), it becomes possible to execute cooperative control.

In the control system (50, 50A) according to the 24th aspect, in any one of the 20th to 23rd aspects, the cooperative control unit (56) uses the following mobile body (10) as the cooperative mobile body (10). .. That is, the cooperative control unit (56) cooperates only with the moving body (10) existing in the area related to the course of the target moving body (10) in the predetermined area (A1) among the plurality of moving bodies (10). Let it be a moving body (10).

According to this aspect, by focusing on the moving body (10) existing in the region related to the course of the target moving body (10) and making it a cooperative moving body (10), it cooperates with the unrelated moving body (10). It becomes possible to avoid forcing control.

In the control system (50, 50A) according to the 25th aspect, in any one of the 20th to 24th aspects, the cooperative control unit (56) is a cooperative moving body (56) located on the path of the target moving body (10). By moving 10), the course of the target moving body (10) is secured.

According to this aspect, the cooperative moving body (10) gives way to the target moving body (10), so that the course of the target moving body (10) is secured, and the target moving body (10) moves on the course. It will be possible.

In the control system (50, 50A) according to the 26th aspect, in the 25th aspect, the cooperative control unit (56) secures the course of the target moving body (10) and moves the target moving body (10). After completion, the cooperating mobile body (10) is moved to the position before the cooperative control.

According to this aspect, the disadvantage of the cooperative moving body (10) due to the movement of the cooperative moving body (10) during the cooperative control is unlikely to occur.

In the control system (50, 50A) according to the 27th aspect, in any of the 20th to 26th aspects, the cooperative control unit (56) notifies the surroundings of the target moving body (10) during cooperative control.

According to this aspect, for example, when an obstacle is left in the path of the target moving body (10), the person around the target moving body (10) is urged to remove the obstacle. It is possible.

The control system (50, 50A) according to the twenty-eighth aspect is the control system (50, 50A) according to any one of the twentieth to twenty-seventh aspects, further including a state control section (53) for controlling the state indicated by the state information with respect to the state output section (G1). Prepare The state output unit (G1) is provided corresponding to an area (Z1) set as a part of a predetermined area (A1). The state output unit (G1) is in a permitted state permitting passage of each of the plurality of moving bodies (10) in at least one of the first direction (D1) and the second direction (D2), or the passage is permitted. The status information indicating whether or not the status is the unauthorized status is output. The first direction (D1) is a direction in which each of the plurality of moving bodies (10) moves from the outside to the inside of the area (Z1). The second direction (D2) is a direction in which each of the plurality of moving bodies (10) moves from the inside to the outside of the area (Z1).

According to this aspect, by changing the state of the state information output by the state output unit (G1), smooth passage of the plurality of mobile bodies (10) can be realized.

The program according to the twenty-ninth aspect is a program for causing one or more processors to execute the control method according to the eighteenth aspect.

According to this aspect, it is possible to provide a program capable of realizing smooth passage of the mobile body (10).

The program according to the thirtieth aspect is a program for causing one or more processors to execute the control method according to the nineteenth aspect.

In the control system (50, 50A) according to the thirty-first aspect, in the tenth aspect, the state of the moving body (10) includes at least one of the speed and the weight of the moving body (10).

In the control system (50, 50A) according to the thirty-second aspect, in any one of the first to tenth, thirtieth, and thirty-first aspects, the moving body (10) includes a carrying device that carries an object.

Not limited to the above aspects, various configurations (including modifications) of the control system (50, 50A) according to the embodiment record the control method, (computer) program, or program of the control system (50, 50A). It can be embodied in a non-transitory recording medium or the like.

The configurations according to the second to 17th, 20th to 28th, and 31st to 32nd aspects are not essential configurations for the control system (50, 50A) and can be omitted as appropriate.

10 Mobiles (target mobiles, cooperative mobiles, priority mobiles)
40

Transport target

50, 50A Control system 52 Detection unit 53 State control unit 54 Acquisition unit 55 Value generation unit 56 Cooperative control unit A1 Predetermined area A31 Specific section D1 First direction D2 Second direction G1 State output unit M1 Traffic control module Z1 Area

Claims

An area set as a part of a predetermined area in which the moving body moves,
At least one of a first direction in which the moving body moves from the outside to the inside of the area and a second direction in which the moving body moves from the inside to the outside of the area, which are provided corresponding to the area. Using a traffic control module including a state output unit for outputting state information indicating whether the mobile body is in a permitted state to allow passage or a disallowed state to disallow the passage of the moving body. Controlling the passage of the moving body,
Control system.
The state information is output by the state output unit in one of the first direction and the second direction.
The control system according to claim 1.
The traffic control module includes a plurality of the status output units provided corresponding to a plurality of passages connected to the area,
The control system according to claim 1 or 2.
Further comprising a state control unit for controlling the state indicated by the state information to be one of the permission state and the non-permission state,
The control system according to any one of claims 1 to 3.
The state control unit controls, for each of the plurality of state output units included in the one or the plurality of traffic control modules, whether the state indicated by the state information is the permitted state or the disallowed state.
The control system according to claim 4.
The traffic control module includes a plurality of status output units provided corresponding to a plurality of passages connected to the area,
When the state control unit controls the state indicated by the state information output by one of the plurality of state output units to be the permitted state, the remaining state output units of the plurality of state output units Controlling the state indicated by the state information output by the non-permitted state,
The control system according to claim 4.
The traffic control module includes a plurality of status output units provided corresponding to a plurality of passages connected to the area,
The state control unit, at a second time point after a lapse of a predetermined waiting time from the first time point when all the states indicated by the state information output by the plurality of state output sections are set to the non-permission state, Controlling the state indicated by the state information output by the state output unit of the switching target of the state output unit of the
The control system according to claim 4.
The state control unit controls a state indicated by the state information output by the state output unit according to a purpose of moving the moving body,
The control system according to any one of claims 4 to 7.
Further comprising a detection unit for detecting whether or not the moving body exists inside the area,
The state control unit controls a state indicated by the state information output by the state output unit according to a detection result of the detection unit,
The control system according to any one of claims 4 to 8.
The moving body passes or stops based on the result of checking the state indicated by the state information output by the state output unit at a confirmation position before the position where the state output unit is provided,
The confirmation position changes according to the state of the moving body,
The control system according to any one of claims 1 to 9.
In the predetermined area, a plurality of the areas are provided along a path along which the moving body moves,
The control system according to any one of claims 1 to 10.
An acquisition unit that acquires operation information regarding operations of a plurality of mobile bodies in the predetermined area;
Based on the operation information acquired by the acquisition unit, a consideration generation unit that generates a consideration consisting of at least one of an incentive or a penalty for any one of the plurality of moving bodies is further provided.
Controlling the plurality of moving bodies moving in the predetermined area,
The control system according to claim 4.
The state control unit preferentially sets the state indicated by the state information output by the state output unit on the path of the priority mobile body, which is one of the plurality of moving bodies, as the permitted state. Run
The compensation generation unit generates a penalty as the compensation for the priority moving body when the priority control is executed,
The control system according to claim 12.
The value generation unit generates the value according to the compliance status of the status information for each of the plurality of mobile units.
The control system according to claim 12 or 13.
The predetermined area includes a specific section,
The consideration generation unit generates the consideration in exchange for the entry into the specific section for each of the plurality of moving bodies.
The control system according to any one of claims 12 to 14.
The value generation unit generates the value in exchange for energy supply for each of the plurality of moving bodies,
The control system according to any one of claims 12 to 15.
Each of the plurality of moving bodies has a transport function of transporting an object to be transported,
The value generation unit generates the value according to the object to be transferred for each of the plurality of moving bodies,
The control system according to any one of claims 12 to 16.
A process of setting an area in a part of a predetermined area in which a moving body moves
Corresponding to the area, the moving body is at least one of a first direction in which the moving body moves from the outside to the inside of the area and a second direction in which the moving body moves from the inside to the outside of the area. A process of providing a state output unit for outputting state information indicating whether the vehicle is in a permission state permitting passage or a state not permitting passage of the moving body,
A process of controlling the state indicated by the state information output by the state output unit to the permitted state or the non-permitted state,
Control method.
An acquisition process for acquiring motion information regarding motions of the plurality of moving bodies in the predetermined area;
Further, it has a consideration generation process for generating a consideration including at least one of an incentive or a penalty for any one of the plurality of moving bodies based on the operation information acquired in the acquisition process.
Controlling the plurality of moving bodies moving in the predetermined area,
The control method according to claim 18.