WO2022190324A1

WO2022190324A1 - Moving system and management device

Info

Publication number: WO2022190324A1
Application number: PCT/JP2021/009875
Authority: WO
Inventors: 琢也小田; 浩二河口; 秀一郎鬼頭
Original assignee: 株式会社Fuji
Priority date: 2021-03-11
Filing date: 2021-03-11
Publication date: 2022-09-15
Also published as: JPWO2022190324A1

Abstract

A moving system according to the present disclosure, which includes a moving body for automatically moving articles in a specific space and delivers the articles, is provided with: a loading unit which can load articles; a projection unit which projects, onto a projection surface that exists in the specific space, a guide line that is read by the moving body when the moving body moves; a drive unit which moves the moving body; and a control unit which controls the projection unit.

Description

Mobile system and management device

This specification discloses a mobile system and a management device.

Conventionally, in a system that automatically moves goods, a projector that is installed on the ceiling projects a guidance image including a guidance line that guides an automatic guided vehicle onto the road surface, and an in-vehicle camera analyzes and guides the image of the road surface. An automated guided vehicle that detects a guide line in an image and moves along the guide line has been proposed (see, for example, Patent Document 1). This system enables automatic guided vehicles to move without laying guidance lines. Also, in a system for automatically moving articles, when one or more robot devices execute one or more tasks, when data for developing the tasks is received, a map is updated based on this data and the tasks are executed. It has been proposed (see, for example, Patent Document 2). The system claims to be able to move items using updated maps. In addition, as a system for automatically moving items, we have proposed a system that has an automatic guided vehicle that transports items, updates the map based on the detected information, and uses it as an obstacle to move other automatic guided vehicles. (See, for example, Patent Documents 3 to 6).

JP 2020-46835 A U.S. Publication No. 2016/129592 JP 2019-131392 A JP 2019-061452 A JP 2017-021791 A JP 2018-120491 A

However, in the system of Patent Document 1, the projector fixed to the ceiling can automatically move an automatic moving device loaded with articles without laying a guide line on the road surface. Improvement was desired. Further, the systems of Patent Documents 2 to 6 take into consideration a flat map, and do not take into consideration terrain having a sloped road surface, for example. In an automatic mobile device, there are cases where sensors detect obstacles existing on the road surface on which it is moving. In addition, when the automatic moving device reaches an uphill inclined surface, the inclined surface may be erroneously detected as an obstacle.

The present disclosure has been made to solve such problems, and the main purpose thereof is to provide a movement system and a management device that can further improve the degree of freedom of movement of an automatic movement system that conveys articles. and Another main object of the present invention is to provide a movement system and a management device that can automatically move within a three-dimensional specific space with simpler processing.

This disclosure has taken the following means to achieve the above-mentioned main objectives.

The locomotion system disclosed herein comprises:
A movement system used in a delivery system that has an automatic movement system that automatically moves an article within a specific space and that delivers the article,
a loading unit capable of loading the article;
a projection unit that projects the guide line read and moved by the automatic movement system onto a projection plane existing in the specific space;
a drive unit for moving the movement system;
a control unit that controls the projection unit;
is provided.

In this movement system, the driving unit can guide a moving body that automatically moves within a specific space. Therefore, in this moving system, the degree of freedom of movement of the moving system for transporting articles can be further improved.

1 is a schematic explanatory diagram showing an example of a delivery system 10; FIG. FIG. 2 is an explanatory diagram showing an example of a distribution center 20; Explanatory drawing showing an example of automatic moving devices 40A to 40D. 4 is an explanatory diagram of an automatic moving device 40 connected to a carriage 12; FIG. FIG. 4 is an explanatory diagram showing an example of information stored in a storage unit 73; 4 is an explanatory diagram showing an example of map data 80 derived from map information 26. FIG. 4 is a flowchart showing an example of an automatic mobile device guidance processing routine; FIG. 4 is an explanatory diagram of the process of guiding the automatic moving device 40 to the delivery vehicle 60; 4 is a flowchart showing an example of a row movement processing routine; FIG. 10 is an explanatory diagram of an example in which the automatic moving device 40 moves in a row; 4 is a flowchart showing an example of a measurement data processing routine; FIG. 4 is an explanatory diagram of an example of detection of an obstacle on a sloped road surface by the automatic moving device 40; 4 is a flowchart showing an example of a map information update processing routine;

An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a delivery system 10. As shown in FIG. 2A and 2B are explanatory diagrams showing an example of the distribution center 20. FIG. 2A is a plan view, and FIG. 2B is a side view. FIG. 3 is an explanatory diagram showing an example of automatic moving devices 40A to 40D. FIG. 3A is an explanatory diagram of an automatic mobile device 40A having AGV (Automatic Guided Vehicle) and AMR (Autonomous Mobile Robot) functions. FIG. 3B is an explanatory diagram of an automatic moving device 40B having an AGV function. FIG. 3C is an explanatory diagram of an automatic moving device 40C having the AMR function. FIG. 3D is an explanatory diagram of an automatic moving device 40D having AGV and AMR functions, with the projection unit 47 omitted. 4A and 4B are explanatory diagrams of the automatic moving device 40 connected to the carriage 12. FIG. 4A is a front view, and FIG. 4B is a plan view. FIG. 5 is an explanatory diagram showing an example of information stored in the storage unit 73. As shown in FIG. The delivery system 10 is a system that has an automatic movement device 40 of the movement system 11 that automatically moves an article within a specific space, and performs processing for delivering this article. The moving system 11 is composed of vehicles such as an automatic moving device 40 and a delivery vehicle 60 for moving articles. In this embodiment, the automatic moving devices 40A to 40D are collectively referred to as an automatic moving device 40. FIG. This delivery system 10 will be described as an example in which goods are transported using a truck 12, but the system is not particularly limited to this, and the truck 12 may be omitted or other components may be used. Here, the "goods" are not particularly limited as long as they are delivered. Fresh produce, etc. Also, examples of the "delivery source" and "delivery destination" include a distribution center that collects and delivers goods, a warehouse that stores goods, and a store that sells goods. In addition to the above delivery source and delivery destination, the "specific space" includes, for example, the cargo room of a mobile vehicle that delivers goods, an elevator for work, and the like. Examples of mobile vehicles include vehicles such as delivery vans 60 and trains, ships, and aircraft. For the convenience of explanation, the delivery system 10 that delivers products such as daily necessities and perishables from a distribution center 20 as a delivery source to a store 50 as a delivery destination by a delivery vehicle 60 will be mainly described here. In addition, in this embodiment, the left-right direction, the front-back direction, and the up-down direction are explained as shown in each figure.

The delivery system 10 includes a physical distribution PC 21, a store PC 51, an automatic mobile device 40, and a management server 70, as shown in FIG. The physical distribution PC 21 is installed in the physical distribution center 20 and is configured as a management device for managing merchandise in the physical distribution center 20 . This physical distribution PC 21 includes a control section 22 , a storage section 23 and a communication section 28 . The control unit 22 has a CPU and controls the entire device. The storage unit 23 stores various application programs and various data files. The storage unit 23 stores delivery management information 24, position information 25, map information 26, and the like. The delivery management information 24 is information used for managing delivery of articles. The location information 25 is information including the location of the automatic mobile device 40 and the location of the delivery vehicle 60 located in the distribution center 20 . The map information 26 is map information of the distribution center 20 . The communication unit 28 wirelessly communicates with an external device such as the automatic mobile device 40 . The communication unit 28 exchanges information with the management server 70 and the store PC 51 via the network 15 .

The carriage 12 includes a placement section 13 and casters 14 . The mounting section 13 is a flat plate-like member on which articles are mounted. The casters 14 have wheels for running the carriage 12 and are arranged on the lower surface side of the placing section 13 . This carriage 12 may be a car carriage.

The distribution center 20 is a place where goods are accumulated and delivered to stores 50 and other distribution centers 20 in various places. As shown in FIG. 2, the distribution center 20 has one or more automatic moving devices 40 that can automatically move the carriages 12 . This distribution center 20 has, for example, an inclined road surface 18 in a specific area of the floor surface, and the automatic movement device 40 automatically moves in different movement areas in the height direction. In this distribution center 20, workers, arm robots (not shown), and the like carry out work of placing articles on carts 12 corresponding to delivery destinations. The automatic moving device 40 stacks the carriages 12 whose delivery destinations are specified, and carries them in and out. The delivery vehicle 60 loads the carriage 12 in the cargo room 61 at the distribution center 20, delivers the articles to the delivery destination, and returns the empty carriage 12 to the distribution center 20.例文帳に追加The distribution center 20 is provided with one or more area detection devices 29 for detecting the positions of the cart 12, the automatic moving device 40, the delivery vehicle 60, and the like. The area detection device 29 may be a non-contact sensor or a camera.

The automatic moving device 40 is a vehicle as a moving body possessed by the moving system 11 that automatically moves the carriage 12 . This automatic moving device 40 enters the space between the casters 14 on the lower surface side of the mounting portion 13 of the truck 12, lifts the mounting portion 13 from below by the loading portion 43, and connects to the truck 12. to move. This automatic moving device 40 may be an AGV that moves along a line formed on the road surface, or an AMR that senses the surroundings and moves along a free route. As shown in FIG. 3, the automatic moving device 40 includes a vehicle body portion 40a, a movement control portion 41, a storage portion 42, a loading portion 43, wheels 44, a movement driving portion 45, a detection portion 46, a projection It has a section 47 , a reading section 48 and a communication section 49 . The movement control unit 41 is a controller that controls the entire automatic movement device 40 . The movement control section 41 outputs control signals and the like to the stacking section 43 , movement drive section 45 and communication section 49 , and inputs signals from the detection section 46 , reading section 48 and communication section 49 . The movement control unit 41 grasps the movement direction, the movement distance, the current position, and the like of the automatic moving device 40 based on the driving state of the movement driving unit 45 and the like. The movement control unit 41 controls movement and stoppage of the automatic movement device 40 based on information from the detection unit 46 . The storage unit 42 stores various application programs and various data files. The storage unit 42 stores, for example, position information including the positions of the delivery source and the delivery destination where the cart 12 is moved, map information of the distribution center 20, and the like. Positional information and map information are acquired from the physical distribution PC 21 by communication. The loading section 43 is connected to the carriage 12 by projecting upward from the vehicle body section 40a of the automatic moving device 40 and pressing the lower surface of the mounting section 13 (see FIG. 4). The automatic moving device 40 has four wheels 44 and moves by rotating the wheels 44 . The movement drive unit 45 is a motor that is connected to each wheel 44 and drives the automatic movement device 40 to travel by rotating the connected wheels 44 . The detection unit 46 detects objects existing around the automatic moving device 40 and the distance therebetween. The detection unit 46 detects the existence of an object, its distance, and the like by irradiating the surroundings with light such as laser light, sound waves, and the like, and detecting reflected waves. In the AGV, the detection unit 46 is a sensor that detects an object existing in the vicinity of the vehicle body 40a, and in the AMR, a sensor that can detect obstacles, walls, and the like existing in a wider area. The projection unit 47 is a unit that projects the guide line read and moved by the automatic movement device 40 onto a projection plane existing within a specific space. The projection unit 47 projects the guide line onto, for example, a floor surface as a projection surface (see FIG. 10 described later). Here, the "projection plane" may be a road surface on which the automatic moving device 40 runs, or a wall surface existing in a specific space. The reading unit 48 is a unit that reads guidance lines formed on the floor. The reading unit 48 may be, for example, an imaging unit that captures an image, and may analyze the captured image to detect the guide line. The communication unit 49 is an interface for wirelessly exchanging information with an external device such as the physical distribution PC 21 . The movement control unit 41 exchanges information with the physical distribution PC 21 via the communication unit 49 . The automatic moving device 40 may be provided with a detection unit 46, a projection unit 47, and a reading unit 48 on at least two surfaces, a front portion and a rear portion on the opposite side. The automatic moving device 40A shown in FIG. 3A has the functions of AGV and AMR. Move to the target position along the guidance line. Further, when functioning as an AMR, the automatic moving device 40A moves to the target position based on the map information stored in the storage unit 42 while detecting obstacles with the detecting unit 46 . The automatic moving device 40B shown in FIG. 3B has only the AGV function. Also, the automatic moving device 40C shown in FIG. 3C omits the reading unit 48 and has only the AMR function. Also, an automatic movement device 40D shown in FIG. 3D omits the projection unit 47 and has AGV and AMR functions. Note that the automatic moving device 40 may have a configuration in which the projection unit 47 is omitted from the automatic moving device 40B and the automatic moving device 40C. The delivery system 10 and the moving system 11 may have an automatic moving device 40 and a delivery vehicle 60 having functions as required.

The store 50 displays and sells the delivered items. The store 50 has one or more automatic moving devices 40 and can automatically move the trolley 12 . The store 50 has display shelves 59 for displaying articles, and workers display articles on the display shelves.

The store PC 51 is installed in the store 50 and is configured as a management device that manages products in the store 50 and the like. The store PC 51 includes a control section 52 , a storage section 53 and a communication section 58 . The control unit 52 has a CPU and controls the entire device. The storage unit 53 stores various application programs and various data files. The storage unit 53 stores delivery management information 54, position information 55, map information 56, and the like. The delivery management information 54 is information used for managing delivery of articles. The position information 55 is information including the position of the automatic mobile device 40 placed in the store 50 and the position of the delivery vehicle 60 . The map information 56 is map information of the store 50 . The communication unit 58 wirelessly communicates with an external device such as the automatic mobile device 40 . Also, the communication unit 58 exchanges information with the management server 70 and the physical distribution PC 21 via the network 15 . The storage unit 53 stores merchandise management information that associates articles with display shelves, position information, map information that is used by the automatic moving device 40, and the like. The storage unit 53 may store the same content as the information stored in the physical distribution PC 21 .

The delivery vehicle 60 is a vehicle of the mobile system 11 that carries one or more carts 12 to deliver goods. The delivery vehicle 60 delivers articles between delivery bases. Here, the "delivery base" includes the distribution center 20 and the store 50 where goods are accumulated. As shown in FIG. 1, the delivery vehicle 60 includes a luggage compartment 61, a tail gate 62, a tail lift 63, a moving section 64, a projecting section 65, a driving section 66, and a control device 68. there is The luggage compartment 61 is a specific space for stacking the trucks 12 and also a loading section for loading the trucks 12 . The tailgate 62 is provided at the rear portion of the vehicle, and opens and closes the luggage compartment 61 by means of a closing door. The tail lift 63 loads the trolley 12, workers, etc. on the workbench which becomes horizontal when the closed door is opened, and moves the workbench up and down between the floor surface of the luggage compartment 61 and the traveling surface of the delivery vehicle 60. It is. In the delivery vehicle 60, the tail gate 62, the tail lift 63, etc. can be mechanically operated by a motor, hydraulic pressure, or the like. The moving part 64 is configured as a slider that moves the projection part 65 . The moving unit 64 moves the projecting unit 65 between an in-vehicle projection position where the image is projected inside the luggage compartment 61 and an outside projection position where the image is projected outside the luggage compartment 61 . The projection unit 65 is a unit that projects the guide line read and moved by the automatic moving device 40 onto a projection plane that exists within a specific space. The projection surface is the floor surface inside the luggage compartment 61, the floor surface outside the luggage compartment 61, and the like. The drive unit 66 is a drive source including an engine and a motor, and moves the delivery vehicle 60 by rotationally driving wheels. The control device 68 is a controller that controls each device of the delivery vehicle 60, and includes a CPU and a storage unit. The control device 68 exchanges information with external devices such as the physical distribution PC 21 and the management server 70 by radio or the like via a communication unit (not shown). The movement system 11 may have a delivery vehicle 60 that automatically moves between delivery bases by unmanned operation, or may have a delivery vehicle 60 that is driven by a work vehicle and moves between delivery bases. The automatically moving delivery vehicle 60 is provided with a detection unit in the same manner as the automatic moving device 40, and the control device 68 drives the drive unit 66 to detect the obstacles by the detection unit, while the obstacles are stored in the storage unit. Move to the target position based on the map information. In this embodiment, the goods are delivered by the truck delivery vehicle 60, but the delivery is not limited to this, and may be carried out by a mobile transport such as a train, a ship, or an aircraft.

The management server 70 is a device that manages the delivery system 10 . The management server 70 includes a management control section 72 , a storage section 73 and a communication section 78 . The management control unit 72 has a CPU and controls the entire apparatus. The storage unit 73 stores various application programs and various data files. The storage unit 73 stores delivery management information 74 used for managing the delivery of goods, location information 75 including the location of the automatic mobile device 40 and the location of the delivery vehicle 60 located in the distribution center 20 and the store 50, Map information 76 of the distribution center 20 and the store 50 and the like are stored. The delivery management information 24, the delivery management information 54, and the delivery management information 74 include mutually related information. Contains information. The

location information

25, 55, 75 and the

map information

26, 56, 76 similarly contain information related to each other. The delivery management information 74 includes delivery information that associates delivery destinations with items, correspondence information that associates items with carts 12 on which items are loaded, and the like. As shown in FIG. 5, the map information 76 includes identification information (ID) of the map, information of the entire area of the map, correction information for reducing the difference value between the measured value of the specific space and the reference map, It includes sloped road area information about the area where the sloped road surface 18 exists, and obstacle area information indicating the area of the obstacle existing in the specific space. The obstacle area information includes information such as the position and size of an obstacle that hinders the movement of the automatic mobile device 40 existing in the distribution center 20, as well as the device and time that detected it. The obstacle area information is sequentially updated based on the detection results from the automatic moving device 40 that moves on the floor. The obstacle information included in the obstacle area information is erased when the obstacle is subsequently removed. The map information 76, the

map information

26, 56, etc. are updated at any time by reflecting the measurement results of the automatic moving device 40 and the like. FIG. 6 is an explanatory diagram showing an example of map data 80 derived from the map information 26. As shown in FIG. The map data 80 includes information such as an obstacle area 81 into which the automatic moving device 40 cannot enter, an inclined road surface area 82, and the like. The management control unit 72 may acquire

map information

26 and 56 created and updated by the physical distribution PC 21 or the store PC 51 through communication, for example. The communication unit 78 exchanges information with external devices such as the distribution PC 21 and the store PC 51 via the network 15 .

Next, in the delivery system 10 configured in this way, the process of the delivery vehicle 60 arriving at the distribution center 20 and the automatic moving device 40 moving the carriage 12 will be described. Here, a process of moving the cart 12 to the luggage compartment 61 of the delivery vehicle 60 by the automatic moving device 40 functioning as an AGV will be described as a specific example. FIG. 7 is a flowchart showing an example of an automatic mobile device guidance processing routine executed by the control device 68 of the delivery vehicle 60. As shown in FIG. 8A and 8B are explanatory diagrams of the process of guiding the automatic moving device 40 to the delivery vehicle 60. FIG. 8A is a diagram of the guidance line 91 projected onto the projection area 90, and FIG. FIG. 8C is a diagram for guiding the automatic moving device 40 in the luggage compartment 61. FIG. The automatic mobile device guidance processing routine is stored in the storage unit of the control device 68 and executed after the delivery vehicle 60 arrives at the distribution center 20 . When this routine is started, the CPU of the control device 68 acquires the position of the delivery vehicle 60 from the physical distribution PC 21 (S100), moves the projection unit 65 to the projection position outside the vehicle to the moving unit 64 (S110), and moves the carriage 12 into the cargo room. 61 is acquired (S120). The control device 68 acquires the delivery vehicle 60 and the coordinates of the position of the delivery vehicle 60 detected by the area detection device 29 via the physical distribution PC 21 .

Next, the control device 68 creates a guidance image connecting the positions of the automatic moving device 40 and the delivery vehicle 60 (S130). The guide image includes an image of the guide line 91 read by the reading unit 48 . Next, the control device 68 projects the guide line 91 as the guide image onto the floor as the projection surface (S140, see FIG. 8A). The automatic moving device 40 reads a guiding line 91 present in the projection area 90 and moves along it to the tail lift 63 (FIG. 8B). The control device 68 determines whether or not the automatic moving device 40 has reached the tail lift 63 (S150). That is, the control device 68 updates the position of the automatic moving device 40, creates a guidance image, and projects a guidance line 91 on the road surface.

On the other hand, when the automatic moving device 40 reaches the tail lift 63 in S150, the control device 68 raises the tail lift 63 (S160), moves the projection unit 65 to the in-vehicle projection position (S170), and moves the automatic moving device 40. A guidance image that guides the vehicle to the target position is created (S180), and the guidance image is projected onto the floor surface in the vehicle, which is the projection surface (S190). The automatic moving device 40 reads the guide line 93 existing in the projection area 92, moves along the guide line 93 (FIG. 8C), and when the target position is reached, the cart 12 is lowered. In the luggage compartment 61, a travel path on which the casters 14 travel is formed at a position higher than the road surface of the automatic moving device 40. When the loading unit 43 is lowered, the casters 14 are supported on the travel path, and the carriage 12 moves into the luggage compartment. 61. Next, the control device 68 waits until the automatic moving device 40 lowers the truck 12 at the target position and reaches the tail lift 63 (S200). At this time, the control device 68 projects a guide line 93 along which the automatic moving device 40 is guided to the tail lift 63 on the floor surface of the vehicle interior.

In S200, when the automatic moving device 40 reaches the tail lift 63, the control device 68 lowers the tail lift 63 (S210), moves the projection unit 65 to the projection position outside the vehicle (S220), and delivers the automatic moving device 40. A guidance image that guides the user to a target position outside the vehicle 60 is created (S230), and this guidance image is projected onto the road surface, which is the projection surface (S240). The automatic moving device 40 reads the guide line 91 existing in the projection area 90 and moves out of the delivery vehicle 60 along this line. The control device 68 determines whether or not the automatic moving device 40 has moved to the target position outside the vehicle (S250). On the other hand, when the automatic mobile device 40 has moved to the target position outside the vehicle, the control device 68 determines whether or not there is an automatic mobile device 40 to be guided next (S260). When there is 40, the processing after S100 is executed. On the other hand, when there is no automatic moving device 40 to be guided next in S260, the control device 68 terminates this routine. The stop position of the delivery vehicle 60 may change from time to time. Here, the automatic moving device 40 can be more accurately guided to the luggage compartment 61 by the delivery vehicle 60 projecting the guide line. Here, the automatic moving device 40 to be guided is described as having an AGV function, but this automatic moving device 40 may be an automatic moving device 40D in which the projection unit 47 is omitted. In addition, the automatic movement device 40 also has an AMR function, and for example, it may automatically move to the guidance start position in FIG. 8A, and in FIG. It may be automatically moved.

Next, platoon movement executed by the automatic movement device 40 will be described. Here, a process in which the automatic moving device 40 of the moving system 11 uses the projection unit 47 to cause another automatic moving device 40 to follow will be described. FIG. 9 is an explanatory diagram showing an example of a platoon movement processing routine executed by the movement control unit 41 of the automatic moving device 40. As shown in FIG. FIG. 10 is an explanatory diagram of an example of platoon movement of the automatic movement device 40 . The platoon movement processing routine is stored in the storage unit 42 of the automatic moving device 40 and executed when platoon movement is required. Here, a case will be described in which the automatic moving device 40 as AMR moves at the head and the automatic moving devices 40 as multiple AGVs move following it. The leading automatic moving device 40 may further have the AGV function, and one or more following automatic moving devices 40 may further have the AMR function.

When this routine starts, the movement control unit 41 first acquires information on the destination position and map information from the distribution PC 21 (S300). Next, the movement control unit 41 causes the movement driving unit 45 to drive the wheels 44 so as to move to the target position (S310). At this time, the movement control unit 41 sets the movement route using the map information, and drives and controls the movement driving unit 45 to move along the set movement route. Subsequently, the movement control unit 41 creates a guidance image to be followed by the subsequent automatic movement device 40 (S320), and causes the projection unit 47 to project the guidance image backward in the movement direction onto the road surface as a projection surface. (S330). The movement control unit 41 creates a guidance image including a straight-ahead guide line when the aircraft is going straight (see FIG. 10). Further, the movement control unit 41 creates a guidance image including a guidance line curving to the left when the self-machine turns to the left and moves. Also, when the aircraft turns to the right and moves, a guidance image including a guidance line that curves to the right is created. The subsequent automatic movement device 40 moves along the guide line read by the reading section 48 . Further, the subsequent automatic movement device 40 further creates a guidance image for the subsequent automatic movement device 40, and causes the projection unit 47 to project the projection image including the guidance line 95 onto the road surface in the projection area 94 (see FIG. 10). ). Then, the movement control unit 41 determines whether or not the destination has been reached (S340), and when the destination has not been reached, the processing after S310 is repeatedly executed. When the target position is reached in S340, this routine ends. In this manner, the automatic moving device 40 can use the projection unit 47 to cause another automatic moving device 40 to follow.

Next, the process of detecting whether an obstacle exists on the road surface by the automatic moving device 40 of the moving system 11 will be described. FIG. 11 is a flow chart showing an example of a measurement data processing routine executed by the movement control section 41 of the automatic movement device 40. As shown in FIG. FIG. 12 is an explanatory diagram of an example in which the automatic moving device 40 detects an obstacle on a sloped road surface. Here, processing for detecting an obstacle when the automatic moving device 40 moves within the distribution center 20 will be described as a specific example. The measurement data processing routine is stored in the storage unit 42 and executed when the automatic moving device 40 moves. This measurement data processing routine is executed in parallel with the process of moving the automatic moving device 40 to the destination, the work on the carriage 12, and the like. When starting this routine, the movement control unit 41 acquires the map information 26 from the physical distribution PC 21 (S400). The map information 26 may be transmitted from the management server 70 to the automatic mobile device 40 via the physical distribution PC 21 .

Next, the movement control unit 41 acquires the current position and acquires the measurement result by the detection unit 46 (410). The movement control unit 41 may acquire the current position from the distance and direction in which the body part 40a has moved from the initial position. Further, the movement control unit 41 obtains the presence of an object such as a wall or an obstacle existing in the specific space and the distance to the object as a measurement result based on the reflected wave measured by the detection unit 46, for example. Next, the movement control unit 41 determines whether there is a difference value between the map data included in the map information 26 stored in the storage unit 42 and the measured data (S420). For example, the movement control unit 41 excludes objects that are determined to be obstacles, and determines whether or not there is a difference value with respect to the size of the specific space, such as the distance between walls. Note that the movement control unit 41 determines that there is no difference value when the difference value is within the measurement error range. When there is a difference value, the movement control section 41 transmits the measurement data to the physical distribution PC 21 (S430). The measurement data is used for updating the map information 26 and the map information 76 in the physical distribution PC 21 and the management server 70 .

After S430, or when there is no difference value between the measurement data and the map data in S420, the movement control unit 41 determines whether or not an object has been detected within the specific space (S440). The movement control unit 41 detects an object when, for example, a reflected wave is obtained at a distance sufficiently close to the wall in the direction along the traveling direction. When detecting an object, the movement control unit 41 determines whether or not the distance to the object is equal to or greater than a predetermined distance (S450). It is assumed that this predetermined distance is empirically set to a close distance at which the presence of an object can be reliably determined. When the distance to the detected object is equal to or greater than the predetermined distance, the movement control unit 41 executes exclusion determination processing for determining whether or not the detected object is an obstacle (S460-500).

In the exclusion determination process, first, based on the measurement result and the map information, the movement control unit 41 determines that the current position of the own aircraft is outside the area of the inclined road surface 18, and that the detected object is inside the area of the inclined road surface 18. It is determined whether or not there is (S460). When a negative determination is made in S460, the movement control unit 41 determines whether or not the current position of the aircraft is within the area of the inclined road surface 18 and the detected object is outside the area of the inclined road surface 18 (S470). ). If an affirmative determination is made in S460 or if an affirmative determination is made in S470, the movement control unit 41 performs exclusion processing to exclude the detected object from obstacles (S480). That is, the movement control unit 41 does not treat the detected object as an obstacle. As shown in FIG. 12, when the automatic moving device 40 is within the area of the sloped road surface 18, the automatic moving device 40 may detect the sloped road surface below as an object. Further, when the automatic moving device 40 is outside the area of the sloped road surface 18, the automatic moving device 40 may detect an upwardly inclined road surface as an object. In this exclusion process, by using information on the position of the vehicle itself and the area of the sloped road surface 18, it is possible to exclude such erroneous detection without using a three-dimensional map or the like, which imposes a large processing load.

When a negative determination is made in S470, or when the distance to the object detected in S450 is less than the predetermined distance, the movement control unit 41 sets the detected object as an obstacle (S490), and transfers the obstacle to the physical distribution PC 21. Report (S500). That is, the movement control unit 41 treats the detected object as an obstacle when the current position of the aircraft is outside the area of the inclined road surface 18 and the detected object is outside the area of the inclined road surface 18 . Further, when the current position of the aircraft is within the area of the inclined road surface 18 and the detected object is within the area of the inclined road surface 18, the movement control unit 41 treats the detected object as an obstacle.

After S500, after S480, or when no object is detected in S440, the movement control unit 41 determines whether an obstacle in the map data has been detected (S510). Since an obstacle may disappear from the road surface by being removed or by moving by itself, the movement control unit 41 determines the presence or absence of this obstacle. When no obstacle existing in the map data is detected, the movement control unit 41 transmits a report to the effect that no obstacle exists to the physical distribution PC 21 (S520). The physical distribution PC 21 receiving this report updates the map information 26 and transmits the updated map information to each automatic mobile device 40 .

After S520, or when an obstacle is detected in S510, the movement control unit 41 determines whether or not its own work has been completed (S530). The movement control unit 41 makes this determination based on whether or not the target position has been reached and the truck 12 has been loaded or unloaded as necessary. When the work of the machine itself has not been completed, the movement control unit 41 executes the processes after S400. On the other hand, when the work of the machine itself is completed, the movement control section 41 terminates this routine. In this way, the automatic moving device 40 sequentially measures the information of the specific space and transmits the information to the physical distribution PC 21 when it moves. Information on the specific space may be sent to the management server 70 via the physical distribution PC 21 .

Next, the process by which the management server 70 updates the map information 76 will be described. Here, it is assumed that the map information is updated by the management server 70, but the

map information

26, 56 may be updated by another management device such as the distribution PC 21 or the store PC 51. FIG. At this time, in the distribution center 20, the distribution PC 21 may update the map information 26, and the distribution center 20 may complete this updating process. Further, in the store 50, the store PC 51 may update the map information 56, and the store 50 may complete this update process. FIG. 13 is a flow chart showing an example of a map information update processing routine executed by the management control unit 72 of the management server 70. As shown in FIG. This routine is stored in the storage unit 73 and executed when the delivery system 10 is in operation.

When this routine is started, the CPU of the management control unit 72 determines whether measurement data has been obtained from the automatic moving device 40 or the like (S600). It is determined whether or not a predetermined number or more of the measurement data of the measurement points to be measured are within the same range (S610). When there are more than a predetermined number of corresponding obtained data within the same range, the management control unit 72 sets a correction value for correcting the map to the measurement data, which is the measurement result (S620). This measurement data is obtained when there is a difference value between the map data and the measurement result. When a predetermined number of measurement results within the same range are reported, the management control unit 72 determines that the measurement data is correct, and reflects the measurement data in the map information. Here, the "predetermined number" may be empirically determined to be a number (eg, 3, 5, 10, etc.) that can determine that the measurement result is correct. In addition, the “same range” may include, for example, not only exactly the same value but also a difference in the degree of measurement error of the detection unit 46 .

When it is determined in S610 that the number of relevant measurement data is not within the same range for a predetermined number or more, the management control unit 72 sets a correction value for correcting the map to an intermediate value of the difference values (S630). For example, when the distance set in the map is 500 mm and the measurement data is 490 mm, the management control unit 72 sets a correction value of 495 mm. In this case, when there are two pieces of measurement data of 490 mm, the management control section 72 sets a correction value to 493.3 mm. After S630 or S620, the management control unit 72 determines whether or not the report on the obstacle has been obtained (S640). Reflect (S650). When an obstacle is newly reported, the management control unit 72 executes processing to add the obstacle to the map, and when the obstacle is removed, executes processing to delete the obstacle on the map. do.

Then, after S650, or when there is no report on obstacles in S640, the management control unit 72 determines whether or not it is time to send the map information (S660). Among them, the information of the applicable map is transmitted to the applicable terminal (S670). The management control unit 72 determines whether or not it is the transmission timing based on a request from a terminal such as the physical distribution PC 21 . After S670, or when it is not time to send the map information in S660, the management control unit 72 determines whether or not all processing has been completed (S660). 72 executes the processing after S600. The management control unit 72 determines that all the processes are not completed when the delivery system 10 is in operation. On the other hand, when all the processes are completed in S660, this routine ends. In this way, the management server 70 updates the correction of the map and the presence or absence of obstacles using the measurement results of the automatic moving device 40 .

Here, the correspondence between the components of the present embodiment and the components of the present disclosure will be clarified. The distribution center 20, the store 50, the cargo room 61, and the delivery base in the present embodiment correspond to the specific space, the automatic moving

devices

40 and 40A to 40D correspond to the moving bodies, the delivery vehicle 60 corresponds to the delivery vehicle, The automatic moving

devices

40, 40A to 40D and the delivery vehicle 60 correspond to the moving system 11, the loading section 43 and the luggage compartment 61 correspond to the loading section, the projecting section 47 and the projecting section 65 correspond to the projecting section, and move and drive. The part 45 and the driving part 66 correspond to the driving part, and the movement control part 41 and the control device 68 correspond to the control part and the processing part. Further, the detection unit 46 corresponds to the detection unit, the reading unit 48 corresponds to the reading unit, the guide lines 91 and 93 correspond to the guide lines, the road surface and the floor surface correspond to the projection surface, and the management server 70 and other The physical distribution PC 21 and the store PC 51 correspond to the management device, the storage section 23, the storage section 53 and the storage section 73 correspond to the storage section, the communication section 28, the communication section 58 and the communication section 78 correspond to the communication section, and the control section 22, the control unit 52 and the management control unit 72 correspond to the correction unit.

The automatic moving device 40 of the present embodiment described above includes a loading unit 43 capable of loading articles, and a projection unit 47 for projecting a guide line read and moved by the automatic moving device 40 onto a projection plane existing in a specific space. , a movement driving unit 45 for moving the automatic movement device 40 and a movement control unit 41 for controlling the projection unit 47 . In this automatic moving device 40, the vehicle body portion 40a moved by the movement driving portion 45 is provided with the projection portion 47, and while moving, the guide line 95 used by the other automatic moving device 40 can be projected onto the projection plane. can. Therefore, in this automatic moving device 40, the degree of freedom of movement of the automatic moving device 40 for conveying articles can be further improved.

In addition, in the delivery vehicle 60 of the present embodiment, the luggage compartment 61 as a loading unit capable of loading articles, and the projection unit that projects the guide line read by the automatic moving device 40 and moved onto a projection plane existing in a specific space. 65 , a drive unit 66 that moves the delivery vehicle 60 , and a control device 68 that controls the projection unit 65 . In this delivery vehicle 6040, a projection unit 65 is provided on the vehicle body that is moved by the drive unit 66, and the guide lines 91 and 93 used by the automatic moving device 40 can be projected onto the projection plane while moving. Therefore, with this delivery vehicle 60, the degree of freedom of movement of the automatic moving device 40 for transporting articles can be further improved.

Further, the movement control section 41 may control the movement driving section 45 to automatically move the automatic moving device 40 within the specific space. This automatic moving device 40 can move automatically under the control of the movement control section 41, like the other automatic moving devices 40. FIG. Further, the control device 68 may control the drive unit 66 to automatically move the delivery vehicle 60 between delivery bases. In addition, the movement control unit 41 causes the projection unit 47 to project a guide line 95 along which the other automatic movement device 40 follows the automatic movement device 40 onto the projection plane. In this automatic moving device 40, a plurality of automatic moving devices 40 can follow and move. Furthermore, the automatic moving device 40 has a reading unit 47 that reads the guide line projected on the projection plane, and the movement control unit 41 drives the other automatic moving device 40 to move along the projected guide line 95. The unit 45 may be controlled. This automatic moving device 40 can move along the guide line 95 in the same manner as the other automatic moving devices 40 .

In addition, the control device 68 causes the projection section 65 to project the guide line 91 connecting the current position of the other automatic moving device 40 and the luggage compartment 61 as the loading section onto the projection plane. This delivery vehicle 60 can guide another automatic moving device 40 to its luggage compartment 61 . The automatic moving device 40 also includes a detection unit 46 for detecting obstacles existing in the specific space, a current position of the automatic moving device 40 in the specific space, a map of the specific space, and a map of the specific space. Based on area information, which is information on the area of the inclined road surface, exclusion processing is performed so that the detection result detected by the detection unit 46 is not treated as an obstacle, and the movement control unit 41 drives the movement based on the exclusion processing. By controlling the unit 45, the automatic movement device 40 is automatically moved within the specific space. For example, in the automatic moving device 40 having the detection unit 46, the inclined road surface 18 may be detected as an obstacle in a specific space where the inclined road surface 18 exists. In this automatic moving device 40, by adding the information of the sloped road surface 18 to the map, exclusion of obstacles can be determined without performing complicated analysis using three-dimensional map data or the like. Therefore, the automatic moving device 40 can automatically move within a three-dimensional specific space with simpler processing.

Further, the movement control unit 41 performs exclusion processing when the current position of the automatic movement device 40 is outside the area of the inclined road surface 18 and the obstacle detected by the detection unit 46 is in the area of the inclined road surface 18 . Further, when the current position of the automatic moving device 40 is within the area of the inclined road surface 18 and the obstacle detected by the detection unit 46 is outside the area of the inclined road surface 18, the movement control unit 41 performs exclusion processing. With this automatic moving device 40, the exclusion process can be performed more appropriately based on the positional relationship between the current position and the inclined road surface 18. FIG. Further, the movement control unit 41 performs extra processing when the distance to the obstacle detected by the detection unit 46 is equal to or greater than a predetermined distance. In this moving system, exclusion processing can be performed more appropriately using the distance to the detection result of the detection unit. Furthermore, when the current position of the automatic moving device 40 is outside the area of the inclined road surface 18 and the obstacle detected by the detection unit 46 is outside the area of the inclined road surface 18, the movement control unit 41 regards the detection result as an obstacle. deal. Further, when the current position of the automatic moving device 40 is within the area of the inclined road surface 18 and the obstacle detected by the detection unit 46 is within the area of the inclined road surface 18, the movement control unit 41 displays the detection result as an obstacle. treated as The automatic moving device 40 can more appropriately detect obstacles from the positional relationship between the current position and the inclined road surface 18 .

In addition, the management server 70 stores area information, which is information about the area of the sloped road surface 18 existing in the specific space, in the storage unit 73, and transmits the map and the area information to any of the automatic moving devices 40 described above. and In this management server 70, by using the information of the sloping road surface 18 existing in the specific space, the automatic moving device 40 can automatically move within the three-dimensional specific space with simpler processing.

Further, when there is a difference value between the measurement result in the specific space acquired from the automatic moving device 40 and the map of the specific space, the management server 70 corrects the map of the specific space between the difference values. Execute correction processing. Then, the communication unit 49 transmits the corrected map to the automatic moving device 40 . While the measurement result of the automatic moving device 40 may be more accurate than the map information of the specific space, it may not be more accurate. The management server 70 can further improve the accuracy by correcting the map of the specific space between the difference values. In particular, acquiring a plurality of measurement results can further improve the accuracy. In this management server 70, by using a map whose accuracy has been improved by correction, the automatic moving device 40 can automatically move within the specific space more reliably. Further, when the measurement results in the specific space obtained from the automatic moving device 40 are within the same range for a predetermined number or more, the management control unit 72 corrects the map of the specific space so as to match the measurement results. In this management server 70, when the accuracy of the measurement result is recognized, the map of the specific space is corrected so as to match the measurement result, so that the automatic moving device 40 can automatically move within the specific space more reliably. .

It goes without saying that the present disclosure is by no means limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the above-described embodiment, in the delivery system 10, the delivery vehicle 60 uses the projection unit 65 to guide the automatic moving device 40, and the automatic moving device 40 uses the projection unit 47 to guide the other automatic moving device. 40, the automatic moving device 40 uses the area information of the inclined road surface 18 to remove obstacles in the specific space, and the automatic moving device 40 performs processing to update the map information based on the measurement data. However, one or more of these may be performed independently. For example, the delivery vehicle 60 projects the guide line 91 using the projection unit 65 to guide the automatic moving device 40, but this may be omitted. Further, the automatic moving device 40 is supposed to follow the other automatic moving device 40 by the guide line 95, but this may be omitted. Further, the automatic moving device 40 uses the information of the inclined road surface 18 to perform exclusion processing that does not treat the detection result as an obstacle, but this may be omitted. Also, when there is a difference value between the measurement data of the automatic moving device 40 and the map of the specific space, the management server 70 makes corrections between the difference values, but this may be omitted. By executing any of the processes described above, the delivery system 10 can obtain an effect corresponding to the executed process.

In the above-described embodiment, the delivery vehicle 60 projects the guide line 91 connecting the current position of the automatic moving device 40 and the luggage compartment 61 as the loading unit. 40 may project a guide line 95 between its own loading unit 43 and the current position of another automatic moving device 40 . This automatic moving device 40 can guide another automatic moving device 40 .

In the above-described embodiment, the automatic moving device 40 performs exclusion processing when the distance to the object detected by the detection unit 46 is greater than or equal to a predetermined distance, but this processing may be omitted. Note that the movement control unit 41 may add other conditions as conditions for executing the exclusion process.

In the above-described embodiment, exclusion processing is executed to exclude the detected object from the obstacles based on whether the automatic moving device 40 or the detected object is on the inclined road surface 18. However, the present invention is not particularly limited to this. For example, the automatic moving device 40 includes a sensor (for example, a gyro sensor) that detects the inclination of the body part 40a, and map information, the inclination of the own machine, the position of the own machine, and the position and distance of the detected object. may be used to determine whether or not the detected object is the road surface by calculation. This automatic moving device 40 can more reliably detect obstacles.

Although the present disclosure has been described as the delivery system 10 and the mobile system 11 in the above-described embodiment, the present disclosure is not particularly limited to this, and may be a management device used in the delivery system. In the above-described embodiment, the distribution PC 21, the store PC 51, and the management server 70 mutually use the position information and the map information. The physical distribution PC 21 may be used alone, or the location information 55 and the map information 56 may be handled by the store PC 51 alone. Location information and map information can be used completely at the place where they are used.

Here, the mobile system 11 of the present disclosure may be configured as follows. For example, the movement system 11 has an automatic movement device 40 as a moving body that automatically moves an article within a specific space, and is a movement system that delivers this article, and detects obstacles that exist within the specific space. A detection unit 46, a movement driving unit 45 that moves the automatic moving device 40 within the specific space, the current position of the automatic moving device 40 within the specific space, a map of the specific space, and a sloped road surface existing in the specific space. and the movement control unit 41 as a processing unit that performs an exclusion process that does not treat the detection result detected by the detection unit 46 as an obstacle based on the area information that is information on the area of . In this movement system 11, by adding information about the sloped road surface to the map, it is possible to determine whether to exclude obstacles or the like without performing complicated analysis using three-dimensional map data or the like. It is possible to automatically move within a three-dimensional specific space by processing.

Further, the management device of the present disclosure is a management device used in a delivery system 10 having an automatic moving device 40 as a moving body that automatically moves an item within a specific space and a moving system 11 that delivers the item. , a storage unit that stores a map of the specific space and area information that is information about the area of the sloped road existing in the specific space; and may be provided. In this management device, in the mobile system 11, by adding the information of the sloped road surface to the map, it is possible to judge exclusion of obstacles without performing complicated analysis using three-dimensional map data or the like. , can automatically move within a three-dimensional specific space with simpler processing.

Alternatively, the management device of the present disclosure is a management device used in a delivery system 10 having an automatic moving device 40 as a moving body that automatically moves an item within a specific space and a moving system 11 that delivers the item. , when there is a difference value between the measurement result in the specific space obtained from the automatic moving device 40 and the map of this specific space, a correction process is executed to correct the map of the specific space between the difference values. and a communication unit that transmits the map after correction processing to any of the automatic moving devices 40 described above. In this management device, when using the measurement result of the automatic mobile device, which may be more accurate than the information of the map of the specific space, but may not be accurate, the map of the specific space is used between the difference values. The accuracy can be further improved by correcting.

The movement system and management device of the present disclosure can be used in the technical field of distribution systems for delivering goods.

10 delivery system, 11 movement system, 12 truck, 13 loading section, 14 caster, 15 network, 18 sloped surface, 20 distribution center, 21 distribution PC, 22 control section, 23 storage section, 24 delivery management information, 25 location information, 26 map information, 28 communication unit, 29 area detection device, 40, 40A to 40D automatic movement device, 40a body unit, 41 movement control unit, 42 storage unit, 43 loading unit, 44 wheels, 45 movement driving unit, 46 detection unit , 47 projection unit, 48 reading unit, 49 communication unit, 50 store, 51 store PC, 52 control unit, 53 storage unit, 54 delivery management information, 55 location information, 56 map information, 58 communication unit, 59 display shelf, 60 Delivery vehicle, 61 luggage compartment, 62 tailgate, 63 tail lift, 64 moving unit, 65 projection unit, 66 drive unit, 68 control device, 70 management server, 72 management control unit, 73 storage unit, 74 delivery management information, 75 Position information, 76 Map information, 78 Communication unit, 80 Map data, 81 Obstacle area, 82 Inclined road surface area, 90, 92, 94 Projection area, 91, 93, 95 Guidance line.

Claims

A movement system that has a moving body that automatically moves an article within a specific space and that delivers the article,
a loading unit capable of loading the article;
a projection unit for projecting a guide line read and moved by the moving object onto a projection plane existing in the specific space;
a driving unit that moves the moving body;
a control unit that controls the projection unit;
movement system with
The moving body is an automatic moving device that includes the driving unit and moves by reading the guide line,
2. The mobile system according to claim 1, wherein said mobile system has a delivery vehicle comprising said loading unit, said projection unit, and said control unit.
The movement system according to claim 1, wherein the control unit controls the driving unit to automatically move the moving object within the specific space and/or between delivery bases.
4. The movement system according to claim 3, wherein the control unit causes the projection unit to project the guide line along which the other moving object follows the moving object onto the projection plane.
A mobile system according to claim 3 or 4,
a reading unit that reads the guidance line projected onto the projection plane;
The movement system, wherein the controller controls the drive to move along the guidance line projected by another device.
6. The movement system according to any one of claims 1 to 5, wherein the control unit causes the projection unit to project the guide line connecting the current position of the other moving body and the loading unit onto the projection plane. .
The mobile system according to any one of claims 1 to 6,
a detection unit that detects obstacles present in the specific space;
detected by the detection unit based on the current position of the moving body in the specific space, a map of the specific space, and area information that is information about a sloped road surface area existing in the specific space; and a processing unit that performs an exclusion process that does not treat the detection result as an obstacle,
The moving system, wherein the control unit controls the driving unit based on the processing of the processing unit to automatically move the moving body within the specific space.
A movement system that has a moving body that automatically moves an article within a specific space and that delivers the article,
a detection unit that detects obstacles present in the specific space;
a driving unit that moves the moving body within the specific space;
detected by the detection unit based on the current position of the moving body in the specific space, a map of the specific space, and area information that is information about a sloped road surface area existing in the specific space; a processing unit that performs an exclusion process that does not treat the detection result as an obstacle;
movement system with
The processing unit performs the exclusion process when the current position of the moving object is outside the area of the inclined road surface and the obstacle detected by the detection unit is in the area of the inclined road surface, and/or 9. The mobile system according to claim 7, wherein the exclusion process is performed when the current position of the moving object is within the area of the inclined road surface and the obstacle detected by the detection unit is outside the area of the inclined road surface. .
The mobile system according to any one of claims 7 to 9, wherein the processing unit performs the extra processing when the distance to the obstacle detected by the detection unit is equal to or greater than a predetermined distance.
the processing unit treats the detection result as an obstacle when the current position of the moving body is outside the area of the inclined road surface and the obstacle detected by the detection unit is outside the area of the inclined road surface; 11. The detection result is treated as an obstacle when the current position of said moving object is within said sloped road area and said obstacle detected by said detection unit is within said sloped road area. A movement system according to any one of the preceding claims.
The mobile system according to any one of claims 1 to 11, wherein the mobile body comprises the projection unit.
A management device used in a delivery system having a moving body for automatically moving an item within a specific space and a moving system for delivering the item,
a storage unit that stores a map of the specific space and area information that is information about a sloped road surface area existing in the specific space;
a communication unit that transmits the map and the area information to the mobile object according to any one of claims 1 to 12;
management device with
14. A management device according to claim 13,
Correction for executing a correction process for correcting the map of the specific space between the difference values when there is a difference value between the measurement result in the specific space acquired from the moving body and the map of the specific space. has a part,
The management device, wherein the communication unit transmits the map after the correction processing to the moving object.
A management device used in a delivery system having a moving body for automatically moving an item within a specific space and a moving system for delivering the item,
Correction for executing a correction process for correcting the map of the specific space between the difference values when there is a difference value between the measurement result in the specific space acquired from the moving body and the map of the specific space. Department and
a communication unit that transmits the corrected map to the moving object according to any one of claims 1 to 12;
management device with
16. The correcting unit corrects the map of the specific space to match the measurement results when a predetermined number or more of the measurement results in the specific space acquired from the moving body are within the same range. Management equipment as described.