WO2022124004A1 - 経路計画装置 - Google Patents

経路計画装置 Download PDF

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Publication number
WO2022124004A1
WO2022124004A1 PCT/JP2021/041712 JP2021041712W WO2022124004A1 WO 2022124004 A1 WO2022124004 A1 WO 2022124004A1 JP 2021041712 W JP2021041712 W JP 2021041712W WO 2022124004 A1 WO2022124004 A1 WO 2022124004A1
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WO
WIPO (PCT)
Prior art keywords
goal
route
robot
behavior
route planning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/041712
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English (en)
French (fr)
Japanese (ja)
Inventor
大輔 福永
典史 吉川
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Sony Group Corp
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Sony Group Corp
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Filing date
Publication date
Application filed by Sony Group Corp filed Critical Sony Group Corp
Priority to JP2022568130A priority Critical patent/JP7845192B2/ja
Priority to US18/253,925 priority patent/US12339668B2/en
Publication of WO2022124004A1 publication Critical patent/WO2022124004A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6987—Control allocation by centralised control off-board any of the vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/693—Coordinated control of the position or course of two or more vehicles for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present disclosure relates to a route planning device that plans a movement route of a plurality of moving objects.
  • Non-Patent Documents 1 and 2 There is a technique for planning the route of a plurality of moving objects (robots, etc.) (see Non-Patent Documents 1 and 2). Generally, in the technique of route planning of a plurality of moving objects, it is premised that goals are assigned to all robots.
  • the route planning apparatus is in an environment subject to route planning, including at least one first moving body having a goal and at least one second moving body having no goal.
  • the first moving object is the goal for all of the plurality of moving objects based on the input unit that accepts the input of the information used for the route planning and the information input to the input unit. It has a planning department that plans the behavior until the time when it is finished.
  • information about all of a plurality of moving bodies including at least one first moving body having a goal and at least one second moving body having no goal. Based on, for all of the plurality of moving bodies, the behavior until the time when the first moving body reaches the goal is planned.
  • Route planning is one of the important functions of autonomously moving robots. Route planning is to calculate the route that a robot should take to reach the goal point using a map of the surrounding environment. Also, calculating the routes of multiple robots at the same time is called multiple robot route planning. In the case of multi-robot route planning, it is necessary to search for a route that does not compete with other robots, so that the calculation becomes much more complicated than the route planning of a single robot. Conflict means that a robot cannot reach the goal due to a collision between multiple robots or a deadlock.
  • CBS Conflict-Based Search
  • the optimal solution is generally the path that minimizes the total time it takes for the robot to reach the goal.
  • FIG. 1 shows an outline of the CBS algorithm as an example of the route planning method according to the comparative example.
  • CBS is an algorithm that starts from the shortest path of each robot (without considering the existence of other robots), solves conflicts between multiple robots one by one, and finally finds the optimum solution without conflicts. .. In CBS, this is achieved by expanding a binary tree called a constraint tree and searching for a solution.
  • An example is a graph consisting of the vertices S 1 , S 2 , A 1 , A 2 , ..., Am , B 1 , B 2 , ..., B m , C, G 1 , G 2 illustrated in FIG. 1 (i). Think about it.
  • the vertices S 1 and S 2 are the start points of the robots 1 and 2, respectively, and the vertices G 1 and G 2 are the goal points of the robots 1 and 2, respectively.
  • each node in the constraint tree has (1) a set of constraints (constraint) (constraint in FIG. 1 (ii)), (2) a set of paths for each robot (solution in FIG. 1 (ii)), and (3) total cost. (Cost of FIG. 1 (ii)).
  • the route of robot 1 is S 1 ⁇ A 1 ⁇ C ⁇ G 1
  • the route of robot 2 is S 2 ⁇ B 1 ⁇ C ⁇ G 2 .
  • a child node with a constraint that the vertex C is not reached in the second step is generated.
  • two child nodes can be created by the constraint on the robot 1 and the constraint on the robot 2.
  • Constraints are represented by (1) the robot of interest, (2) unreachable vertices, and (3) the number of steps.
  • the constraint shown in the lower left of FIG. 1 (ii): ⁇ (1, C, 2) ⁇ is a constraint that the robot 1 must not reach the vertex C in the second step.
  • the flow of the CBS algorithm can be summarized as follows. 1. 1. Find the shortest path for each robot. 2. 2. Detects conflicts between multiple robots. 3. 3. Create a child node with constraints that do not conflict. 4. Calculate the route of each robot that satisfies the constraint and find the cost. 5. For the node with the lowest cost 2. ⁇ 4. repeat. 6. Exit when a node with no conflict appears.
  • the search for the constraint tree is called High-level search.
  • the path search of each robot based on the restrictions of is called Low-level search.
  • Low-level search the shortest path is searched for each robot by the A * algorithm.
  • the route that does not satisfy the constraint is excluded from the solution candidates.
  • Low-level search we are only aware of restrictions and do not consider the paths of other robots at all.
  • FIG. 2 schematically shows the first example of the problem of the route planning method according to the comparative example and the improvement example thereof.
  • FIG. 3 schematically shows a second example of the problem of the route planning method according to the comparative example and the improvement example thereof.
  • FIGS. 2 and 3 it is assumed that the robots 1 and 2 can move any of the vertices A1, A2, A3, and A4.
  • the left side shows the method of route planning according to the comparative example, and the right side shows an improvement example adopting the technique of the present disclosure described later.
  • FIG. 2 shows a situation in which the robot 1 exists at the apex A1 at the start time, the robot 2 exists at the apex A2, the goal point G1 of the robot 1 is the apex A3, and the robot 2 does not have a goal. ..
  • the robot 1 cannot reach the goal point G1 due to the existence of the robot 2 having no goal.
  • the robot 2 having no goal moves to the apex A4 as shown in the improvement example on the right side of FIG. 2, the robot 1 can reach the goal point G1.
  • FIG. 3 shows a situation in which the robot 1 exists at the apex A1 at the start time, the robot 2 exists at the apex A3, and the goal points G1 and G2 of the robots 1 and 2 both have the same apex A2. show.
  • the route planning method according to the comparative example as shown on the left side of FIG. 3, if the same goal is assigned to a plurality of different robots, no solution can be found. This is because the competition at the goal point cannot be resolved.
  • the improvement example on the right side of FIG. 3 if the robot that has reached the goal first (robot 1 in the example on the right side of FIG. 3) is moved to another place after the goal, both the robots 1 and 2 will move. You can reach the goal.
  • Information on all robots existing in the environment targeted for route planning is input as information used for route planning. For example, as location information, a robot with a goal inputs only the start point (current location) and the goal point, and a robot without a goal inputs only the current location. In the route planning method according to the comparative example, only the information of the robot having a goal is input as the information used for the route planning.
  • the robot performs some predetermined task (such as loading and unloading luggage) after arriving at the goal point.
  • the goal means a state in which the goal point is reached and the predetermined task is ready to be performed.
  • the goal has been completed means a state in which the goal point has been reached and a predetermined task has been executed.
  • the technique of the present disclosure is also applicable when simply reaching the goal point means the goal without performing a predetermined task.
  • FIG. 4 schematically shows a configuration example of a route planning device according to the first embodiment of the present disclosure.
  • the route planning device includes a robot information input unit 10, a route planning unit 11, a display unit 12, a robot control unit 13, and a communication unit 14.
  • the route planning device may be composed of, for example, a computer terminal including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • the processing performed by the route planning unit 11 and the robot control unit 13 may be executed by the CPU.
  • the route planning device plans the routes of a plurality of robots 15.
  • the plurality of robots 15 may include at least one robot R10 (R11, R12, ... R1n) having a goal and at least one robot R20 (R21, R22, ... R2m) having no goal.
  • the robot R10 having a goal and the robot R20 having no goal do not need to be predetermined, and each time a route plan is performed, the robot R10 having a goal and the robot R20 having no goal are required. And may be changed.
  • the robot R10 having a goal corresponds to a specific example of the "first moving body" in the technique of the present disclosure.
  • the robot R20 having no goal corresponds to a specific example of the "second moving body" in the technique of the present disclosure.
  • the robot information input unit 10 includes, for example, a keyboard, a pointing device, and the like, and receives input of various information from the user. Further, the robot information input unit 10 may accept input of various information from a higher-level system. For example, in the application example shown in FIG. 12 described later, input of various information may be accepted from the MCS 22.
  • the robot information input unit 10 contains information (robot information) used for route planning for all of the plurality of robots 15 existing in the environment targeted for route planning, including the robot R10 having a goal and the robot R20 having no goal. ) Is accepted.
  • the robot information input unit 10 outputs robot information about all of the plurality of robots 15 existing in the environment (regardless of the presence or absence of a goal) to the route planning unit 11.
  • the robot information includes, for example, at least one information among the current position, direction, movement start point, goal point, stop time at the start point, stop time at the goal point, and the like of each robot 15.
  • the robot information input unit 10 corresponds to a specific example of the "input unit" in the technique of the present disclosure.
  • the route planning unit 11 plans the behavior of all of the plurality of robots 15 until the time when the robot R10 having a goal has reached the goal.
  • the route planning unit 11 plans the routes of all the robots 15 by using the algorithm described in the above outline, and outputs the route plans to the robot control unit 13.
  • the route plan referred to here includes a movement plan such as movement and standby of each of the plurality of robots 15 at each time until the end time of the route plan.
  • the route planning unit 11 corresponds to a specific example of the "planning unit" in the technique of the present disclosure.
  • the route planning unit 11 plans the optimum behavior so that each of the plurality of robots 15 does not compete with each other until the time when the robot R10 having a goal has reached the goal.
  • the route planning unit 11 sets the time until the robot R10 having a goal reaches the goal point and executes a predetermined task as the time when the robot R10 having a goal finishes the goal.
  • the route planning unit 11 plans the behavior of all of the plurality of robots 15 until the time when all of the plurality of robots R10 having goals have reached the goal. In this case, the route planning unit 11 plans the optimal behavior in terms of time so that the time when all of the plurality of robots R10 having goals reach the goal is the shortest.
  • the route planning unit 11 has at least one of the plurality of robots R10 having a goal before the time when the plurality of robots R10 having a goal have reached the goal.
  • the behavior of the robot 15 having the goal after the goal is planned until the time when all of the plurality of robots R10 having the goal have reached the goal.
  • the route planning unit 11 plans the optimal behavior in terms of distance between the behavior of the robot R20 having no goal and the behavior of the robot 15 having a goal after the goal so that the moving distance is minimized. You may do it.
  • the display unit 12 is composed of, for example, a display, and displays information indicating the behavior of all of the plurality of robots planned by the route planning unit 11.
  • the display unit 12 displays, for example, a user interface (UI) screen as shown in FIGS. 8 to 11 described later.
  • UI user interface
  • the robot control unit 13 generates robot control information (advance to XX, stop, etc.) based on the route plan by the route planning unit 11, and outputs the robot control information to the communication unit 14.
  • the communication unit 14 transmits the robot control information from the robot control unit 13 to the robot 15 via a communication network such as the Internet or a LAN (Local Area Network).
  • the communication unit 14 and the robot 15 may directly communicate with each other without going through the communication network.
  • the robot 15 moves based on the robot control information from the communication unit 14.
  • FIG. 5 is a flowchart showing an example of the overall processing flow of the route planning apparatus according to the first embodiment.
  • step S10 all the robot information of the plurality of robots 15 existing in the environment to be the target of the route planning is input to the route planning unit 11 via the robot information input unit 10 (step S10).
  • the route planning unit 11 searches for the optimum route of each robot 15 as a route node and calculates the cost (step S11).
  • the route planning unit 11 selects the node having the lowest score (step S12).
  • the route planning unit 11 detects the route conflict of the plurality of robots 15 (step S13).
  • the route planning unit 11 determines whether or not there is a route conflict (step S14). When it is determined that there is no route conflict (step S14; N), the route planning unit 11 ends the process.
  • step S14 when it is determined that there is a route conflict (step S14; Y), the route planning unit 11 next creates a child node with a constraint so as not to conflict (step S15). Next, the route planning unit 11 searches for an optimum route that satisfies the constraint, calculates a score (step S16), and returns to the process of step S11. In step S16, route planning is performed for any one robot 15.
  • FIG. 6 is a flowchart showing an example of a detailed processing flow of the processing of step S16 in FIG.
  • FIG. 7 is a flowchart showing an example of the flow of the process following the process A of FIG.
  • FIGS. 6 and 7 include all the processes by the algorithm described in the above outline. Note that FIGS. 6 and 7 are flows for route planning for any one robot 15.
  • the route planning unit 11 adds the start time and the state of the robot 15 at the start point to the route candidates (step S101).
  • the state of the robot 15 is, for example, the direction and position of the robot 15.
  • the route planning unit 11 determines whether or not the stop time at the start point is designated (step S102). If it is determined that the stop time at the start point is not specified (step S102; N), the route planning unit 11 then proceeds to the process of step S104. On the other hand, when it is determined that the stop time at the start point is designated (step S102; Y), the route planning unit 11 then advances the start time by the designated time (step S103).
  • the route planning unit 11 selects the candidate having the smallest primary score among the unsearched candidates (step S104). Next, the route planning unit 11 determines whether or not the target robot 15 for route planning has already reached a goal, or whether or not the target robot 15 has a goal (step S105).
  • the route planning unit 11 When it is determined that the target robot 15 for the route plan has already reached the goal or the target robot 15 does not have the goal (step S105; Y), the route planning unit 11 then reaches the end time. It is determined whether or not the robot is used (step S112).
  • the end time referred to here is a time when all the robots R10 having a goal have reached the goal.
  • the route planning unit 11 ends the process.
  • step S112; N the route planning unit 11 next determines whether or not the robot 15 to be the target of the route plan can wait until the end time at the current position. Is determined (step S113). When it is determined that the current position can wait until the end time (step S113; Y), the route planning unit 11 ends the process. On the other hand, when it is determined that it is not possible to wait until the end time at the current position (step S113; N), the route planning unit 11 next creates a candidate to move to a neighboring vertex (those that do not satisfy the constraint). Excludes) (step S114). Next, the route planning unit 11 adds the travel distance to the secondary score among the created candidates (step S115), and returns to the process of step S104.
  • step S105 if it is determined that the target robot 15 for the route plan has not completed the goal, or the target robot 15 has a goal (step S105; N), then the route plan is performed.
  • the unit 11 determines whether or not the robot 15 that is the target of the route plan is at the goal point (step S106). When it is determined that the robot 15 to be the target of the route plan is not at the goal point (step S106; N), the route planning unit 11 next moves the robot 15 to be the target of the route plan to a nearby apex. Alternatively, the target robot 15 creates a candidate to stand by on the spot (excluding those that do not satisfy the constraint) (step S107). Next, the route planning unit 11 adds the movement time or the standby time of the robot 15 that is the target of the route plan to the primary score among the created candidates (step S108).
  • the route planning unit 11 next creates a candidate for which the goal has been completed (the original candidate remains). (Step S109). Next, the route planning unit 11 determines whether or not the stop time at the goal point of the robot 15 that is the target of the route plan is designated (step S110). If it is determined that the stop time at the goal point is not specified (step S110; N), the route planning unit 11 then proceeds to the process of step S107. On the other hand, when it is determined that the stop time at the goal point is designated (step S110; Y), the route planning unit 11 next advances the time of the goal completed candidate by the designated time (step S111). , Proceed to the process of step S107.
  • a new candidate marked as completed is created by the same route as the selected candidate while leaving the candidate selected in the process of step S104.
  • the reason for leaving the original candidate is to consider a route that passes the goal once and then returns later, as described above.
  • the "original candidate" selected in the process of the immediately preceding step S104 is moved to a neighboring vertex.
  • the candidate newly created in step S109 is selected in the subsequent steps of step S104, and processing up to the end is performed.
  • the display unit 12 (FIG. 4) displays the behavior of the robot R20 having no goal and the behavior of the robot 15 having a goal after the goal on the UI screen until each of the plurality of robots R10 having a goal has reached the goal. It may be displayed in a mode different from the behavior of.
  • the display unit 12 may linearly display information indicating the movement route of all of the plurality of robots 15 as information indicating the behavior on the UI screen.
  • the display unit 12 displays on the UI screen a line indicating the movement route of the robot R20 having no goal and a line indicating the movement route after the goal of the robot 15 having a goal, to a plurality of robots having a goal.
  • At least one of the line type, the color of the line, and the thickness of the line may be changed from the line indicating the path of movement until each of R10 has reached the goal.
  • FIG. 8 schematically shows a display example of the initial state of the UI screen of the display unit 12 of the route planning device according to the first embodiment.
  • a movable path (range of motion) 30 of a plurality of robots 15 and a stoptable point (standby point) 31 are displayed.
  • 9 to 11 schematically show first to third display examples in which the route plan planned by the route planning unit 11 is displayed on the UI screen shown in FIG.
  • FIGS. 9 to 11 show an example in which the movement paths of the robot R21 having no goal and the robots R11 and R12 having a goal are displayed.
  • the movement path of each robot may be displayed in different colors.
  • ⁇ indicates the start point of movement of the robots R11 and R12 having a goal, and ⁇ indicates the goal point.
  • ⁇ represents the starting point of movement of the robot R21 which does not have a goal.
  • the robot R12 having a goal also moves after the goal.
  • ⁇ represents the final arrival point of the robot R21 having no goal, or the final arrival point after the goal of the robot R12 having a goal.
  • the symbols representing the start point, the goal point, and the like in the above are examples, and may be displayed in another mode.
  • the movement path of the robots R11 and R12 having a goal to the goal point is displayed by a thick solid line.
  • the movement path of the robot R21 having no goal and the movement path after the goal of the robot R12 having a goal are the movement paths to the goal points of the robots R11 and R12 having a goal. Is displayed in a different manner.
  • the line types of the movement path of the robot R21 having no goal and the movement path after the goal of the robot R12 having a goal are displayed differently.
  • a display example changed to a alternate long and short dash line is shown as an example, but another line type may be used.
  • FIG. 10 shows a display example in which the thickness of the line is changed to be thin as an example.
  • the movement path at the goal point of particular interest to the user is emphasized by a thick line, and the movement after the goal is also displayed.
  • the colors of the lines of the movement path of the robot R21 having no goal and the movement path after the goal of the robot R12 having a goal are displayed differently.
  • the above display example may be combined.
  • the display may be changed by combining at least two of the line type, the line color, and the line thickness.
  • FIG. 12 schematically shows an example of a system to which the route planning apparatus according to the first embodiment is applied.
  • FIG. 12 shows an example of a system in which the route planning device according to the first embodiment is applied to an automated guided vehicle (hereinafter referred to as AGV) 24 in a factory using an automated guided vehicle (hereinafter referred to as AGV) 24. ..
  • AGV automated guided vehicle
  • the AGV 24 is a mobile body and corresponds to the robot 15 in FIG.
  • the plurality of AGVs 24 may include at least one AGV having a goal and at least one AGV having no goal.
  • the automatic transfer system includes a production control system (MES) 21, a transfer control system (MCS) 22, an AGV control system (MCP) 23, and an AGV 24.
  • MES production control system
  • MCS transfer control system
  • MCP AGV control system
  • MES21 issues a transport instruction to MCS22 based on the manufacturing process.
  • An example of the transport instruction here is, for example, "Transfer C from device A to device B".
  • the MCS 22 decides which AGV 24 and how to transport based on the received transport instruction, and further issues a transport instruction to the MCP 23.
  • a transport instruction For example, when the AGV24A exists as one of the plurality of AGV24s, an example of the transport instruction is "The AGV24A transports C from the point A to the point B".
  • the MCP23 determines the specific movement route of the AGV24.
  • the MCP 23 includes a robot information input unit 10, a route planning unit 11, and a robot control unit 13 in the route planning device shown in FIG.
  • the information of the AGV 24 is input to the route planning unit 11 via the robot information input unit 10 to plan the route of the AGV 24.
  • the information of the AGV24 is also input to the route planning unit 11.
  • the MCP23 or MCS22 holds information (current position and current goal point) of all AGV24s existing in the environment, and they are used. Further, at this time, the route other than the AGV24A for which the transport instruction is issued may be changed.
  • the route of the AGV 24 planned by the route planning unit 11 is sent from the robot control unit 13 to the AGV 24 through the communication unit 14.
  • the movement completion notification is sent back via the communication unit 14. Based on this, the transport completion report is sent to MES21.
  • a plurality of robots 15 are based on information about all of the plurality of robots 15 including the robot R10 having a goal and the robot R20 having no goal. Since the behavior of the robot R10 having a goal up to the time when the goal is reached is planned for all of the robots 15, it is possible to plan the optimum route of the plurality of robots 15.
  • route planning is performed including the robot R20 having no goal.
  • the optimum route is calculated so as not to compete with the robot R20 having no goal and the robot R10 having a goal after the goal. This makes it possible to calculate a more optimal route (a route with a short arrival time to the goal).
  • the same goal can be specified for a plurality of robots 15.
  • the route planning device when planning the movement of the robot R10 having a goal after the goal, the route is planned with the travel distance as a cost. This eliminates unnecessary movement in the movement of the robot R20 having no goal and the movement of the robot R10 having a goal after the goal. This leads to power saving.
  • the optimum route is planned in consideration of the stop time at the start point and the goal point. This makes it possible to plan a more optimal route.
  • the movement route of the robot R10 having a goal after the goal is displayed on the UI screen. This makes it possible to visually obtain information on movement after the goal.
  • the present technology may have the following configuration.
  • the present art of the following configurations based on information about all of a plurality of mobiles, including at least one first mobile with a goal and at least one second mobile without a goal. Since the behavior of the first moving body is planned up to the time when the goal is reached for all of the plurality of moving bodies, it is possible to plan the optimum route of the plurality of moving bodies.
  • All of the plurality of mobiles existing in the environment targeted for the route plan including at least one first mover having a goal and at least one second mover having no goal, are included in the route plan.
  • An input unit that accepts input of information to be used, and
  • a route planning device including a planning unit that plans the behavior of all of the plurality of moving bodies until the time when the first moving body reaches the goal, based on the information input to the input unit.
  • the planning unit sets the time until the first moving body reaches the goal point and executes a predetermined task as the time when the first moving body reaches the goal (1) or The route planning device according to (2).
  • the planning unit plans the behavior of all of the plurality of moving bodies until the time when all of the plurality of first moving bodies have reached the goal.
  • the route planning device according to any one of (1) to (3) above.
  • the planning unit has completed the goal of at least one part of the first moving body of the plurality of first moving bodies before the time when all of the plurality of first moving bodies have reached the goal.
  • the behavior of some of the first moving bodies after the goal is planned until the time when all of the plurality of first moving bodies have reached the goal.
  • the route planning device described in. (7) The behavior of the second moving body and the behavior of a part of the first moving body after the goal are planned to be the optimum behavior in terms of distance so as to minimize the moving distance.
  • Route planning device. The behavior of the second moving body and the behavior of a part of the first moving body after the goal are displayed in a manner different from the behavior until each of the plurality of first moving bodies has reached the goal.
  • the route planning apparatus further comprising a display unit for displaying information indicating behavior of all of the plurality of moving objects planned by the planning unit.
  • the display unit linearly displays information indicating the movement route of all of the plurality of moving objects as information indicating the behavior, and also displays the information indicating the movement route of the second moving body and the one.
  • the line showing the movement route after the goal of the first moving body of the unit and the line showing the movement route until each of the plurality of first moving bodies has reached the goal are line types and lines.
  • the route planning device according to (8) above, wherein at least one of the color and the thickness of the line is changed to display.

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  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
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