WO2022124374A1 - Mobile object system and method of controlling same - Google Patents

Abstract

A mobile object system including: a mobile object moving between a plurality of nodes in an area, the mobile object being able to change its motion at the nodes; and a plurality of communication processing units communicable with the mobile object, the communication processing units provided corresponding to the respective nodes, the mobile object communicating with a communication processing unit that corresponds to a node to be passed, the node to be passed being a node which the mobile object is going to pass, and on the basis of the communication with the mobile objects, the communication processing unit instructs at least one or more mobile objects of the mobile objects to wait temporarily or change its route.

Description

Mobile system and its control method

The present invention relates to a mobile system and a control method thereof.
This application claims priority based on Japanese Patent Application No. 2020-204268 filed in Japan on December 9, 2020, the contents of which are incorporated herein by reference.

Development of various robots is underway with the aim of saving labor at construction sites. When introducing these robots to the site, it is conceivable that multiple robots will be placed at the same site and the construction will proceed in cooperation with them.

Japanese Unexamined Patent Publication No. 2017-228101

In such a system, the scale and complexity of the system may occur as the number of robots increases. Therefore, in the conventional method of centrally managing the management and control of the operations of multiple robots with a computer or the like, collisions between robots due to computer calculation costs, communication costs between devices, communication delays, etc. are avoided. An event may occur in which the robot cannot continue to operate. It should be noted that such a problem is not limited to the robot, but is a problem common to various moving objects that can move in the area.

The present invention has been made in view of such circumstances, and an object thereof is a moving body capable of continuing the movement of the moving body even when the number of moving bodies to be operated in the area increases. It is to provide a system and a control method.

(1) One aspect of the present invention corresponds to a mobile body that can move between a plurality of nodes in an area and can change its operation in the node, and can communicate with the mobile body, and corresponds to each of the nodes. The mobile body includes a plurality of communication processing units provided in the above-mentioned communication processing unit, and the mobile body communicates with the communication processing unit corresponding to the node to be passed through, and the communication processing unit has a plurality of the above-mentioned communication processing units. It is a mobile body system that instructs at least one or more of the plurality of mobile bodies to temporarily wait or change a route based on the communication with the mobile body.

(2) In the mobile system of the above (1), the mobile body calculates the scheduled passage time to pass through the scheduled passage node, and passes through the scheduled passage node at the scheduled passage time as the communication. A reservation application is made to the communication processing unit corresponding to the transit scheduled node, and the communication processing unit overlaps a part or all of the scheduled passage times for which reservation applications are made from each of the plurality of moving objects. In this case, at least one of the plurality of moving bodies may be instructed to temporarily wait or change the route.

(3) In the mobile system of the above (2), the communication processing unit determines a type of collision that is assumed when a part or all of the scheduled passage times overlaps. And, depending on the determination result of the determination unit, the instruction unit for instructing at least one or more of the plurality of moving objects to temporarily wait or change the route may be provided.

(4) In the moving body system of the above (3), the indicating unit is a collision in which the type of collision determined by the determination unit is a collision in which the collision can be avoided by the temporary standby of any of the moving bodies. May instruct the moving body to temporarily wait, whichever is the later of the plurality of reservation applications having a time zone in which the reservation application is partially or completely overlapped.

(5) In the moving body system of the above (4), when the type of the collision determined by the determination unit is a collision in which the collision cannot be avoided due to the temporary standby, the scheduled passage time Of the plurality of the moving bodies for which the reservation application is made in part or all of the above, at least one of the moving bodies may be instructed to change the route.

(6) In any of the above (2) to (5) mobile body systems, the planned passage node is the node through which the mobile body passes from the present to a predetermined time ahead, and the predetermined time. May be set within an allowable range of an error between the scheduled passage time and the passage time in which the moving object actually passes.

(7) In any of the above (1) to (6) moving body systems, the node connected to the second path that cannot be patrolled from the first path that can be patrolled among the paths that the moving body can move. The communication processing unit corresponding to the entry / exit management node limits the number of the moving objects that can enter the second path to the number that can avoid collisions between the moving objects in the second path. You may.

(8) In the mobile system of the above (7), when the communication processing unit overlaps a part or all of the scheduled passage times of the two mobile bodies in the second path. Is to move one of the moving bodies in a direction of avoiding a collision with the other moving body by giving an interrupt instruction to one of the two moving bodies. good.

(9) In the mobile system of the above (8), when the communication processing unit moves to the node in a direction in which the one mobile body avoids a collision with the other mobile body. In, a temporary evacuation destination, which is a node capable of avoiding a collision with the other moving body, may be instructed to the one moving body based on the destination information of the other moving body.

(10) The mobile system according to any one of (1) to (9) above, and the mobile body may be a robot that transports materials.

(11) One aspect of the present invention corresponds to a mobile body that can move between a plurality of nodes in an area and can change its operation in the node, and can communicate with the mobile body, and corresponds to each of the nodes. A method for controlling a mobile system including a plurality of communication processing units provided in the above, wherein the mobile body communicates with the communication processing unit corresponding to the node to be passed, which is the node to be passed. The communication processing unit is a control method for instructing at least one or more of the plurality of mobile bodies to temporarily wait or change a route based on the communication with the plurality of the mobile bodies. ..

(12) In the control method of (11) above, a reservation application for calculating the scheduled passage time for the moving body to pass through the scheduled passage node and passing through the scheduled passage node at the scheduled passage time as the communication. Is performed for the communication processing unit corresponding to the planned passage node, and the communication processing unit overlaps a part or all of the scheduled passage times for which reservation applications are made from each of the plurality of moving objects. May instruct at least one or more of the plurality of moving bodies to temporarily wait or change the route.

(13) In the control method of (11) or (12) above, the entry / exit of the node connected to the second path that cannot be patrolled from the first path that can be patrolled among the routes that the moving body can move. The communication processing unit corresponding to the management node may limit the number of the moving bodies that can enter the second path to a number that can avoid collisions between the moving bodies in the second path.

As described above, according to the present invention, even when the number of moving objects to be operated in the field increases, the operation of the moving objects can be continued.

It is a schematic block diagram of the mobile body system which concerns on 1st Embodiment. It is a figure explaining the node which concerns on 1st Embodiment. It is a figure explaining the passage management of 1st Embodiment. It is a figure which shows the structural example of the moving body which concerns on 1st Embodiment. It is a figure explaining the target node of 1st Embodiment. It is a figure which shows the structural example of the communication processing part which concerns on 1st Embodiment. It is a figure explaining the collision determination which concerns on 1st Embodiment. It is a figure explaining the software conflict which concerns on 1st Embodiment. It is a figure explaining the hard conflict which concerns on 1st Embodiment. It is a figure explaining the flow which the moving body which concerns on 1st Embodiment carries a material. It is a flowchart of the operation of the moving body which concerns on 1st Embodiment. It is a flowchart of the operation of the communication processing unit which concerns on 1st Embodiment. It is a schematic block diagram of the mobile body system which concerns on 2nd Embodiment. It is a figure explaining the 1st path and the 2nd path which concerns on 2nd Embodiment. It is a figure explaining the method of specifying the 2nd route which concerns on 2nd Embodiment. It is a flowchart of the communication processing unit which received the dead end notification which concerns on 2nd Embodiment. It is a figure explaining the entrance / exit management of the 2nd route which concerns on 2nd Embodiment. It is a flow chart of the entrance / exit management in the 2nd path R2 which concerns on 2nd Embodiment. It is a figure explaining the entrance / exit management of the crossing node which concerns on 2nd Embodiment. It is a flowchart of admission management by a communication processing unit in a crossing node which concerns on 2nd Embodiment. It is a figure explaining the evacuation process which concerns on 2nd Embodiment. It is a flowchart of the operation of the evacuation process which concerns on 2nd Embodiment.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention within the scope of the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention. In the drawings, the same or similar parts may be designated by the same reference numerals to omit duplicate explanations. In addition, the shape and size of elements in the drawings may be exaggerated for a clearer explanation.

In the whole specification, when a part "contains", "has", or "provides" a component, this does not exclude other components unless otherwise specified. It means that it can contain more components of.

<First Embodiment>
FIG. 1 is a schematic configuration diagram of the mobile system 1 according to the first embodiment. In the mobile system 1 according to the first embodiment, a plurality of mobile bodies 10-1 to 10-n (n is an integer of 2 or more) and a plurality of communication processing units 11-1 to 11-k (k is 2 or more). Integer). When each of the plurality of moving bodies 10-1 to 10-n is not distinguished, it is referred to as "moving body 10". When each of the plurality of communication processing units 11-1 to 11-k is not distinguished, it is referred to as "communication processing unit 11".

The plurality of moving bodies 10 move within a certain area. The moving body 10 of the first embodiment will be described by exemplifying a transport vehicle for transporting building materials and the like, but the present invention is not limited to this, and any mobile body 10 may be movable within a certain area. For example, the moving body 10 may be a small flying object such as a drone. Further, the moving body 10 may be a robot used for civil engineering work or construction work, and may be, for example, a heavy transport vehicle, a shovel car, a bulldozer, or a crane car. The mobile body 10 may be manned or unmanned. A movement route is set in advance for each moving body 10.

The mobile body 10 moves between a plurality of nodes 12 in the area, and the operation can be changed at the node 12. The change of the operation is to change the moving direction of the moving body 10 or to suspend the movement. In this way, the mobile body 10 moves to a designated destination while moving between the nodes 12.

FIG. 2 is a diagram illustrating the node 12 according to the first embodiment. FIG. 2 is a view of the area as viewed from directly above. Nodes 12 are set in various places in the area. The mobile body 10 transports the material to the destination while moving between the nodes 12, or moves to the material storage place to load the material. The node 12 may be a virtual area provided in the area as well as an area in the area where the presence / absence of the mobile body 10 can be detected by a sensor or a communication terminal.

Each communication processing unit 11 can communicate with each mobile body 10 via the communication network NW, and is provided corresponding to each node 12. The communication processing unit 11 may be arranged at a set position or may be arranged at a different position from each node 12. The communication processing unit 11-m (m = 1, 2, ..., K) is also provided corresponding to the node 12-m. In the following description, the code below the hyphen (or the code consisting of the first hyphen followed by a number or symbol) indicating which node 12-m corresponds to may be omitted.

The communication processing unit 11-m transmits and receives information via the mobile body 10 and the communication network NW, and the mobile body 10 passing through the node 12-m and the time during which the mobile body 10 passes through the node 12-m (hereinafter referred to as). , "Scheduled transit time") and manage transit management. That is, the communication processing unit 11-m manages which mobile body 10 passes through the node 12-m at what time zone. The scheduled transit time indicates a certain time zone. For example, the scheduled passage time of the node 12-m is the node from the node 12- (m-1) on the assumption that the moving body 10 moves from the node 12- (m-1) toward the node 12-m. It is a time zone from the time when the movement toward 12-m starts to the time when the node 12-m is reached. The communication processing unit 11-m instructs the moving body 10 to change the operation so that the scheduled passage times passing through the node 12-m do not overlap among the plurality of moving bodies 10.

Hereinafter, the passage management of the first embodiment will be described with reference to FIG. FIG. 3 is a diagram illustrating passage management according to the first embodiment. The mobile body 10-1 is located at the node 12-1, and the mobile body 10-2 is located at the node 12-2. Then, in the example shown in FIG. 3, the moving body 10-1 moves from the node 12-1 to the node 12-2 in the time zone from 5 seconds to 10 seconds after the moving body 10-1 based on the preset movement path. When moving from node 12-2 to node 12-3 in the time zone from 10 seconds to 15 seconds later, and moving from node 12-3 to node 12-4 in the time zone from 15 seconds to 20 seconds later. calculate. In this case, the mobile body 10-1 makes a reservation application including the identification information of the mobile body 10-1 and the scheduled passage time (5 to 10 seconds) to the communication processing unit 11-2. Further, the mobile body 10-1 makes a reservation application including the identification information of the mobile body 10-1 and the scheduled passage time (10 seconds to 15 seconds) to the communication processing unit 11-3. Further, the mobile body 10-1 makes a reservation application including the identification information of the mobile body 10-1 and the scheduled passage time (15 seconds to 20 seconds) to the communication processing unit 11-4.

The moving body 10-2 moves from node 12-2 to node 12-3 in a time zone from 4 seconds to 9 seconds, and from 9 seconds to 14 seconds, based on a preset movement path. It is calculated to move from node 12-3 to node 12-4 in the time zone of. In this case, the moving body 10-2 makes a reservation application including the identification information of the moving body 10-2 and the scheduled passage time (4 seconds to 9 seconds later) to the communication processing unit 11-3. Further, the mobile body 10-2 makes a reservation application including the identification information of the mobile body 10-2 and the scheduled passage time (after 9 seconds to 14 seconds) to the communication processing unit 11-4.

As a result, the communication processing unit 11-2 manages the information that the mobile body 10-1 passes through the node 12-2 in the scheduled passage time (5 seconds to 10 seconds later). Further, in the communication processing unit 11-3, the moving body 10-2 passes through the node 12-3 at the scheduled passing time (4 seconds to 9 seconds later), and the moving body 10-1 passes through the scheduled passing time (10 seconds later). It manages the information that it passes through the node 12-3 (15 seconds after the operation). Further, in the communication processing unit 11-4, the moving body 10-2 passes through the node 12-4 at the scheduled passing time (9 seconds to 14 seconds later), and the moving body 10-1 passes through the scheduled passing time (15 seconds later). 20 seconds after the operation), the information that the node 12-4 is passed is managed. It should be noted that passing through the node 12 at the scheduled passage time is synonymous with occupying the node 12 over the scheduled passage time.

The communication network NW may be a wireless communication transmission line (for example, a wireless LAN), or may be a combination of a wireless communication transmission line and a wired communication transmission line. The communication network NW may be a mobile communication network such as a mobile phone line network, a wireless packet communication network, the Internet and a dedicated line, or a combination thereof. For example, the communication network NW may use a low-power wide-area network (LPWAN), or may use short-range wireless communication standards such as ZigBee (registered trademark), WiFi (registered trademark), and BLE. You may use it.

Hereinafter, a configuration example of the mobile body 10 according to the first embodiment will be described with reference to FIG. FIG. 4 is a diagram showing a configuration example of the mobile body 10 according to the first embodiment.

The mobile body 10 includes a communication unit 20, a storage unit 21, and a control unit 22. These components are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, some or all of these components are hardware such as LSI (Large Scale Integrated circuit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by the circuit part (including circuitry), or it may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD (Hard Disk Drive) or a flash memory, or a removable storage such as a DVD or a CD-ROM. It is stored in a medium (non-transient storage medium), and may be installed in the storage device by mounting the storage medium in the drive device. The storage device is composed of, for example, an HDD, a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), a RAM (Random Access Memory), or the like.

The communication unit 20 sends and receives information to and from each communication processing unit 11-m via the communication network NW.

The storage unit 21 stores in advance the movement route to which the moving body 10 moves. This movement route is, for example, information indicating which node 12 of the plurality of nodes 12 passes through to reach the destination, and is an operation plan of the moving body 10. For example, the movement route is information such as a node 12 scheduled to pass (hereinafter, referred to as “a node scheduled to pass”) and which node to pass through in what order.

Further, the storage unit 21 stores identification information (for example, ID (identification)) that can identify the moving body 10.

The control unit 22 controls the operation of the moving body 10. The control unit 22 autonomously causes the moving body 10 to travel to the destination while moving between the nodes 12 based on the movement route stored in the storage unit 21. The control unit 22 calculates the scheduled passage time to pass through the planned passage node based on the movement route stored in the storage unit 21. Then, the control unit 22 makes a reservation application for passing through the planned passage node to the communication processing unit 11 corresponding to the planned passage node, respectively. Here, the reservation application includes the identification information stored in the storage unit 21 and the scheduled transit time.

Here, the control unit 22 may calculate the scheduled passage time of all the scheduled passage nodes, or calculate the scheduled passage time of only the scheduled passage node through which the moving body 10 passes from the present to a predetermined time ahead. May be good. This predetermined time is set by an experiment or the like within a range in which an error between the scheduled passage time and the passage time actually passed by the moving body 10 can be tolerated. For example, the control unit 22 calculates the scheduled passage time only for each scheduled passage node (hereinafter referred to as “target node”) that passes within a few seconds ahead, and passes the target node at the calculated scheduled passage time. A reservation application is made to each of the communication processing units 11 corresponding to each target node.

FIG. 5 is a diagram illustrating a target node of the first embodiment. In the example shown in FIG. 5, the node 12-2, the node 12-3, and the node 12-4 are described as the planned passage nodes of the mobile body 10-1 occupying the node 12-1. Here, for example, it is assumed that the node to be passed through by the moving body 10-1 within 20 seconds from the present is the target node. In the example shown in FIG. 5, the scheduled passage time of the node 12-2 is 2 seconds to 10 seconds later, the scheduled passage time of the node 12-3 is 10 seconds to 18 seconds later, and the scheduled passage time of the node 12-4 is The scheduled passage time is 20 to 26 seconds later. Therefore, the target nodes are only node 12-2 and node 12-3. Therefore, the moving body 10-1 makes a reservation application including the identification information of the moving body 10-1 and the scheduled passage time (after 2 seconds to 10 seconds) to the communication processing unit 11-2 via the communication network NW. A reservation application including the identification information of the moving body 10-1 and the scheduled passage time (10 seconds to 18 seconds later) is submitted to the communication processing unit 11-3 via the communication network NW. When the mobile body 10-1 moves to the node 12-2 or the node 12-3, the mobile body 10-1 newly determines the target node and makes a reservation application to the target node.

As a result of the reservation application, if the reservation application is accepted by the communication processing unit 11, the control unit 22 controls the operation of the moving body 10 so as to pass through the scheduled passage node on the scheduled passage time. On the other hand, when the reservation application is not accepted and the communication processing unit 11 instructs the change of the operation as a result of the reservation application, the control unit 22 changes the operation of the mobile body 10 according to the instruction.

Hereinafter, a configuration example of the communication processing unit 11 according to the first embodiment will be described with reference to FIG. FIG. 6 is a diagram showing a configuration example of the communication processing unit 11 according to the first embodiment. In addition, each configuration of the communication processing unit 11-m may be distinguished from others by adding "-m".

The communication processing unit 11 includes a communication unit 30, a storage unit 31, a determination unit 32, and an instruction unit 33. These components are realized by, for example, a hardware processor such as a CPU executing a program (software). Further, some or all of these components may be realized by hardware such as LSI, ASIC, FPGA, GPU (circuit unit; including circuitry), or realized by collaboration between software and hardware. May be done. The program may be stored in advance in a storage device such as an HDD or a flash memory (a storage device including a non-transient storage medium), or a removable storage medium (non-transient) such as a DVD or a CD-ROM. It is stored in a sex storage medium), and may be installed in the storage device by mounting the storage medium in the drive device. The storage device is composed of, for example, an HDD, a flash memory, an EEPROM, a ROM, a RAM, or the like.

The communication processing unit 11 may be arranged as a device including a small microcomputer or the like at an actual site, or may be virtually configured as a management node on the cloud.

The communication unit 30 transmits / receives information to / from the communication unit 20 of each mobile body 10 via the communication network NW.

The storage unit 31 stores the reservation application information (hereinafter referred to as "reservation information") received by the communication processing unit 11.

The determination unit 32 determines whether or not there is a time zone in which some or all of the scheduled passage times for which reservations have been applied from each of the plurality of moving objects 10 overlap. For example, the determination unit 32 receives the reservation application applied from the mobile body 10 via the communication unit 30. The determination unit 32 confirms whether or not the scheduled passage time of the received reservation application does not overlap with the scheduled passage time of the reservation information stored in the storage unit 31 (hereinafter, referred to as “reserved time”). ..

In the following description, "duplicate" means that at least a part, that is, a part or a whole overlaps. When the determination unit 32 determines that the scheduled passage time of the received reservation application does not overlap with the reserved time, the determination unit 32 accepts the reservation application and stores the received reservation application information in the storage unit 31-m. do. On the other hand, the determination unit 32 determines that the moving bodies 10 may collide with each other when the scheduled passage time of the received reservation application overlaps with the reserved time.

When the determination unit 32 determines that the moving bodies 10 may collide with each other, the determination unit 32 performs a collision type determination for determining an assumed collision type. Here, the types of collisions are, for example, a soft conflict in which a collision can be avoided by a temporary standby of one of a plurality of colliding moving bodies 10, and a hard conflict in which a collision cannot be avoided by the temporary waiting. Is either. For example, the determination unit 32 acquires information on each movement path from a plurality of moving bodies 10 that may collide, and determines the type of collision depending on whether or not the moving body 10 of the collision partner exists on the moving path. You may judge.

When the determination unit 32 determines that there is a possibility of collision, the instruction unit 33 temporarily refers to at least one or more moving bodies 10 among the plurality of moving bodies 10 having the possibility of collision. Instruct to wait or change route.

For example, when the type of collision determined by the determination unit 32 is a soft conflict, the instruction unit 33 instructs the moving body 10 whose reservation application is late to wait temporarily. On the other hand, when the type of collision determined by the determination unit 32 is a hard conflict, the instruction unit 33 refers to at least one or more moving objects 10 among the plurality of moving objects 10 that may collide with each other. Instruct to change the route. Here, the instruction unit 33 may determine the moving body 10 to execute the route change, or may determine between the moving bodies 10. For example, in the case of a hard conflict, the instruction unit 33 may instruct the moving body 10 whose reservation application is late to change the route. Further, the instruction unit 33 notifies the plurality of moving bodies 10 that may collide with information instructing the change of the moving route, and the moving body 10 that changes the route among the plurality of moving bodies 10. May be decided. In this case, the moving bodies 10 communicate with each other, and one of the moving bodies 10 changes the moving route according to a preset rule.

Hereinafter, the collision determination according to the first embodiment will be described with reference to FIG. 7. FIG. 7 is a diagram illustrating a collision determination according to the first embodiment.

For example, as an example shown in FIG. 7, the storage unit 21-4 of the communication processing unit 11-4 contains the identification information of the moving body 10-1 and the scheduled passage time t1 of the node 12-4 (40 seconds after the present). It is assumed that the reservation information having is stored. Here, the scheduled transit time t1 (40 seconds after the present) is a reserved time. Then, it is assumed that the mobile body 10-2 calculates the scheduled passage time t2 (18 seconds to 26 seconds later) of the node 12-4 from the movement route, and makes a reservation application to the communication processing unit 11-4. In this case, the determination unit 32-4 compares the scheduled passage time t1 stored in the storage unit 21-4 with the scheduled passage time t2 from the moving body 10-2, and checks whether the times overlap each other. Judge whether or not. In this example, since the scheduled passage time t2 overlaps with the scheduled passage time t1, the determination unit 32-4 determines that a collision between the moving body 10-1 and the moving body 10-2 may occur. do.

Next, the soft conflict and the hard conflict will be described with reference to FIG. FIG. 8A shows an example of a soft conflict. FIG. 8A shows an example of a hard conflict. The solid line indicates the movement path of the moving body 10-1, and the dotted line indicates the moving path of the moving body 10-2.

For soft conflicts, for example, three patterns as shown in FIG. 8A can be considered. In any pattern, there is a possibility that the moving body 10-1 and the moving body 10-2 collide with each other at the node 12-1, but if any node 12 temporarily waits on the spot, the collision can be avoided. Is. That is, if the scheduled passage time of the node 12-1 in the moving body 10-1 and the scheduled passing time of the node 12-1 in the moving body 10-2 can be shifted without overlapping, the moving body 10-1 and the moving body 10-1 can be moved. It is possible to avoid a collision with the body 10-2-.

For hard conflicts, for example, three patterns as shown in FIG. 8B can be considered. In any of the patterns, the colliding partner's moving body 10 exists on each other's moving path. In this case, even if any of the moving bodies 10 temporarily waits, the collision cannot be avoided as long as the moving body 10 of the collision partner exists on the moving path. Therefore, for example, among the moving body 10-1 and the moving body 10-2, the event that the moving body 10 of the collision partner exists on each other's moving body by changing the moving body 10 of the moving body 10 Eliminate. This makes it possible to avoid a collision between the moving body 10-1 and the moving body 10-2.

Hereinafter, the flow in which the mobile body 10 according to the first embodiment carries materials will be roughly described. FIG. 9 is a diagram illustrating a flow in which the moving body 10 carries materials. The flow shown in FIG. 9 may be, for example, a case where a plurality of moving bodies 10 and an elevator 100 in the site cooperate to transport materials to various floors.

First, the user operates a communication information terminal (for example, a computer, a smartphone, a tablet terminal, etc.) to set a plurality of materials to be carried by the mobile body 10 (FIG. 9A). Then, the user operates the communication information terminal to select which mobile body 10 carries which material from the set plurality of materials (FIG. 9 (b)). The mobile body 10 to which the material transportation task is assigned loads the designated material (FIG. 9 (c)), moves along the movement route to the destination, and transports the designated material to the destination. For example, the moving body 10 on the 1st floor carries the material to the elevator 100 (FIG. 9 (d)). When the material is brought in, the elevator 100 rises to, for example, the 4th floor (FIG. 9 (e)). When the elevator 100 arrives at the 4th floor, the elevator 100 directly or indirectly notifies the moving body 10 on the 4th floor. Upon receiving the notification, the mobile body 10 on the 4th floor loads the materials from the elevator 100 and transports them to the destination (FIG. 9 (f)). The moving body 10 that has finished transporting executes the task if a new task is assigned, and returns to the waiting place if it is not assigned.

Hereinafter, the flow of operation of the moving body 10 according to the first embodiment will be described. FIG. 10 is a flowchart of the operation of the moving body 10 according to the first embodiment.

Based on the movement route stored in the storage unit 21, the moving body 10 calculates the scheduled passage time of only the target node, which is the node 12 through which the moving body 10 passes from the present to a predetermined time ahead (step S101). .. Then, the mobile body 10 makes a reservation application for passing through the target node at the calculated scheduled passage time to each of the communication processing units 11 corresponding to each target node (step S102). After making the reservation application, the mobile body 10 determines whether or not there is an instruction from the communication processing unit 11 (step S103).

After making a reservation application, the mobile body 10 starts moving or continues moving according to the moving route if there is no instruction from the communication processing unit 11 (step S104). on the other hand,
When the mobile body 10 receives an instruction from the communication processing unit 11 after making a reservation application, the mobile body 10 changes its operation according to the instruction. For example, when the mobile body 10 receives an instruction from the communication processing unit 11, the mobile body 10 determines whether the instruction is a temporary standby instruction or an instruction to change the movement route (step 105). When the mobile body 10 receives an instruction for temporary standby from the communication processing unit 11 after making a reservation application, the mobile body 10 temporarily waits on the spot (step S106). The temporary wait instruction may include a wait time. In this case, the moving body 10 moves according to the moving route after waiting until the waiting time included in the instruction elapses. When starting the movement after the temporary standby, the moving body 10 returns to step S101 and performs a process of making a reservation application.

When the moving body 10 receives an instruction to change the movement from the communication processing unit 11 after making a reservation application, the moving body 10 communicates with the moving body 10 of the collision partner to determine the moving body 10 to change the movement. The movement change instruction from the communication processing unit 11 includes information (for example, identification information) indicating the moving body 10 of the collision partner, and the moving body 10 moves the collision partner based on this information. The body 10 can be identified. For example, the moving body 10 communicates with the moving body 10 of the collision partner and determines whether or not to change the moving route based on a predetermined rule.

Note that this predetermined rule is not particularly limited as long as it can determine the moving body 10 for which the moving route is changed, and the content of the rule is not particularly limited. When the collision partner changes the movement path, the moving body 10 continues to move on its own movement path. On the other hand, when the moving body 10 itself changes the moving route, the moving body 10 changes the moving route stored in the storage unit 21 to a moving route for avoiding a collision (step S107), and based on the changed moving route. Apply for a reservation again.

Hereinafter, the operation flow of the communication processing unit 11 according to the first embodiment will be described. FIG. 11 is a flowchart of the operation of the communication processing unit 11 according to the first embodiment.

When the communication processing unit 11-m receives the reservation application from the moving body 10 (step S201), whether or not the scheduled passage time of the reservation application overlaps with the reserved time stored in the storage unit 21-m. Is determined (step S202). When the scheduled passage time of the reservation application does not overlap with the reserved time, the communication processing unit 11-m accepts the reservation application and stores the reservation application information in the storage unit 21-m (step S203). When the scheduled passage time of the reservation application overlaps with the reserved time, the communication processing unit 11-m reserves the passage of the moving body 10 that made the reservation application and the node 12-m at the reserved time. It is determined that there is a possibility of collision with the moving body 10 (step S204), and the type of the collision is determined (step S205).

For example, in step S205, the communication processing unit 11-m acquires information on the movement paths of the two moving bodies 10 that may collide with each other via the network NW, and the moving body 10 of the collision partner is on the moving path. Determines if is present.

For example, when two moving bodies 10 that may collide are a moving body 10-1 and a moving body 10-2, the communication processing unit 11-m may use the moving body 10-1 and the moving body 10-. The current position of 2 and the movement path of the moving body 10-1 (hereinafter referred to as "first moving path") and the moving path of the moving body 10-2 (hereinafter referred to as "second moving path") are referred to. get. The current position is information on the node 12 on which the moving body 10 is located. The communication processing unit 11-m (determination unit 32-m) has a first determination process for determining whether or not the moving body 10-2 exists on the first moving path, and a moving body 10 on the second moving path. The second determination process of determining whether or not -1 exists is executed. As a result of the first determination process and the second determination process, the communication processing unit 11-m determines that the moving body 10-2 exists on the first moving path and the moving body 10-1 exists on the second moving path. If it is determined, it is determined that the collision is a hard conflict, and if it is not, it is determined that the collision is a soft conflict.

When the communication processing unit 11-m determines that the type of collision is a soft conflict, the communication processing unit 11-m instructs the moving body 10 of the person who applied for the reservation later to temporarily wait (step S206). When the communication processing unit 11-m determines that the type of collision is a hard conflict, the communication processing unit 11-m instructs two moving bodies 10 that may collide to change the movement route (step S207).

As described above, the mobile system 1 according to the first embodiment includes a plurality of mobile bodies 10 and a plurality of communication processing units 11. The mobile body 10 moves between a plurality of nodes 12 in a certain area, and the operation can be changed at the node 12. The communication processing unit 11 can communicate with the mobile body 10 and is provided corresponding to each node 12. Then, the mobile body 10 communicates with the communication processing unit 11 corresponding to the node scheduled to pass, which is the node scheduled to pass 12. More specifically, the scheduled passage time to pass through the scheduled passage node is calculated, and the reservation application (communication) for passing through the scheduled passage node at the scheduled passage time is sent to the communication processing unit 11 corresponding to the scheduled passage node. conduct. The communication processing unit 11 instructs at least one or more of the plurality of moving bodies 10 to temporarily wait or change the route based on each scheduled passage time for which reservation is applied from each of the plurality of moving bodies 10. do.

With such a configuration, since each of the plurality of moving bodies 10 autonomously determines the action, the movement of the moving body can be continued without setting a limit on the number.

Here, it is not guaranteed that a robot that operates in the field will operate in a predetermined time with a predetermined motion plan due to communication delay or the like. Therefore, in the conventional method of centrally managing the management and control of the movements of multiple robots with a computer or the like, the delay in the movement of one robot affects the movement planning of other robots. In each case, the centralized computer needs to re-plan the operation plans of all other robots. As a result, an event may occur in which the operation of a plurality of robots must be stopped for a long period of time, and the operation of the robots may not be continued.

In the first embodiment, the management and control of the movements of the plurality of robots can be centrally managed by a computer or the like, and each of the plurality of moving bodies 10 can act autonomously to avoid a collision. Even if one moving body 10 fails, the operation of the moving body 10 can be continued.

Further, in the first embodiment, the mobile system 1 may make a reservation application only to the planned transit nodes scheduled to pass from the present to a predetermined time ahead, instead of all the planned transit nodes. good. The scheduled passage time exceeding the predetermined time may deviate from the actual passage time due to an error in the operation of the moving body 10. Therefore, the mobile system 1 can perform more accurate passage management of the mobile body 10 by limiting the planned passage nodes for which reservation applications are made to a predetermined time ahead.

<Second embodiment>
The mobile system 1A of the second embodiment will be described. In the following description, parts having the same functions as those described in the first embodiment will be given the same names and reference numerals, and specific description of the functions will be omitted.

FIG. 12 is a schematic configuration diagram of the mobile system 1A according to the second embodiment. The mobile system 1A includes a plurality of mobile bodies 10A-1 to 10A-n and a plurality of communication processing units 11A-1 to 11A-k. When each of the plurality of moving bodies 10A-1 to 10A-n is not distinguished, it is referred to as "moving body 10A". When each of the plurality of communication processing units 11A-1 to 11A-k is not distinguished, it is referred to as "communication processing unit 11A".

The moving body system 1A determines the number of moving bodies 10A that can enter the second path R2 that cannot be patrolled from the patrollable first path R1 among the paths that the moving body 10A can move, as compared with the first embodiment. It differs in that it has a limiting function.

FIG. 13 is a diagram illustrating the first path R1 and the second path R2. For example, in the example shown in FIG. 13, nodes 12-1 to 12-10 are arranged in a certain area. Of the nodes 12-1 to 12-10, the first path R1 is formed by the nodes 12-1 to 12-7. The first route R1 is a route without a terminal node and can be patrolled by the mobile body 10. The terminal node is a node 12 to which only one node 12 is connected. In other words, the first path R1 is a collection of nodes 12 that can form a detour. Of the nodes 12-1 to 12-10, the second path R2 is formed by the node 12-1, the node 12-8, the node 12-9, and the node 12-10. The second route R2 is a route having a terminal node and cannot be patrolled by the mobile body 10A. In other words, the second path R2 is a collection of nodes 12 that cannot form a detour. In the example shown in FIG. 13, the terminal nodes are node 12-9 and node 12-10.

When a plurality of conventional moving objects enter the second route R2, even if one or more moving objects in the second path R2 temporarily stand by, it may not be possible to avoid collisions between the moving objects. The mobile system 1A of the second embodiment limits the number of mobile bodies 10A that can enter the second path R2 to a number that can avoid collisions between the mobile bodies 10A. Thereby, the mobile body system 1A can suppress the collision between the moving bodies in the second path R2. Hereinafter, a configuration example of the mobile system 1A according to the second embodiment will be described.

The plurality of moving bodies 10A move in a certain area in the same manner as the moving body 10. The moving body 10A will be described by exemplifying a transport vehicle for transporting building materials and the like, but the present invention is not limited to this, and any mobile body 10A may be used as long as it can move within a certain area. For example, the mobile body 10A may be a small flying object such as a drone. Further, the moving body 10A may be a robot used for civil engineering work or construction work, and may be, for example, a heavy-duty vehicle, a shovel car, a bulldozer, or a crane car. The mobile body 10A may be manned or unmanned. A movement route (destination information) to a target place is set in advance in each moving body 10A.

When the mobile body 10A enters the second route R2, it transmits an entrance request to the communication processing unit 11A corresponding to the node 12 of the second route R2. The mobile body 10A enters the second route R2 when the transmitted admission request is permitted.

Each communication processing unit 11A has a function of passing management of the communication processing unit 11 described in the first embodiment. The communication processing unit 11A can communicate with each mobile body 10A via the communication network NW, and is provided corresponding to each node 12. The installation position of the communication processing unit 11A is the same as that of the communication processing unit 11 described in the first embodiment.

The communication processing unit 11A identifies the second path R2 where the dead end of the mobile body 10A occurs. The communication processing unit 11A corresponding to the node 12 (hereinafter referred to as “entrance / exit management node”) connected from the first route R1 to the second route R2 determines the number of moving objects 10A that can enter the specified second route R2. , The entrance / exit management is performed to limit the number of collisions between the moving bodies 10A in the second path R2 to an avoidable number. In the example shown in FIG. 13, the entrance / exit management node is node 12-1. The number of mobile bodies 10A that can avoid collisions is, for example, less than or equal to the number of terminal nodes included in one second path R2. In the example shown in FIG. 13, the number of moving bodies 10A that can avoid collisions is 2 or less. The identification of the second path R2 is executed, for example, before the movement of the moving body 10A is started.

When the communication processing unit 11A in the second path R2 determines that the two moving bodies 10A in the second path R2 may collide with each other, one of the two moving bodies 10A By issuing an interrupt instruction to the moving body 10A, the first evacuation process for moving one moving body 10A in a direction avoiding a collision with the other moving body 10A is executed. After executing the first evacuation process, the communication processing unit 11A moves one to a temporary evacuation destination, which is a node 12 capable of avoiding a collision with the other moving object 10A based on the destination information of the other moving object 10A. The second evacuation process for moving the body 10A is executed.

(Specification of the second route R2)
Hereinafter, a method for specifying the second path R2 of the present embodiment will be described. First, with reference to FIG. 13, the outline of the method for specifying the second path R2 will be described.

Information on whether or not the node 12 having a one-to-one correspondence is a terminal node is preset in the communication processing unit 11A. When the node 12-m is a terminal node, the communication processing unit 11A-m has a node 12- with respect to the communication processing unit 11A corresponding to the node 12 connected adjacent to the terminal node. A notification indicating that m is a dead-end node (hereinafter referred to as "dead-end notification") is performed. The dead-end node is a node 13 that forms a route that cannot be detoured. This dead end node contains the terminating node. The dead end notification may include the identification information of the node 12 which is a dead end node.

In the example shown in FIG. 13, the terminal nodes are dead-end nodes 12-9 and nodes 12-10. Nodes 12-9 are adjacent to and connected to nodes 12-8. Therefore, the communication processing unit 11A-9 notifies the communication processing unit 11A-8 of the dead end of the node 12-9. Nodes 12-10 are adjacent to and connected to nodes 12-8. Therefore, the communication processing unit 11A-10 notifies the communication processing unit 11A-8 of the dead end of the node 12-10.

Upon receiving the dead-end notification, the communication processing unit 11A-8 determines whether or not there are two or more nodes 12 that are not dead-end nodes among the connection destinations of the nodes 12-8 that have a one-to-one correspondence. Make a dead end node judgment. The connection destination of the node 12 is a node 12 connected adjacent to the node 12-8. In the example shown in FIG. 13, only node 12-1 is connected to node 12-8 as a node 12 that is not a dead end node. Therefore, node 12-8 is a dead end node. In this case, the communication processing unit 11A-8 notifies the communication processing unit 11A-1 corresponding to the node 12-1 of a dead end.

When the communication processing unit 11A-1 receives the dead end notification, as with the communication processing unit 11A-8, whether or not there are two or more nodes 12 that are not dead end nodes in the connection destination of the node 12-1. Is determined. In the example shown in FIG. 13, node 12-2 and node 12-7 are connected to node 12-1 as a node 12 that is not a dead end node. When the communication processing unit 11A-1 determines that there are two or more nodes 12 that are not dead-end nodes, the communication processing unit 11A-1 sets the node 12-1 as an entry / exit management node. In this case, the dead end node and the entrance / exit management node are set as the second path R2. In other words, node 12-10, node 12-9, node 12-8 and node 12-1 are grouped as one second path R2. The information of the second path R2 may be stored in a plurality of communication processing units 11A-1 and 11A-8 to 11A-10 corresponding to each of all the nodes 12 constituting the second path R2 on a one-to-one basis. .. For example, the plurality of communication processing units 11A-1 may transmit information on the second path R2 to the communication processing units 11A-8 to 11A-10.

Next, a specific example of the method for specifying the second path R2 will be described with reference to FIG.

As shown in FIG. 14, node 12-20 and node 12-21 are terminal nodes. First, the communication processing unit 11A-20 transmits a dead end notification of the node 12-20 to the communication processing unit 11A-22 corresponding to the node 12-22 connected adjacent to the node 12-20.

When the communication processing unit 11A-22 receives the dead end notification of the node 12-20, the communication processing unit 11A-22 determines the dead end node for the node 12-22. Nodes 12-22 are connected only to nodes 12-24 as nodes other than dead-end nodes. Therefore, node 12-22 is a dead end node. The communication processing unit 11A-22 transmits a dead end notification to the nodes 12-24.

The communication processing unit 11A-21 transmits a dead end notification to the communication processing unit 11A-23 corresponding to the node 12-23 connected adjacent to the node 12-21. Upon receiving the dead end notification, the communication processing unit 11A-23 determines the dead end node for the nodes 12-23. As the node 12-23, two nodes 12 of the node 12-24 and the node 12-23 are connected as a node other than the dead end node. Therefore, the nodes 12-23 are determined to be entry / exit management nodes. That is, the node 12-21 and the node 12-23 are set as a group constituting one second path R2-1.

The communication processing unit 11A-22 transmits a dead end notification to the communication processing unit 11A-24 corresponding to the node 12-24. Upon receiving the dead end notification, the communication processing unit 11A-24 determines the entry / exit management node for the nodes 12-24. Node 12-24 is a dead-end node to which only node 12-23 is connected as a node other than the dead-end node. The communication processing unit 11A-24 transmits a dead end notification of the node 12-24 to the communication processing unit 11A-23 corresponding to the node 12-23.

When the communication processing unit 11A-23 receives the dead end notification of the node 12-24, the communication processing unit 11A-23 determines the dead end node for the node 12-23. Here, node 12-21 and node 12-24 are dead-end nodes. Therefore, the communication processing unit 11A-23 determines that only the node 12-25 is connected to the node 12-23 as a node other than the dead end node. That is, the communication processing unit 11A-23 determines that the node 12-23 is a dead-end node. However, the communication processing unit 11A-23 has already been set as the second path R2-1 because the node 12-23 is not a dead-end node. Therefore, the communication processing unit 11A-23 eliminates the group of the second path R2-1. The communication processing unit 11A-23 notifies the communication processing unit 11A-25 of the dead end of the node 12-23.

The communication processing unit 11A-25 determines the dead end node of the node 12-25. The communication processing unit 11A-25 determines that only the node 12-26 is connected to the node 12-25 as the node 12 other than the dead-end node. In other words, the communication processing unit 11A-25 determines that the node 12-25 is a dead end node. The communication processing unit 11A-25 notifies the communication processing unit 11A-26 of the dead end of the node 12-25.

When the communication processing unit 11A-26 receives the dead-end notification of the node 12-25, the communication processing unit 11A-26 determines the dead-end node for the node 12-26. Nodes 12-27 and 12-29 are connected to nodes 12-26 as nodes other than dead-end nodes. Therefore, the communication processing unit 11A-26 determines that the nodes 12-26 are not dead-end nodes. In other words, the communication processing unit 11A-26 determines that the nodes 12-26 are entry / exit management nodes. As a result, the nodes 12-20 to the nodes 12-20, which have been determined as dead-end nodes, and the node 12-26, which is an entrance / exit management node, are set as a group constituting one second path R2-2.

(Flow of setting of the second path R2)
Next, the operation flow of the communication processing unit 11A that has received the dead end notification will be described with reference to FIG. FIG. 15 is a flowchart of the communication processing unit 11A that has received the dead end notification.

Upon receiving the dead-end notification, the communication processing unit 11A determines whether or not there are two or more nodes 12 that are not dead-end nodes among the connection destinations of the nodes 12 that have a one-to-one correspondence. (Step S301). When the communication processing unit 11A determines that there are no two or more nodes 12 that are not dead-end nodes, the communication processing unit 11A determines that the node 12 having a one-to-one correspondence is a dead-end node. Only one node 12, which is not a dead-end node, is connected to the dead-end node. When the node 12 having a one-to-one correspondence is a dead-end node, the communication processing unit 11A notifies the communication processing unit 11A of the node 12 which is not a dead-end node connected to the node 12 of the dead-end. Is transmitted (step S302).

When the communication processing unit 11A determines in step S301 that there are two or more nodes 12 that are not dead-end nodes, the communication processing unit 11A determines that the node 12 having a one-to-one correspondence is the entry / exit management node. In this case, the node 12 from the terminal node to the entry / exit management node is grouped, and the grouped node group is set as the second path R2 (step S303).

(Entry / exit management of the second route R2)
The entry / exit management of the second route R2 in the present embodiment will be described below. First, with reference to FIG. 16, the outline of the entrance / exit management of the second route R2 will be described.

In the example shown in FIG. 16, the nodes 12-30 to 12-33 are grouped as the second path R2-3. Nodes 12-33 are entry / exit management nodes for the second route R2-3. The communication processing unit 11A-34 controls the number of mobile bodies 10A existing in the second path R2-3. The communication processing unit 11A-33 manages the mobile body 10A that enters the second route R2-3 and the mobile body 10A that exits from the second route R2-3. The communication processing unit 11A-33 manages the number of moving bodies 10A existing in the second path R2-3, and the number of moving bodies 10A entering in the second path R2-3 becomes a certain number or more. Is being prevented. The communication processing unit 11A-33 may also manage the identification information of the mobile body 10A existing in the second path R2-3.

The communication processing unit 11A-33 determines whether or not the mobile body 10A permits entry to the second path R2-3 when the mobile body 10A enters the second path R2-3. As an example, the communication processing unit 11A-33 allows only one mobile body 10A to input to the second path R2-3. When one mobile body 10A exists in the second path R2-3, the communication processing unit 11A-33 refuses to enter the second and subsequent mobile bodies 10A-3. For example, as illustrated in FIG. 16, the mobile body 10A-1 exists in the second path R2-3. The communication processing unit 11A-33 manages the number of mobile bodies 10A existing in the second path R2-3. Upon receiving the admission request from the mobile body 10A-2 to the second route R2-3, the communication processing unit 11A-33 confirms the number of the mobile body 10A existing in the second route R2-3. The admission request may be, for example, a reservation application.

Since the moving body 10A-1 exists in the second path R2-3, the communication processing unit 11A-33 refuses the moving body 10A-2 to enter the second path R2-3 and moves. Have body 10A-2 wait in front of the second path R2-3. In the example shown in FIG. 16, the communication processing unit 11A-33 communicates with the mobile body 10A-2 and has the node 12-34 stand by. When the mobile body 10A-1 leaves the second route R2-3, the communication processing unit 11A-33 permits the mobile body 10A-2 to enter. For example, when the communication processing unit 11A-33 permits the moving body 10A-2 to enter the second path R2-3, the communication processing unit 11A-33 allows the moving body 10A-2 to enter the second path R2-3. A permission signal indicating that permission is permitted is transmitted to the moving body 10A-2. Upon receiving the permission signal, the mobile body 10A-2 starts entering the second path R2-3.

In addition, when the moving body 10A-2 exists in the second path R2-3, the moving body 10A-2 is a communication processing unit if the moving body 10A goes through the second path R2-3 instead of entering the second path R2-3. It is not necessary to receive the permission signal from 11A-33. That is, the mobile body 10A-2 can move without transmitting an entrance request if it only passes through the entrance / exit management node. In the example shown in FIG. 16, if the moving body 10A-2 passes through the node 12-34, the node 12-33, and the node 12-36 in this order, the admission request is not transmitted to the communication processing unit 11A-33. It may go through nodes 12-33.

The communication processing unit 11A-33 may allow not only one mobile body 10A but also a plurality of mobile bodies 10A to enter the second path R2-3. For example, the communication processing unit 11A-33 may allow the entry of a plurality of mobile bodies 10A up to the number of terminal nodes in the second path R2-3. When a plurality of moving bodies 10A enter the second path R2, a node 12 where the two paths intersect (hereinafter referred to as "intersection node") is used to avoid collision between the moving bodies 10A in the second path R2. The communication processing unit 11A corresponding to)) can manage the entry / exit of the moving body 10A with respect to the crossing node. For example, entry / exit management of an intersection node is to control the number of moving bodies 10A passing through the intersection node and the direction of passage.

(Flow of entrance / exit management in the second route R2)
Next, the flow of the operation of the entrance management by the communication processing unit 11A of the entrance / exit management node will be described with reference to FIG. FIG. 17 is a flowchart of the operation of entrance management by the communication processing unit 11A of the entrance / exit management node.

The communication processing unit 11A determines whether or not an admission request has been received from the mobile body 10A (step S401). If the communication processing unit 11A has not received the admission request from the mobile body 10A, the communication processing unit 11A returns to the processing of step S401. When the communication processing unit 11A receives an admission request from the mobile body 10A, whether or not the number of mobile bodies 10A existing in the second path R2 is smaller than the number of terminal nodes in the second path R2. Is determined (step S402). When the number of mobile bodies 10A existing in the second path R2 is smaller than the number of terminal nodes in the second path R2, the communication processing unit 11A permits entry of the mobile body 10A (step S403). .. When the number of mobile bodies 10A existing in the second path R2 is the number of terminal nodes in the second path R2, the communication processing unit 11A refuses to enter the mobile body 10A (step S404).

(Entry / exit management of crossing nodes)
The entry / exit management of the crossing node according to the present embodiment will be described below. First, with reference to FIG. 18, the entrance / exit management of the intersection node will be described.

The second path R2-4 shown in FIG. 18 has four terminal nodes of node 12-44, node 12-47, node 12-52, and node 12-53. The entry / exit management node of the second route R2-4 is the node 12-41. When the communication processing unit 11A-41 of the node 12-41 receives an admission request from the moving body 10A into the second path R2-4, the moving body 10A in the second path R2-4 is the second path. The admission of the moving body 10A is permitted on condition that the number of nodes is less than the number of terminal nodes in R2-4. Therefore, up to four mobile bodies 10A can exist at the same time in the second path R2-4.

The intersecting nodes of the second route R2-4 are nodes 12-43, nodes 12-45, and nodes 12-49. Therefore, the communication processing unit 11A-43, the communication processing unit 11A-45, and the communication processing unit 11A-49 each execute the entry / exit management of the corresponding node 12 on a one-to-one basis. For example, the communication processing unit 11A of the crossing node manages the entrance / exit of the crossing node according to the number of terminal nodes after the connection destination of the crossing node. For example, the communication processing unit 11-43 manages the number of moving bodies 10A that are allowed to go to the node 12-44 on the left side to one, and the moving body 10A that is allowed to go to the node 12-45 on the upper side. Manage the number to 3 units.

Here, it is assumed that three mobile bodies 10A already exist in a plurality of nodes 12 above the nodes 12-43. In this case, when the new moving body 10A tries to move upward via the node 12-43, the communication processing unit 11A-43 does not allow the passage of the node 12-43 and refers to the moving body 10A. , Order to wait at the current position. With such a configuration, the node 12 on which the mobile body 10A can be temporarily evacuated is secured. As a result, it becomes possible to eliminate the hard conflict in the second path R2.

(Flow of admission management for crossing nodes)
Next, the flow of the operation of the entrance management by the communication processing unit 11A at the crossing node will be described with reference to FIG. FIG. 19 is a flowchart of the operation of admission management by the communication processing unit 11A at the intersection node.

The communication processing unit 11A-m has a direction in which the moving body 10A can leave from the node 12-m, which is an intersection node (hereinafter, referred to as "exiting direction"), and an upper limit of the number of moving bodies 10A that can move in the leaving direction. Information is stored in advance for each exit direction. The communication processing unit 11A-m determines whether or not an admission request to the crossing node has been received from the mobile body 10A (step S501). When the communication processing unit 11A receives an entry request from the mobile body 10A to the crossing node, the communication processing unit 11A reads the exit direction of the mobile body 10A from the entrance request. The communication processing unit 11A-m determines whether or not the number of moving bodies 10A read in the exit direction is less than the upper limit of the number of moving bodies 10A in the exit direction (step S502). When the number of moving objects 10A in the exit direction read is less than the upper limit of the number of moving objects 10A in the exit direction, the communication processing unit 11A-m permits entry to the intersection node ( Step S503). When the number of moving objects 10A in the exit direction read reaches the upper limit of the number of moving objects 10A in the exit direction, the communication processing unit 11A-m refuses to enter the crossing node (step S504). ).

(Evacuation processing)
The entry / exit management of the crossing node according to the present embodiment will be described below. First, with reference to FIG. 20, the entrance / exit management of the crossing node will be described.

It is assumed that the communication processing unit 11A-69 in the second path R2 detects a hard conflict by using the method described in the first embodiment. When the communication processing unit 11A-69 detects a hard conflict between the moving body 10A-1 and the moving body 10A-2, the communication processing unit 11A-69 asks the moving body 10A-2 to move to the node 12-71 which is an intersection node. The first evacuation process requested to is executed. Upon receiving the request, the mobile body 10A-2 starts moving to the node 12-71. After the moving body 10-2 completes the movement to the node 12-71, the communication processing unit 11A-71 transmits a temporary evacuation destination capable of avoiding a collision with the moving body 10A-1 to the moving body 10A-2. 2 Execute the save process. The communication processing unit 11A-71 may determine, for example, a temporary evacuation destination of the mobile body 10A-2 based on the movement path of the mobile body 10A-1. In the example shown in FIG. 20, the temporary evacuation destination is, for example, nodes 12-72. Upon receiving the information on the temporary evacuation destination, the mobile body 10A-2 starts moving to the temporary evacuation destination. The moving body 10A-1 moves to a target location (for example, node 12-76) while the moving body 10A-2 is moving to the temporary evacuation destination or after the moving body 10A-2 is moved to the temporary evacuation destination. Moving.

Since the number of moving objects 10A existing in the second route R2 is limited by the entrance / exit management of the second route R2, it is guaranteed to secure a temporary evacuation destination. Therefore, the mobile body 10A can reach the destination based on the movement route.

(Flow of evacuation processing)
Next, the flow of the operation of the evacuation process will be described with reference to FIG. FIG. 21 is a flowchart of the operation of the save process.

The communication processing unit 11A determines whether or not there is a possibility of collision between the moving bodies 10A in the second path R2 (step S601). When the communication processing unit 11A determines that there is a possibility of collision between the moving bodies 10A in the second path R2, one of the two moving bodies 10A that may collide is the moving body 10A. An interrupt instruction is given to (step S602). One mobile body 10A is, for example, a mobile body 10A far from the entrance / exit management node. One of the moving bodies 10A that has received the interrupt instruction moves to the node 12 (for example, the crossing node) located in the direction of avoiding the collision. The communication processing unit 11A corresponding to the crossing node of the moving destination determines the temporary evacuation destination of the one moving body 10A based on the information of the moving route of the other moving body 10A (step S603). Then, after the one moving body 10A moves to the crossing node in the direction of avoiding the collision with the other moving body 10A, the communication processing unit 11A of the crossing node temporarily evacuates to the one moving body 10A. The previous information is transmitted (step S604). As a result, one of the moving bodies 10A can move to the temporary evacuation destination, and collisions between the moving bodies 10A are avoided.

As described above, the mobile system 1A according to the second embodiment is the same as the mobile system 1 of the first embodiment, and the mobile body 10A is a communication corresponding to the node to be passed, which is the node to be passed. Communicates with the processing unit 11A. Then, the communication processing unit 11A instructs at least one or more moving bodies 10A among the plurality of moving bodies 10A to temporarily wait or change the route based on the communication with the plurality of moving bodies 10A. More specifically, the number of mobile bodies 10A that the communication processing unit 11A corresponding to the entry / exit management node connected to the first path R1 to the second path R2 can enter in the second path R2 is determined in the second path R2. In, the number is limited to the number in which collisions between moving bodies 10A can be avoided. With such a configuration, the mobile system 1A can avoid collisions and plan a more efficient movement path in the second path R2.

As described above, the embodiment of the present invention has been described in detail with reference to the drawings, but the specific configuration is not limited to this embodiment, and the design and the like within a range not deviating from the gist of the present invention are also included.

Further, the term "... part" described in the specification means a unit for processing at least one function or operation, which may be embodied as hardware or software, or hardware and software. It may be embodied in combination.

Note that all or part of the above-mentioned mobile system 1 may be realized by a computer. In this case, the computer may include a processor such as a CPU and GPU and a computer-readable recording medium. Then, a program for realizing all or a part of the functions of the mobile system 1 on the computer is recorded on the computer-readable recording medium, and the program recorded on the recording medium is read by the processor. It may be realized by executing it. Here, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, or a storage device such as a hard disk built in a computer system. Further, a "computer-readable recording medium" is a communication line for transmitting a program via a network such as the Internet or a communication line such as a telephone line, and dynamically holds the program for a short period of time. It may also include a program that holds a program for a certain period of time, such as a volatile memory inside a computer system that is a server or a client in that case. Further, the above program may be for realizing a part of the above-mentioned functions, and may be further realized for realizing the above-mentioned functions in combination with a program already recorded in the computer system. It may be realized by using a programmable logic device such as FPGA.

1, 1A Mobile system 10, 10A Mobile 11,11A Communication processing unit 12 Node 20, 30 Communication unit 21, 31 Storage unit 22 Control unit 32 Judgment unit 33 Indicator unit

Claims (13)

1. A mobile body that can move between multiple nodes in an area and change its behavior at the node.
   A plurality of communication processing units that can communicate with the mobile body and are provided corresponding to each of the nodes.
   Equipped with
   The moving body communicates with the communication processing unit corresponding to the node to be passed, which is the node to be passed.
   Based on the communication with the plurality of mobile bodies, the communication processing unit instructs at least one or more of the plurality of mobile bodies to temporarily wait or change the route.
   Mobile system.
2. The moving body calculates the scheduled passage time to pass through the scheduled passage node, and makes a reservation application for passing through the scheduled passage node at the scheduled passage time as the communication to the communication processing unit corresponding to the scheduled passage node. Do it against
   When a part or all of the scheduled passage times for which reservations have been made from each of the plurality of moving objects overlap, the communication processing unit has at least one of the plurality of moving objects. Instruct the moving object to wait temporarily or change the route,
   The mobile system according to claim 1.
3. The communication processing unit
   When a part or all of the scheduled passage times overlaps, a determination unit for determining the type of expected collision and a determination unit.
   An instruction unit that instructs at least one or more of the plurality of moving objects to temporarily wait or change the route according to the determination result of the determination unit.
   To prepare
   The mobile system according to claim 2.
4. When the type of collision determined by the determination unit is a collision in which the collision can be avoided by the temporary standby of any of the moving objects, the indicating unit has a time zone in which some or all of the collisions overlap. Of a plurality of reservation applications, the moving body whose reservation application is made later is instructed to temporarily wait.
   The mobile system according to claim 3.
5. When the type of collision determined by the determination unit is a collision in which the collision cannot be avoided due to the temporary standby, the instruction unit has made the reservation application in which a part or all of the scheduled passage time overlaps. Instructing at least one or more of the moving bodies to change the route.
   The mobile system according to claim 4.
6. The planned passage node is the node through which the moving body passes from the present to a predetermined time ahead.
   The predetermined time is set within an allowable range of an error between the scheduled passage time and the passage time actually passed by the moving body.
   The mobile system according to any one of claims 2 to 5.
7. Among the routes on which the moving body can move, the communication processing unit corresponding to the entry / exit management node, which is the node connected to the second route that cannot be patrolled from the first route that can be patrolled, can enter the second route. The number of the moving bodies is limited to a number that can avoid collisions between the moving bodies in the second path.
   The mobile system according to any one of claims 1 to 6.
8. When a part or all of the scheduled passage times of the two moving bodies in the second route overlap, the communication processing unit moves one of the two moving bodies. By giving an interrupt instruction to the body, the one moving body is moved in a direction of avoiding a collision with the other moving body.
   The mobile system according to claim 7.
9. When the one moving body moves to the node in the direction of avoiding a collision with the other moving body, the communication processing unit is based on the destination information of the other moving body. , Instructing the one moving body a temporary evacuation destination, which is a node capable of avoiding a collision with the other moving body.
   The mobile system according to claim 8.
10. The moving body is a robot that transports materials.
    The mobile system according to any one of claims 1 to 9.
11. A mobile body that can move between a plurality of nodes in the area and change its operation in the node, and a plurality of communication processing units that can communicate with the mobile body and are provided corresponding to each node. A method of controlling a mobile system including
    The moving body communicates with the communication processing unit corresponding to the node to be passed, which is the node to be passed.
    Based on the communication with the plurality of mobile bodies, the communication processing unit instructs at least one or more of the plurality of mobile bodies to temporarily wait or change the route.
    Control method.
12. The moving body calculates the scheduled passage time to pass through the scheduled passage node, and makes a reservation application for passing the scheduled passage node at the scheduled passage time as the communication to the communication processing unit corresponding to the scheduled passage node. Do it
    When the communication processing unit overlaps a part or all of the scheduled passage times for which reservations are applied from each of the plurality of moving bodies, at least one of the plurality of moving bodies is described. Instruct the moving object to wait temporarily or change the route,
    The control method according to claim 11.
13. Among the routes on which the moving body can move, the communication processing unit corresponding to the entry / exit management node, which is the node connected to the second route that cannot be patrolled from the first route that can be patrolled, can enter the second route. The number of the moving bodies is limited to a number that can avoid collisions between the moving bodies in the second path.
    The control method according to claim 11 or 12.

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