JP6706835B2 - Mobile robot control system and server device for controlling mobile robot - Google Patents

Description

The present disclosure relates to mobile robot control systems and the like.

Patent Document 1 discloses a control system for a mobile robot. The disclosed control system is mounted on a mobile robot such as a vehicle, and moves the mobile robot according to a route that reflects a traveling rule included in stored map information.

JP, 2010-191502, A

The present disclosure provides a mobile robot control system and a server device that centrally control a plurality of mobile robots.

A mobile robot control system according to the present disclosure is a mobile robot control system that includes a plurality of mobile robots and a server device that wirelessly communicates with the mobile robots. The mobile robot includes a self-position estimation unit that estimates the position of the mobile robot. , A robot communication unit for performing wireless communication with the server device, the server device including a server communication unit for performing wireless communication with the mobile robot, map information regarding a map of a predetermined area in which the mobile robot operates, and movement. Based on the route information including the movement route set in the robot and the mobile robot information regarding the state of the mobile robot including the position of the mobile robot acquired via the server communication unit, and the mobile robot based on the map information. It has a route search unit that searches for a moving route to be set, and a movement control unit that gives a moving instruction to the mobile robot based on the route information, and the movement control unit uses the plurality of movements based on the mobile robot information and the route information. It is determined whether or not the movements of the robots may interfere with each other, and when the movements of the robots may occur, the route search unit determines route information regarding at least one of the mobile robots that may cause the interference. Change to avoid.

According to the mobile robot control system and the like according to the present disclosure, it is possible to centrally control a plurality of mobile robots by the server device.

It is a conceptual diagram which shows the mobile robot control system which concerns on embodiment roughly. It is the top view which looked at the automatic conveyance machine of FIG. 1 from the upper part. It is a block diagram which shows typically the relationship of the component of the automatic conveyance machine of FIG. It is a figure which shows an example of the map of the work area memorize|stored in the memory|storage part of an automatic carrier. It is a top view which shows an actual work area typically. It is a block diagram which shows the structure of the server apparatus of FIG. 1 typically. It is a figure which shows an example of the map of the work area memorize|stored in the memory|storage part of a server apparatus. It is a figure which shows a part of map of the work area memorize|stored in the memory|storage part of a server apparatus, and is a figure explaining the grid coordinate set on the said map. It is a figure which shows an example of the map information of the memory|storage part of a server apparatus. It is a figure which shows an example of the driving route on a grid map. It is a figure which shows an example of the route information of the memory|storage part of a server apparatus. It is a figure which shows an example of the conveyance machine information of the memory|storage part of a server apparatus. It is a figure which shows the example of the search of the driving route on a grid map by the route search part of a server apparatus. It is the figure which reflected the traveling route set to the automatic carrier on the map of the work area of FIG. It is a flow chart which shows a flow of operation route search operation of an automatic conveyance machine by a server device. It is a flowchart which shows the flow of operation|movement of a server apparatus and an automatic carrier at the time of searching the traveling path of an automatic carrier at the time of normal traveling. It is a flowchart which shows the flow of control of a server apparatus when there is a possibility of interference between automatic carriers. It is a figure which shows on a grid map the example which a collision may generate|occur|produce in two automatic conveyance machines. It is a flowchart which shows the flow of collision avoidance control of a server apparatus when there is a possibility of collision with two automatic conveyance machines. It is a figure which shows the position of two automatic conveyance machines on the grid map of FIG. 18, and is a figure which shows one state along the flow of the collision avoidance control by a server apparatus. It is a figure which shows the position of two automatic conveyance machines on the grid map of FIG. 18, and is a figure which shows one state along the flow of the collision avoidance control by a server apparatus. It is a figure which shows the position of two automatic conveyance machines on the grid map of FIG. 18, and is a figure which shows one state along the flow of the collision avoidance control by a server apparatus. It is a figure which shows the position of two automatic conveyance machines on the grid map of FIG. 18, and is a figure which shows one state along the flow of the collision avoidance control by a server apparatus. It is a figure which shows the position of two automatic conveyance machines on the grid map of FIG. 18, and is a figure which shows one state along the flow of the collision avoidance control by a server apparatus. It is a figure which shows the position of two automatic conveyance machines on the grid map of FIG. 18, and is a figure which shows one state along the flow of the collision avoidance control by a server apparatus. FIG. 6 is a diagram showing on a grid map an example in which the traveling routes of two automatic carriers may overlap and the two automatic carriers may accumulate. It is a flow chart which shows a flow of stay avoidance control of a server device when there is a possibility of staying in an automatic carrier. It is a flowchart which shows the flow of operation|movement of the server apparatus and automatic carrier which used together the communication terminal at the time of controlling the automatic carrier in operation.

Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed description of well-known matters or duplicate description of substantially the same configuration may be omitted. This is to prevent the following description from being unnecessarily redundant and to facilitate understanding by those skilled in the art. The inventor provides the accompanying drawings and the following description in order for those skilled in the art to fully understand the present disclosure, and is not intended to limit the subject matter described in the claims by these. Absent.

Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, steps (processes), order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the present disclosure. In addition, each drawing is a schematic diagram and is not necessarily strictly illustrated. In the following description of the embodiments, expressions with “substantially” such as approximately parallel and approximately orthogonal may be used. For example, substantially parallel means not only being completely parallel, but also being substantially parallel, that is, including a difference of, for example, about several percent. The same applies to expressions with other "abbreviations".

[Embodiment]
Hereinafter, a mobile robot control system 100 according to an embodiment will be described with reference to the drawings. In the following embodiments, an example in which the mobile robot control system 100 is applied to control of an automatic carrier as a mobile robot in a distribution warehouse will be described. The mobile robot control system may be applied to control any mobile robot other than the automatic carrier.

[1-1. Configuration of Mobile Robot Control System 100]
[1-1-1. Overall Configuration of Mobile Robot Control System 100]
FIG. 1 is a conceptual diagram schematically showing a mobile robot control system 100 according to an embodiment. Referring to FIG. 1, the mobile robot control system 100 includes a plurality of automatic carriers 101, a server device 201, and an access point 301. The automatic carrier 101, the server device 201, and the access point 301 are arranged in the distribution warehouse 1. The server device 201 may be arranged outside the distribution warehouse 1. In the distribution warehouse 1, a work area 2 for dividing the carried-in packages into delivery areas, types of packages, etc. is defined. The automatic carrier 101 and the access point 301 are arranged in the work area 2. The server device 201 may be arranged inside the work area 2 or outside the work area 2.

The automatic carrier 101 is a vehicle for transporting luggage in the work area 2, and can load the luggage and automatically travel to a destination. The server device 201 communicates with the automatic carrier 101 via wireless communication, and controls the operation of the automatic carrier 101. The access point 301 is a device that relays communication between the automatic carrier 101 and the server device 201. The access point 301 communicates with the automatic carrier 101 via wireless communication. Further, the access point 301 communicates with the server device 201 via the communication network 401. A wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) (Wireless Fidelity) may be applied to the wireless communication between the access point 301 and the automatic carrier 101, and other wireless communication is applied. May be done. As the communication network 401 between the access point 301 and the server device 201, a local communication network within the distribution warehouse 1 or within the operating company of the distribution warehouse 1 may be applied, or the Internet may be applied. For communication between the access point 301 and the server device 201 and the communication network 401, wireless communication such as a wireless LAN or wired LAN or wired communication may be applied. The server device 201 may be configured to directly communicate with the automatic carrier 101 without going through the access point 301.

[1-1-2. Configuration of automatic carrier]
The configuration of the automatic carrier 101 according to the present embodiment will be described. FIG. 2 is a plan view of the automatic carrier 101 of FIG. 1 as seen from above. Referring to FIG. 2, the automatic carrier 101 includes a loading platform 111 on which a load can be placed, a gripping unit 112 that grips and fixes the loading on the loading platform 111, and supports the loading platform 111 so that it can travel. It has one wheel 113a and two wheels 113b. The two wheels 113a are arranged at positions facing each other with the luggage carrier section 111 in between, and the two wheels 113b are disposed at positions facing each other with the luggage carrier section 111 sandwiched therebetween. Each of the two wheels 113 a is mechanically connected to the two traveling drive devices 114 provided on the luggage carrier 111 so as to be individually rotationally driven. The traveling drive device 114 may be a rotary drive device such as an electric motor. Each of the two wheels 113b is rotatable so as to change the direction of its rotation axis. When the two wheels 113a are rotationally driven in the same direction and at the same speed, the automatic carrier 101 linearly self-propels, and a rotation difference is given between the two wheels 113a, thereby changing the traveling direction. It is possible to turn. It should be noted that one traveling drive device 114 may be configured to drive the two wheels 113a via a drive mechanism including a clutch and the like.

The gripper 112 includes two arms 112a capable of gripping a load on the cargo bed 111 from both sides, and a gripper drive device 112b that drives the arms 112a so as to move toward or away from each other for a gripping operation. The two arms 112a can perform a gripping operation of the luggage on the cargo bed 111 and a gripping releasing operation of the luggage by being driven by the gripper driving device 112b. The grip drive device 112b may be a drive device such as an electric motor, an electric actuator, or a hydraulic cylinder. The automatic carrier 101 may be provided with various mechanisms such as a mechanism for raising and lowering a load, a mechanism for engaging with a load and taking the load in and out of the load carrier 111 instead of or in addition to the grip 112. Good.

An external sensor 115 is attached to the front side portion of the luggage carrier portion 111 located in front of the automatic carrier 101 in the traveling direction. The external world sensor 115 detects the distance and the direction of an object existing in front of the automatic carrier 101 in the traveling direction with respect to the platform 111. The external sensor 115 scans a predetermined area in front of the automatic carrier 101 using a radar, a laser, a lidar, a light wave, an ultrasonic wave, a camera, and the like, and detects the distance to an object existing in the predetermined area. It may be a sensor that measures direction. The external world sensor 115 may be provided not only on the front side portion of the luggage carrier section 111 but also on other side portions. As a result, it becomes possible to detect the distance and direction between the cargo bed 111 and the surrounding objects in a wider area.

The loading platform 111 is provided with an input unit 116. The input unit 116 is a component for inputting information such as a command to the automatic carrier 101. In the present embodiment, the input unit 116 has a configuration including a plurality of foot-operated pedals. The plurality of pedals are used for running and stopping the automatic carrier 101, switching the running mode of the automatic carrier 101, selecting the travel route of the automatic carrier 101, changing the running direction of the automatic carrier 101, and operating the gripper 112. In addition, commands such as a lock operation and an unlock operation for locking the rotation of the wheel 113a or 113b of the automatic carrier 101 can be input. Further, the input unit 116 may be configured to be able to set at least one of a starting point and a destination point of the traveling route set in the automatic carrier 101. The configuration and function of the input unit 116 are not limited to the above configuration and function using a plurality of pedals, and may have any configuration and function. The traveling modes of the automatic carrier 101 include a traveling mode according to a command from the server device 201 and a traveling mode according to a command from a remote control device 502 such as a manual remote controller shown in FIG. The remote control device 502 is a component for wirelessly communicating with the automatic carrier 101 and controlling the operation of the automatic carrier 101 by an operator's operation. For example, the remote control device 502 may have the same function as the input unit 116, and may have a further function.

The carrier 111 includes a first communication unit 117a and a second communication unit 117b. The first communication unit 117a is a component for wirelessly communicating with the access point 301 and the like. Here, the first communication unit 117a is an example of a robot communication unit. A wireless LAN such as Wi-Fi (registered trademark) may be applied to the wireless communication between the first communication unit 117a and the access point 301, or other wireless communication may be applied. The second communication unit 117b is a component for wirelessly communicating with the remote control device 502, the remote emergency stop device 503, etc. shown in FIG. Any wireless communication may be applied to the wireless communication between the second communication unit 117b and the remote control device 502 and the remote emergency stop device 503. The remote emergency stop device 503 is a device for making an emergency stop of the automatic carrier 101 regardless of the traveling mode of the automatic carrier 101, and may be, for example, a remote emergency stop button arranged in the work area 2. The first communication unit 117a and the second communication unit 117b may be a wireless communication device, a communication circuit including a wireless communication interface, or the like.

Further, the loading platform 111 is provided with a display unit 118. The display unit 118 is a component for displaying various information. The display unit 118 may be a display panel such as a liquid crystal panel or an indicator. In the present embodiment, the display unit 118 can display at least some of the position of the automatic carrier 101, the operating state, the current traveling route, the selectable traveling route, the alarm for abnormality, and the like. Further, the loading platform 111 is provided with a control unit 120 that controls the entire automatic carrier 101. The configuration of the control unit 120 will be described later.

The above-described configuration of the automatic carrier 101 is an example, and the present invention is not limited to this. The automatic carrier 101 is an arbitrary automatic carrier that can carry a luggage and can be self-propelled. Good.

The configuration of the control unit 120 of the automatic carrier 101 and its surroundings will be described with reference to FIG. FIG. 3 is a block diagram schematically showing the relationship between the constituent elements of the automatic carrier 101 of FIG. The automatic carrier 101 includes a wheel drive unit 112b, a traveling drive unit 114, an external sensor 115, an input unit 116, a first communication unit 117a, a second communication unit 117b, a display unit 118, and a control unit 120, as well as wheels. A rotation sensor 119 for detecting the rotation angle of each 113a, a storage unit 121, a self-position estimation unit 122, and an obstacle detection unit 123 are provided.

The control unit 120 may have any control function as long as it has a control function of controlling the entire automatic carrier 101, and may be realized in any manner. For example, the control unit 120 may be configured by dedicated hardware. Further, for example, the control unit 120 may be realized by executing a software program suitable for each component. In this case, the control unit 120 may include, for example, an arithmetic processing unit (not shown) and a storage unit (not shown) that stores the control program. Examples of the arithmetic processing unit include an MPU (Micro Processing Unit) and a CPU (Central Processing Unit). A memory or the like is exemplified as the storage unit. The control unit 120 may be composed of a single control unit that performs centralized control, or may be composed of a plurality of control units that cooperate with each other to perform distributed control.

The control unit 120 includes the grip drive unit 112b, the traveling drive unit 114, the external sensor 115, the first communication unit 117a, the second communication unit 117b, the display unit 118, the rotation sensor 119, the self-position estimation unit 122, and the obstacle detection unit. Control of 123, reception of information sent from the input unit 116, storage of information in the storage unit 121, retrieval of information stored in the storage unit 121, and the like can be performed.

Specifically, the control unit 120 controls the operation of the grip drive device 112b and the travel drive device 114. The control unit 120 causes the two traveling drive devices 114 to rotationally drive the two wheels 113 a in the same direction at the same rotational speed to linearly move the automatic carrier 101 forward or backward, and thus the two traveling drive devices 114. Then, the two wheels 113a are rotationally driven in different rotational directions or rotational speeds, thereby turning the automatic carrier 101. The controller 120 drives the gripper driving device 112b to cause the arm 112a of the gripper 112 to perform a gripping operation or release of the gripping operation.

The control unit 120 controls the rotation sensor 119 to detect the rotation angle of each of the two wheels 113a. The rotation sensor 119 sends the detection result to the control unit 120. The rotation sensor 119 may send the detection result to at least one of the storage unit 121 and the self-position estimation unit 122 instead of or in addition to the control unit 120.

The control unit 120 controls the external world sensor 115 to cause the external world sensor 115 to scan the front of the automatic carrier 101. The external sensor 115 sends the detection result to the self-position estimation unit 122 and the obstacle detection unit 123. The external world sensor 115 may send the detection result to at least one of the control unit 120 and the storage unit 121 instead of or in addition to the self-position estimation unit 122 and the obstacle detection unit 123.

The control unit 120 causes the self-position estimating unit 122 to estimate the position and orientation of the automatic carrier 101 based on the detection results of the external sensor 115 and the rotation sensor 119, and acquires the estimation result. The self-position estimation unit 122 may send the estimation result to the storage unit 121 instead of the control unit 120 or in addition to the control unit 120.

The control unit 120 causes the obstacle detection unit 123 to generate obstacle information that is information regarding the presence or absence of an obstacle around the automatic carrier 101 and its position based on the detection result of the external sensor 115, and the obstacle information. To get. The obstacle detection unit 123 may send the obstacle information to the storage unit 121 instead of the control unit 120 or in addition to the control unit 120. The obstacle of the obstacle information may include another automatic carrier 101. In addition, the control unit 120 may stop the automatic carrier 101 when an obstacle is confirmed in the travel route of the automatic carrier 101 or in the vicinity thereof. After that, the control unit 120 can start the traveling of the automatic carrier 101 when the obstacle cannot be confirmed on the traveling route or in the vicinity thereof by the external sensor 115. Alternatively, the control unit 120 may control the start of traveling of the automatic carrier 101 based on an instruction received from the input unit 116, the server device 201, the remote control device 502, or the like.

The control unit 120 controls the first communication unit 117a to exchange information with the access point 301. That is, the control unit 120 controls the first communication unit 117 a to transmit/receive information to/from the server device 201 via the access point 301. The control unit 120, for example, displays status information of the automatic carrier 101 such as the position, orientation, and operating state of the automatic carrier 101, and obstacle information around the automatic carrier 101, for example, every one second. Is periodically sent to the server device 201. Further, the control unit 120 controls the second communication unit 117b to transmit/receive information to/from the remote control device 502 and the remote emergency stop device 503. The control unit 120 also controls the display unit 118 to display information.

The storage unit 121 is a component that stores various information. The storage unit 121 may be composed of a semiconductor memory or the like, or may be composed of a volatile memory or a non-volatile memory or the like. The storage unit 121 may be a read-only memory, that is, a non-rewritable memory. The storage unit 121 stores, for example, a map 121a of the work area 2 as shown in FIG.

FIG. 4 is a diagram showing an example of a map of the work area 2 stored in the storage unit 121 of the automatic carrier 101. FIG. 5 is a plan view schematically showing the actual work area 2. Referring to FIGS. 4 and 5, the map 121a includes the floor surface and the non-animal in the work area 2. Inanimate objects may include structures such as walls and columns, stationary machines such as belt conveyors, and the like. On the other hand, a movable object such as a shutter that can be opened and closed and a movable object such as an access point 301, and a place such as a work place A, B, C, and D are not included in the map 121a. That is, the map 121a shows an area in the work area 2 in which the automatic carrier 101 can operate. Further, the direction is defined in the map 121a. For example, in the present embodiment, the azimuth D0 from the bottom to the top in FIG. 4 is defined as the azimuth reference, that is, the azimuth with an azimuth angle of 0 degrees, and the azimuth is defined so as to increase clockwise from the azimuth D0. ..

With reference to FIGS. 3 and 4, the self-position estimating unit 122 is a component for estimating the position of the automatic carrier 101 in the work area 2. The self-position estimation unit 122 may have a configuration similar to the configuration of the control unit 120 described above, or may be included in a part of the control unit 120.

The self-position estimating unit 122 matches the position of the automatic carrier 101 in the work area 2 by matching the detection result of the external sensor 115 with the shape of the inanimate object included in the map 121a stored in the storage unit 121. And the direction are detected. Further, the self-position estimation unit 122 detects the traveling locus and the turning angle of the automatic carrier 101 from the detection result of the rotation sensor 119, that is, the rotation speed and the rotation angle difference of the two wheels 113a. The self-position estimating unit 122 corrects the detection result of the external sensor 115 and the position and azimuth of the automatic carrier 101 detected from the map 121a of the storage unit 121 by using the traveling locus and the turning angle of the automatic carrier 101, and The position and orientation of the automatic carrier 101 with high accuracy are detected.

In the present embodiment, the self-position estimating unit 122 uses the coordinates in which the direction of the azimuth angle of 0 degree is the Y-axis negative direction and the direction of the azimuth angle of 90 degrees is the X-axis positive direction, and the position of the automatic carrier 101 is determined. Specify. The self-position estimation unit 122 sends the detection result of the position and orientation of the automatic carrier 101 to at least one of the control unit 120 and the storage unit 121. Furthermore, the self-position estimation unit 122 may send the detection result to the obstacle detection unit 123.

The automatic carrier 101 may include an acceleration sensor, an angular velocity sensor (also referred to as a gyro sensor), and the like, and the self-position estimating unit 122 also uses the detection result of the sensor to detect the position of the automatic carrier 101. The azimuth may be detected. This improves the detection accuracy of the position and orientation of the automatic carrier 101. The traveling locus and the posture angle, that is, the turning angle of the automatic carrier 101 can be obtained from the detection results of the acceleration sensor and the angular velocity sensor. Alternatively, the automatic carrier 101 may include a GPS transceiver and be configured to receive the position information of itself.

The obstacle detection unit 123 is a component for detecting an object other than an inanimate object, that is, an obstacle, existing in the map 121a of the work area 2 stored in the storage unit 121. The obstacle detection unit 123 may have a configuration similar to the configuration of the control unit 120 described above, or may be included in a part of the control unit 120. The obstacle detection unit 123 detects the position of the object detected by the external sensor 115 from the detection result of the external sensor 115 and the detection result of the position and orientation of the automatic carrier 101 by the self-position estimation unit 122. Further, the obstacle detection unit 123 compares the detected position of the object with the position of the inanimate object in the map 121a of the storage unit 121. If the detected position of the object does not correspond to the inanimate position, Recognize as an obstacle. The obstacle detection unit 123 sends the obstacle information including the recognized obstacle and its position information to at least one of the control unit 120 and the storage unit 121. The self-position estimating unit 122 may acquire the obstacle information by the obstacle detecting unit 123 and use it for feedback or the like when detecting the position and orientation of the automatic carrier 101.

[1-1-3. Configuration of server device 201]
The configuration of the server device 201 according to this embodiment will be described. The server device 201 is a component for setting the travel route of each automatic carrier 101 in the work area 2 and managing the operation of each automatic carrier 101 based on the set travel route. In addition, the server device 201 periodically receives information including the position, direction, presence or absence of an obstacle on the travel route, etc. from each automatic carrier 101, and corrects the travel route based on the received information. Control of the operation of.

FIG. 6 is a block diagram schematically showing the configuration of the server device 201 of FIG. Referring to FIG. 6, the server device 201 includes an input unit 216, a first communication unit 217a, a second communication unit 217b, a display unit 218, a control unit 220, a storage unit 221, a route search unit 224, and a movement control unit 225. .. Here, the first communication unit 217a is an example of a server communication unit. The server device 201 may be an information processing device such as a computer. The server device 201 may include one or more server devices and may form a cloud system.

The display unit 218 is a component for displaying various information by the server device 201, and may be a display panel such as a liquid crystal panel. The input unit 216 is a component for inputting various information to the server device 201, and may include a keyboard, a mouse, and the like.

The first communication unit 217a is a component for the server device 201 to communicate with the automatic carrier 101 and the like. The first communication unit 217a may be a communication device, a processing circuit including a communication interface, or the like. The first communication unit 217a communicates with the automatic carrier 101 and the like via the access point 301 under the control of the control unit 220. Specifically, the first communication unit 217a connects to the communication network 401 via wired communication or wireless communication, and communicates with the first communication unit 117a of the automatic carrier 101 via the communication network 401 and the access point 301. To do. As described above, the communication network 401 may be a local communication network within the distribution warehouse 1 or within the operating company of the distribution warehouse 1, or may be the Internet. The first communication unit 217a may be configured to send the received information to either the control unit 220 or the storage unit 221, and may be configured to receive and send the information from either the control unit 220 or the storage unit 221. May be.

The second communication unit 217b is a component for the server device 201 to communicate with the communication terminal 501 and the like. Communication via the wireless LAN, the communication network 401, the access point 301, and the like may be applied to the communication between the server device 201 and the communication terminal 501. The third generation mobile communication system (3G), the fourth generation A mobile communication standard used in a mobile communication system such as a mobile communication system (4G) or LTE (registered trademark) may be applied. In this embodiment, the mobile communication standard is applied to the communication between the server device 201 and the communication terminal 501.

The communication terminal 501 is a device that can communicate with the server device 201 and the like. The communication terminal 501 may be an information processing device such as a computer. More specifically, the communication terminal 501 may be a mobile phone or a mobile terminal such as a smartphone, smart watch, tablet, or small personal computer. In the present embodiment, communication terminal 501 may have the same function as input unit 216 and display unit 218, or may have a further function.

The storage unit 221 is a component that stores various information. The storage unit 221 may be composed of a semiconductor memory or the like, and may be composed of a volatile memory or a non-volatile memory or the like. The storage unit 221 may be a read-only memory, that is, a non-rewritable memory. The storage unit 221 may be incorporated in the server device 201 or may be present in a cloud server accessible by the server device 201. The storage unit 221 includes a map 221a of the work area 2 shown in FIG. 7, map information 221b about the map of the work area 2, route information 221c about the travel route of each automatic carrier 101, and carrier information 221d about each automatic carrier 101. Etc. are memorized. Here, the carrier information 221d is an example of mobile robot information.

FIG. 7 is a diagram showing an example of a map of the work area 2 stored in the storage unit 221 of the server device 201. Referring to FIG. 7, the map 221a of the work area 2 stored in the storage unit 221 is substantially constant in parallel with the X-axis and Y-axis with respect to the map 121a stored in the storage unit 121 of the automatic carrier 101. It has a configuration in which it is divided into a plurality of cells arranged in a grid by a plurality of grid lines arranged at intervals of. That is, the map 221a constitutes a grid map. The grid may be formed to have a square shape having a size corresponding to the width of the automatic carrier 101 with respect to the traveling direction of the automatic carrier 101, for example, 60 cm in length corresponding to the width of the automatic carrier 101. It may be a 60 cm wide square.

FIG. 8 shows a part of the map 221a of the work area 2 stored in the storage unit 221 of the server device 201, and is a diagram illustrating grid coordinates set in the map 221a. As shown in FIG. 8, in the map 221a, the grid having P0 as the apex of the corner is defined as the reference point where the X coordinate and the Y coordinate are 0 in the map 121a stored in the automatic carrier 101. It is regarded as a square. In the present embodiment, in FIG. 8, the position of the apex of the upper left corner of the reference grid is the reference point P0. Further, the position of each square is defined by grid coordinates grid(h,v) using the column number h and the row number v of the square along the X-axis positive direction and the Y-axis positive direction from the reference square. To be done.

Referring to FIGS. 4 and 7, in the map 221a, in addition to the floor surface and the inanimate object shown in the map 121a, movable objects such as a shutter and an access point 301, work places A, B, C and D, and an automatic carrier. Elements such as a stand-by place of 101, a place where the automatic carrier 101 cannot travel, a place where the automatic carrier 101 is prohibited to stop, and a place serving as another feature or index are shown. For example, in FIG. 7, the characteristic place is exemplified by the place where the worker works on the belt conveyor. The above-described elements may be given in advance when the map 221a is created, or may be given at any time via the input unit 216 or the communication terminal 501 or from the automatic carrier 101. By adding the given elements to the map 221a, the map 221a is updated with a new map. Furthermore, the grid at the position corresponding to the above-described element can be characterized as a point having a feature on the grid map in association with the content of the element.

The map information 221b includes information on each square. The information on the grid may include grid coordinates corresponding to the grid and attribute information corresponding to the grid. The attribute information may include not only the contents of the elements having the above-mentioned characteristics but also non-characteristic contents such as being able to run, and further, the predetermined information set in the automatic carrier 101 at the position of the grid. May include the motion and the direction, that is, the direction.

FIG. 9 is a diagram showing an example of the map information 221b in the storage unit 221 of the server device 201. As shown in FIG. 9, the map information 221b includes grid coordinates, categories corresponding to the contents of elements, predetermined operations of the automatic carrier 101, and predetermined directions of the automatic carrier 101 in association with each other. Can be The map information 221b does not need to include information about all the squares on the grid map. For example, the map information 221b includes only the information on the four corners or the cells of one corner in the area of the inoperable point in FIG. 7, and does not include the information of other cells at all. Good. As a result, the information amount of the map information 221b is reduced. The azimuth may not be defined for each square. The stop direction on the characteristic square, such as in front of the belt conveyor, is the minimum required, but the stop direction on the ordinary square does not have to be fixed and defined. For example, the server device 201 may have a degree of freedom such that the server device 201 can be stopped in a direction corresponding to the traveling direction.

The route information 221c of the automatic carrier 101 includes grid coordinates of a grid included in the traveling route set in the automatic carrier 101. Although not limited to this, in the present embodiment, the traveling route of the automatic carrier 101 is set along the array of rows and columns formed by the squares. Then, the route information 221c includes grid coordinates of the grid included in the travel route formed by the grid that the automatic carrier 101 can pass through the center of the grid.

FIG. 10 is a diagram showing an example of the travel route on the grid map. As shown in FIG. 10, an end point and a starting point are set for each of the change points in the traveling direction of the automatic carrier 101 in a series of travel routes from the starting point to the destination point. As a result, the series of travel routes are divided into a plurality of linear section travel routes R1, R2, and R3. Each of the divided travel routes R1, R2, and R3 is a linear route that connects one starting point R1s, R2s, and R3s and one subsequent end point R1e, R2e, and R3e, respectively, and runs along the squares. The divided traveling route may be formed by dividing a linear traveling route. At this time, the starting point or the ending point of the divided traveling route may be a change point of the operation of the automatic carrier 101 such as the start or stop of the automatic carrier 101.

FIG. 11 is a diagram showing an example of the route information 221c. The route information 221c includes grid coordinates of a starting point and an ending point of each divided traveling route. For example, in the route information 221c shown in FIG. 11, one series of travel routes from grid (Na, Ma) to grid (Na+Na1+Na3, Ma+Ma2) in grid coordinates is divided into three divided travel routes and included. There is. The route information 221c includes grid coordinates of a starting point and an ending point of each of the three divided traveling routes. The first starting point of the three divided traveling routes is the starting point of the traveling route, and the last ending point is the destination point of the traveling route. In addition, the route information 221c may include traveling speed information that is the speed at which the automatic transporter 101 should travel on the segmented travel route, and indicates the orientation of the automatic transporter 101 at the start point and/or the end point of the segmented travel route. The information may be included, and the traveling azimuth information indicating the azimuth of the automatic carrier 101 traveling on the divided traveling route may be included.

Further, as shown in FIG. 10, the route information 221c indicates that the automatic carrier 101 and the loading of pallets, luggage, etc. on the automatic carrier 101 when the direction or the direction of the automatic carrier 101 is changed in each divided traveling route. It may include grid coordinates of a grid located in an area through which an object can pass. For example, when the direction is changed at each starting point or each ending point, the grid coordinates of the four squares of the square-shaped square area M including the area through which the automatic carrier 101 and its load can pass are the route information 221c. May be included in. At this time, for example, at the starting point R1s that also serves as a starting point, the grid coordinates of the four corners of the region M centered on the starting point R1s are included in the route information 221c. Note that the grid coordinates of all cells in the region M may be included in the route information 221c. Accordingly, the route information 221c may include grid coordinates of a grid where at least a part of the automatic carrier 101 may pass when traveling on the traveling route.

The carrier information 221d of the automatic carrier 101 includes information about the automatic carrier 101 in association with each of the automatic carriers 101 for all the automatic carriers 101. The carrier information 221d identifies the current position, current azimuth (angle) and current state of the automatic carrier 101 periodically sent from each automatic carrier 101 to the server device 201, such as the identification number of each automatic carrier 101. It is included in association with information and time. In the present embodiment, each automatic carrier 101 sends the above information to the server device 201 every second. As a result, the server device 201 can acquire and confirm the state of each automatic carrier 101 in substantially real time.

FIG. 12 is a diagram showing an example of the carrier information 221d. As shown in FIG. 12, the current position of the automatic carrier 101 is indicated by XY coordinates. The current azimuth of the automatic carrier 101 is indicated by an azimuth. The current state of the automatic carrier 101 includes a running state, a stopped state, a standby state, a state of the automatic carrier 101 such as occurrence of an abnormality, a state of the grip portion 112, a locked state of the wheels 113a or 113b of the automatic carrier 101, and an automatic state. Information indicating that the obstacle detection unit 123 of the carrier 101 detects an obstacle is included.

Referring to FIG. 6, the control unit 220 of the server device 201 may have any control function for controlling the entire server device 201, and may be implemented in any way. For example, the control unit 220 may be configured with dedicated hardware. Further, for example, the control unit 220 may be realized by executing a software program suitable for each component. In this case, the control unit 220 may include, for example, an arithmetic processing unit (not shown) and a storage unit (not shown) that stores the control program. An MPU, CPU, etc. are illustrated as an arithmetic processing part. A memory or the like is exemplified as the storage unit. The control unit 220 may be composed of a single control unit that performs centralized control, or may be composed of a plurality of control units that cooperate with each other to perform distributed control.

The control unit 220 controls the first communication unit 217a, the second communication unit 217b, the display unit 218, the route search unit 224, and the movement control unit 225, receives information sent from the input unit 216, and stores the information in the storage unit 221. Information can be stored and the information stored in the storage unit 221 can be retrieved.

Specifically, the control unit 220 controls the first communication unit 217a to exchange information with the access point 301. That is, the control unit 220 controls the first communication unit 217a to transmit/receive information to/from each automatic carrier 101 via the access point 301. The control unit 220 receives information sent periodically from each automatic carrier 101, and also includes map information of the work area 2, route information set in the automatic carrier 101, operation commands of the automatic carrier 101, and the like. It is configured to send information and the like to the automatic carrier 101 as needed. Further, the control unit 220 controls the second communication unit 217b to transmit/receive information to/from the communication terminal 501.

The control unit 220 receives information from each automatic carrier 101, information input to the input unit 216, information received from the communication terminal 501, and information such as travel route information of the automatic carrier 101 searched by the route search unit 224. By adding, the map 221a, the map information 221b, the route information 221c, the carrier information 221d, etc. stored in the storage unit 221 are updated with new information.

Further, the control unit 220 controls the display unit 218 to display various information. For example, the control unit 220 causes the display unit 218 to display a map of the work area 2, the position and orientation of each automatic carrier 101, the travel route set for each automatic carrier 101, and the automatic route searched by the route search unit 224. Information such as selectable travel routes and carrier information may be displayed on the carrier 101.

The control unit 220 controls the route searching unit 224 to cause the route searching unit 224 to search for a travel route to be set in each automatic carrier 101. The route search unit 224 determines the grid of the position of the starting point on the grid map based on the position of the starting point and/or the position of the destination point of the automatic carrier 101 given via the input unit 216, the communication terminal 501, or the like. A shortest route is connected to the grid at the position of the destination and a travel route along the array of grids is searched. The position of the starting point and/or the position of the destination of the automatic carrier 101 may be input through the input unit 116 of the automatic carrier 101 and transmitted from the automatic carrier 101 to the server device 201. In addition to the positions of the starting point and the destination point of the automatic carrier 101, operations such as the starting direction and approaching direction of the automatic carrier 101 at the starting point and the destination point are given, and the route searching unit 224 The travel route may be searched in consideration of the bearing. Then, the route searching unit 224 may further search for a traveling route in which the automatic carrier 101 can smoothly operate, that is, a traveling route having a small number of bends, among the searched traveling routes.

FIG. 13 is a diagram showing an example of a search for a travel route on a grid map by the route search unit 224 of the server device 201. As shown in FIG. 13, when searching for a traveling route from the starting point S to the destination point E, the route searching unit 224 finds traveling routes RA and RB that connect the starting point S and the destination point E with the shortest route. The area NE is a travel-prohibited area. Furthermore, the route search unit 224 may perform a search for finding a travel route RA that allows the smoothest operation of the automatic carrier 101. In this case, not only the travel route RA but also another travel route may be found as the travel route that enables the smoothest operation of the automatic carrier 101.

The route search unit 224 sends information on the travel route found as a result of the search to the control unit 220. Note that the route search unit 224 may send the found traveling route information to the storage unit 221 instead of the control unit 220 or in addition to the control unit 220.

When the number of found traveling routes is one, the control unit 220 determines the traveling route as the traveling route to be selected. Alternatively, the control unit 220 uses the at least one of the display unit 218 of the server device 201, the communication terminal 501, and the display unit 118 of the automatic carrier 101 to determine whether or not the travel route is adopted, by operating the mobile robot control system 100. You may contact the person. On the other hand, when there are a plurality of travel routes found, the control unit 220 may select one travel route by itself according to a rule or the like preset in the server device 201. May be displayed on at least one of the display unit 218, the communication terminal 501, and the display unit 118 of the automatic carrier 101, and the operator of the mobile robot control system 100 may be asked to make a selection. In the latter case, the control unit 220 determines the travel route selected by the operator as the travel route to be selected.

Further, the control unit 220 reflects the determined travel route in the route information of the storage unit 221, the map 221a, and the like. For example, an example of an image in which the determined travel route is reflected on the map 221a is shown in FIG. FIG. 14 is a diagram in which the travel route set in the automatic carrier 101 is reflected in the map 221a of the work area in FIG. In FIG. 14, for the sake of explanation, arrows are given in the traveling direction on the travel route. The travel route constitutes a series of travel routes that circulate through the work locations A, B, C, D and A in this order.

The control unit 220 controls the movement control unit 225 to operate each automatic carrier 101 based on the route information and the like. The movement control unit 225 gives movement information including a traveling instruction to the automatic carrier 101 based on the route information in the storage unit 221. Specifically, the movement control unit 225 determines the travel route and the segmented travel route of the automatic carrier 101 from the current position of the automatic carrier 101 included in the carrier information 221d of the storage unit 221. Furthermore, the movement control unit 225 provides movement information including the position of the starting point and the end point of each segmental traveling route of the traveling route to be traveled or the segmental traveling route to be traveled next, the traveling speed, and the azimuth of the automatic carrier 101. , To the automatic carrier 101. At this time, the positions of the starting point and the ending point of the divided traveling route are given in grid coordinates.

Further, the movement control unit 225 refers to the map information 221b in the storage unit 221, and refers to the map related information including the predetermined motion and direction included in the attribute information set in the grid on the divided travel route and the position of the grid. The information may be sent to the automatic carrier 101. Alternatively, the map-related information may be stored in the storage unit 121 of the automatic carrier 101 in advance. The automatic carrier 101 travels and operates on the basis of grid coordinates according to the received movement information and map-related information. Note that the map 121a in the storage unit 121 of the automatic carrier 101 is grid-mapped and grid coordinates are set, like the map 221a shown in FIG. Therefore, the automatic carrier 101 operates based on the grid coordinates of the map 121a.

Further, when the movement control unit 225 receives the obstacle information from the automatic carrier 101, the movement controller 225 determines the operation to be performed by the automatic carrier 101 and sends an instruction to the automatic carrier 101 based on the above determination. At this time, a traveling instruction to change the traveling speed of the automatic carrier 101 so as to avoid the obstacle may be sent to the automatic carrier 101. Instead of or in addition to the above, the movement control unit 225 changes the traveling route by causing the route searching unit 224 to newly search for a traveling route that can avoid the obstacle, and automatically transfers the traveling route according to the changed traveling route. The machine 101 may be run.

[1-2. Operation of Mobile Robot Control System 100]
[1-2-1. Search operation of travel route of automatic carrier 101 by server apparatus 201]
Among the operations of the mobile robot control system 100, the operation of searching the travel route of the automatic carrier 101 by the server device 201 will be described with reference to FIGS. 6, 9 to 13 and 15. FIG. 15 is a flowchart showing the flow of the travel route search operation of the automatic carrier 101 by the server device 201.

Referring mainly to FIG. 15, the route search unit 224 of the server apparatus 201 issues an instruction to set the traveling route of the automatic carrier 101 via the input unit 216 of the server apparatus 201, the communication terminal 501, or the automatic carrier 101. When receiving or determining that it is necessary to set the traveling route of the automatic carrier 101 based on the obstacle information or the like, the map information 221b of the work area 2 stored in the storage unit 221 of the server apparatus 201 is read (step S1001). Next, the route search unit 224 reads the carrier information 221d stored in the storage unit 221 (step S1002) and acquires the carrier information 221d of each automatic carrier 101.

Further, the route searching unit 224 sets the positions of the starting point S and the destination point E of the travel route using the grid coordinates of the map 221a of the work area 2 stored in the storage unit 221 (step S1003). The positions of the starting point S and the destination point E may be based on an instruction via the input unit 216, the communication terminal 501, or the automatic carrier 101.

Next, the route search unit 224 searches the shortest route connecting the starting point S and the destination point E on the grid map and along the array of squares (step S1004). As a result, the route search unit 224 finds out two traveling routes RA and RB as shown in FIG. Further, in the present example, the route searching unit 224 selects a shape that allows the smoothest traveling of the automatic carrier 101, that is, a traveling route RA having the least bends from the traveling routes RA and RB. By the way, the automatic carrier 101 makes one 90-degree turn when traveling on the travel route RA, and makes four 90-degree turns when traveling on the travel route RB. ..

Furthermore, the route search unit 224 sets the traveling speed of the automatic carrier 101 on the traveling route RA based on the linear shape of the traveling route RA, given conditions, and the like. The traveling speed may be based on an instruction via the input unit 216, the communication terminal 501, or the automatic carrier 101. The route search unit 224 may set the orientation of the automatic carrier 101 on the travel route RA, and sets the orientation of the automatic carrier 101 at the start point and/or the end point of the segmented travel route that divides the travel route RA. You may.

The route search unit 224 sets information regarding the alignment and position of the traveling route RA, and the traveling speed and direction of the automatic carrier 101 on the traveling route RA as the route information of the traveling route RA. Note that the route information of the traveling route RA may not include the orientation of the automatic carrier 101 at the start point and the end point of the segmented traveling route. The orientation of the automatic carrier 101 at the starting point and/or the ending point of the divided travel route may be determined from the grid coordinates of the starting point and the ending point of the vehicle and the direction in which the automatic carrier 101 is traveling. Further, in the present embodiment, the route searching unit 224 searches for a travel route in which the curved portion has a right angle, but the curved portion of the travel route may not have a right angle.

Next, the route search unit 224 corrects the route information of the travel route RA as needed (step S1005). At this time, the route search unit 224 identifies the positions of elements such as inanimate animals and obstacles that can block the traveling of the automatic carrier 101 in the work area 2 included in the map information 221b of the storage unit 221, and identifies these elements. Correct route information that is avoided or considered. For example, when the above-described element is a shutter and the travel route RA passes through the shutter, the travel route RA is not changed, and the route information is modified so that the travel speed includes stop before the shutter and the like. When the above-mentioned element is an inanimate object such as a wall, a non-travelable area, or stacked luggage, and the travel route RA passes through these elements, the travel route RA is modified so as to avoid the above element.

In addition, the route search unit 224 uses the carrier information 221d and the route information 221c of the storage unit 221 to determine the current position, travel route, and travel speed of the automatic carrier 101 other than the automatic carrier 101 that is the target of the travel route RA. Etc. When the traveling route RA and the traveling route of another automatic carrier 101 interfere with each other, the route searching unit 224 determines the position of the automatic carrier 101 when traveling on the traveling route RA and other conditions when traveling on its own traveling route. The position of the automatic carrier 101 is compared. When determining the above interference, each traveling route may be regarded as a linear route, may be regarded as a route having a grid grid width, and has a width of a region M shown in FIG. 10. It may be regarded as a route.

When it is predicted that the automatic carrier 101 traveling on the travel route RA may interfere with another automatic carrier 101 traveling on its own travel route, the route search unit 224 travels so as to avoid the interference. The route RA is modified and/or the traveling speed of the automatic carrier 101 on the traveling route RA is changed. Note that the route search unit 224 may, for example, determine a travel route that advances the automatic transport device 101 to a square on the travel route immediately before the square at the position where interference is expected to occur in the automatic transport machine 101. Modifications and/or changes in travel speed may be made. At the time of predicting the interference between the automatic carriers, the size of at least one of the automatic carrier 101 and the other automatic carrier 101 may be regarded as a point, and is regarded as the size of the grid of the grid. Alternatively, it may be regarded as the size of the region M shown in FIG. 10, but the region M is most preferable. By adopting the region M, interference between the automatic carrier 101 and another automatic carrier 101 can be suppressed more reliably. There is a possibility that the automatic carrier 101 and the other automatic carrier 101 interfere with each other, or they may collide with each other, or the automatic carrier 101 traveling on the traveling route RA stops automatically on the traveling route. There is a possibility that the transfer is blocked by the transfer device 101 and the automatic transfer device 101 stays in the vicinity of another automatic transfer device 101.

Then, the route search unit 224 sets the route information including the corrected traveling route RA and/or the traveling speed of the automatic carrier 101 as the route information of the new traveling route RA. Further, the route search unit 224 stores and saves the corrected route information of the travel route RA in the storage unit 221 (step S1006).

[1-2-2. Operations of the server device 201 and the automatic carrier 101 when searching the travel route of the automatic carrier 101 during normal traveling]
The operations of the server device 201 and the automatic carrier 101 when searching the travel route for the automatic carrier 101 during normal traveling will be described. The normal traveling is traveling when the traveling of the automatic carrier 101 is not interfered with by other automatic conveyors 101 and obstacles. The present description also relates to operations of the server device 201 and the automatic carrier 101 when the communication terminal 501 is not used.

Referring mainly to FIG. 16 among FIGS. 3, 6 and 16, the automatic carrier 101 periodically transmits carrier information to the server device 201 such as every one second during operation. FIG. 16 is a flowchart showing a flow of operations of the server device 201 and the automatic carrier 101 when searching for a traveling route of the automatic carrier 101 during normal traveling. The control unit 220 of the server device 201 updates the carrier information 221d in the storage unit 221 as shown in FIG. 12, for example, by adding the received carrier information (step S2001).

Next, the control unit 220 of the server device 201 receives an instruction to set a starting point and a destination point for traveling of the automatic carrier 101 (step S2002). This instruction may be carried out through an input to the input unit 216 of the server apparatus 201 by the operator. For example, after the operator inputs to the input unit 116 of the automatic transfer machine 101, the automatic transfer machine 101 transfers the input to the server apparatus 201. It may be implemented by being sent.

The input of an instruction to the input unit 216 of the server device 201 and the input of an instruction to the input unit 116 of the automatic carrier 101 are the coordinates of the starting point and the destination point, the grid coordinates, or the numbers assigned to the grids of the grid map. The position information may be input, and the starting point and the destination point may be set on the map of the work area 2 displayed on the display unit 218 of the server device 201 or the display unit 118 of the automatic carrier 101. Further, the instruction may include only the destination point among the starting point and the destination point. In this case, the destination point of the travel route on which the automatic carrier 101 is located may be set as the starting point.

The input of an instruction to the input unit 116 of the automatic carrier 101 may be performed by a worker stepping on a pedal of the input unit 116 to change the traveling direction of the automatic carrier 101. At this time, the starting point may be the position of the automatic carrier 101 when the pedal of the input unit 116 is depressed. The destination point may be set by an operator through the input to the input unit 116, or may be set by the server device 201 in accordance with the changed traveling direction of the automatic carrier 101.

Upon receiving the instruction, the control unit 220 causes the route search unit 224 to search for a travel route including the set starting point and destination point as described above, and stores the searched travel route in the storage unit 221 (step S2003). As a result of the search, when two or more travel routes are found and the operator's selection is involved (Yes in step S2004), the control unit 220 transmits the travel route information to the automatic carrier 101 ( Step S2005). The automatic carrier 101 that has received the information on the travel route displays the two or more travel routes received on the display unit 118 (step S2006). The worker in the vicinity of the automatic carrier 101 selects one traveling route from the traveling routes displayed on the display unit 118 (step S2007). The selection command to the automatic carrier 101 is executed through the input unit 116 of the automatic carrier 101. At this time, the selection command to the automatic carrier 101 may be executed by changing the direction of the automatic carrier 101 to the direction of the travel route to be selected through the input unit 116. After that, the automatic carrier 101 transmits the information on the selected travel route to the server device 201.

Next, the control unit 220 of the server device 201 causes the route search unit 224 to create route information regarding the selected travel route, and saves the route information in the route information 221c of the storage unit 221 (step S2008). At this time, the route search unit 224 divides the travel route into segmented travel routes, and the grid coordinates of the starting point and the end point of each segmented travel route, the traveling speed of the automatic carrier 101 on the segmented travel route, and the segmented travel route. Information regarding the sectioned travel route such as the azimuth of the automatic carrier 101, the azimuth of the automatic carrier 101 at the starting point and/or the end point, and the like is calculated. Then, the route search unit 224 stores the route information including the information about each divided traveling route as shown in FIG. 11 in the route information 221c of the storage unit 221.

On the other hand, when one traveling route is found as a result of the traveling route search in step S2003 (No in step S2004), the control unit 220 causes the route searching unit 224 to create route information regarding the traveling route. , Is stored in the route information 221c of the storage unit 221 (step S2008).

After step S2008, the control unit 220 of the server device 201 causes the movement control unit 225 to create movement information that is an instruction related to the movement of the automatic carrier 101 based on the route information 221c of the storage unit 221, and then to the automatic carrier 101. Send it. The transmitted movement information may include movement information of at least one of the divided traveling routes that form the traveling route. For example, the movement information may include movement information of at least one divided traveling route in the traveling order from the divided traveling route having the earliest traveling time.

Upon receipt of the movement information, the automatic carrier 101 receives the movement information, which is the information included in the movement information. The starting point and the ending point of the divided traveling route, the traveling speed of the automatic conveyance machine 101 on the divided traveling route, and the automatic movement on the divided traveling route. According to the direction of the carrier 101, the direction of the automatic carrier 101 at the starting point and/or the end point, and the like, the traveling operation (step S2009) and the stopping operation (step S2010) are appropriately repeated to move from the starting point to the destination point of the traveling route To do. Further, the movement control unit 225 may include, in the movement information, information corresponding to the travel route in the map information 221b of the storage unit 221 as shown in FIG. As a result, an instruction such as an operation on the traveling route is given to the automatic carrier 101.

In addition, the automatic carrier 101 periodically transmits carrier information to the server device 201, such as every second, while moving from the starting point to the destination point on the travel route, and the control of the server device 201 is performed. The unit 220 updates the carrier information 221d of the automatic carrier 101 stored in the storage unit 221 each time using the received carrier information (step S2011).

[1-2-3. Interference avoidance control of the server device 201 when there is a possibility of interference between the automatic carrier machines 101]
Interference avoidance control of the server device 201 when the automatic carrier 101 may interfere with another automatic carrier 101 during traveling will be described.

FIG. 17 is a flowchart showing a control flow of the server device 201 when there is a possibility of interference between the automatic carrier machines 101. Referring mainly to FIG. 17 of FIGS. 3, 6 and 17, each automatic carrier 101 periodically transmits carrier information to the server device 201 such as every one second during operation. Upon receiving the carrier information (step S3001), the control unit 220 of the server device 201 updates the carrier information 221d in the storage unit 221 using the received carrier information (step S3002).

Then, the control unit 220 causes the movement control unit 225 to read the map information 221b, the route information 221c, and the map information included in the carrier information 221d of the storage unit 221, the route information and the carrier information of each automatic carrier 101. The predicted traveling operation of each automatic carrier 101 is compared from the traveling route of each automatic carrier 101, the map information of the traveling route, the traveling speed, the position, the state, etc. (step S3003). Note that at least some of the operations performed by the movement control unit 225 described above and below may be performed by the control unit 220.

When it is predicted that the automatic carrier machines 101 may interfere with each other (Yes in step S3004), the movement control unit 225 causes the automatic carrier machines 101 to generate interference in order to avoid the interference. The route search unit 224 is caused to perform route search including a change in the travel route of at least one of the automatic carriers 101a and 101b and/or a change in the traveling speed on the travel route (step S3005). As a result of the route search, the route search unit 224 updates the route information 221c of the storage unit 221 by using the route information of the changed automatic carrier 101a and/or 101b (step S3006). Next, the movement control unit 225 transmits the movement information of the automatic carrier 101a and/or 101b based on the updated route information 221c to the automatic carrier 101 (step S3007). As a result, the automatic carriers 101a and 101b travel according to the information included in the movement information. Then, the server device 201 ends the series of controls for avoiding the interference between the automatic carrier machines 101a and 101b.

Further, after the comparison in step S3003, even when it is predicted that there is no possibility that interference will occur between the automatic carrier machines 101 (No in step S3004), the server apparatus 201 causes the interference between the automatic carrier machines 101. A series of control for avoiding is ended.

The series of controls described above is performed every time the server device 201 receives carrier information from the automatic carrier 101. Alternatively, the series of controls described above may be performed every time a predetermined time elapses.

[1-2-4. Collision avoidance control of the server device 201 when there is a possibility of collision between the automatic carrier 101
Specific collision avoidance control by the server device 201 when the automatic carrier 101 interferes with another automatic carrier 101 during traveling and may collide will be described. In this description, it is assumed that the automatic carriers having a possibility of collision are two automatic carriers 101a and 101b of the plurality of automatic carriers 101. Then, only the server device 201 and the automatic carrier machines 101a and 101b will be described.

FIG. 18 is a diagram showing on a grid map an example in which a collision may occur in the automatic carrier 101a and 101b. In FIG. 18, on the grid map, a linear travel route RC1 having a position A as a starting point and a position B as a destination is set for the automatic carrier 101a. Further, it is assumed that a linear traveling route RC2 having a position C as a starting point and a position D as a destination is set for the automatic carrier 101b. In FIG. 18, the traveling route RC1 and the traveling route RC2 vertically intersect at the position E. Further, the position E is also a loading/unloading place of the luggage of the automatic carrier 101a and 101b.

FIG. 19 is a flowchart showing the flow of the collision avoidance control of the server device 201 when there is a possibility of collision with the automatic transporters 101a and 101b. 20A to 20F are diagrams showing the positions of the automatic transporters 101a and 101b on the grid map of FIG. 18, and are diagrams showing one state along the flow of the collision avoidance control by the server device 201. Hereinafter, a description will be given mainly with reference to FIG. 19 among FIGS. 3, 6, 19 and 20A to 20F. The automatic carrier machines 101a and 101b regularly transmit carrier information to the server device 201 every one second during operation. Here, the carrier information is indicated as carrier information (p, q, r, s). The element p is the identification number of the automatic carrier, the identification number of the automatic carrier 101a is "1", and the identification number of the automatic carrier 101b is "2". The element q is a position on the grid map of the automatic carrier and includes grid coordinates. The element r is the azimuth (unit: degree) of the automatic carrier. Element s is the state of the automatic carrier.

The automatic carrier 101a that has not received the movement information from the server device 201 is stopped and transmits carrier information (1, A, 180, stopped) to the server device 201. The automatic carrier 101b that has not received the movement information from the server apparatus 201 is stopped and transmits carrier information (2, C, 90, stopped) to the server apparatus 201. At this time, the automatic transporters 101a and 101b are located at positions A and C, respectively, as shown in FIG. 20A.

Then, the movement control unit 225 of the server device 201, the map information 221b of the storage unit 221, the route information of the automatic carrier 101a and 101b included in the route information 221c, and the received carrier information of the automatic carrier 101a and 101b. From this, it is predicted that there is a possibility of collision between the automatic carrier machines 101a and 101b at the position E, that is, collision detection is performed (step S4001). Note that at least some of the operations performed by the movement control unit 225 described above and below may be performed by the control unit 220.

Next, the movement control unit 225 includes, in the route search unit 224, changing the traveling route of at least one of the automatic transporters 101a and 101b and/or changing the traveling speed in the traveling route in order to avoid a collision. A route search is performed (step S4002). In this example, the route search unit 224 changes the traveling speeds of the automatic carrier machines 101a and 101b without changing the traveling route, and uses the route information of the automatic carrier machines 101a and 101b including the changed traveling speed, The route information 221c in the storage unit 221 is updated.

Next, the movement control unit 225 acquires the route information of the automatic carrier 101a in the route information 221c, generates the movement information based on the route information of the divided traveling route starting from the position A on the traveling route RC1, and automatically. It is transmitted to the carrier 101a. Here, the movement information is indicated as movement information (u, v, w). The element u is the starting point position of the divided travel route and includes grid coordinates. The element v is the end point position of the divided traveling route and includes grid coordinates. The element w is a traveling speed of the automatic carrier, and may be, for example, an hour speed. The movement information (u, v, w) may include movement information regarding one divided traveling route, or may include movement information regarding two or more continuous divided traveling routes. Then, in this example, the movement control unit 225 transmits movement information (A, E, 4) regarding one sectioned travel route from the position A to the position E.

The automatic carrier 101a starts traveling toward the position E according to the received movement information (A, E, 4) (step S4003). When the automatic carrier 101a reaches the position E, the automatic carrier 101a stops and waits until it receives the next movement information from the server device 201. Further, the wheel 113a or 113b of the automatic carrier 101a is rotationally locked or locked by the operation of the operator via the input unit 116 of the automatic carrier 101a (step S4004). After the wheels 113a or 113b are locked, the automatic carrier 101a receives and unloads cargo. For example, even if the map information at the position E includes the loading/unloading operation of the luggage, and the automatic carrier 101a has previously acquired the map information at the position E from the map information 221b in the storage unit 221 of the server device 201. Good. When the automatic carrier 101a arrives at the position E, the automatic carrier 101a may lock the wheel 113a or 113b by itself based on the map information.

After the lock is completed, the automatic carrier 101a transmits carrier information (1, E, 180, lock) to the server device 201. After receiving the carrier information (1, E, 180, lock), the movement control unit 225 acquires the route information of the automatic carrier 101b in the route information 221c of the storage unit 221. The movement control unit 225 generates movement information (C, F, 3) based on the route information of the divided traveling route starting from the position C on the traveling route RC2, and transmits it to the automatic carrier 101b.

The automatic carrier 101b starts traveling toward the position F according to the received movement information (C, F, 3) (step S4005). When the automatic carrier 101b arrives at the position F, the automatic carrier 101b stops and waits until the next movement information is received from the server device 201 (step S4006). The waiting at the position F may be based on the map information previously acquired by the automatic carrier 101b, or may be based on the map information sent together with the movement information. At this time, the automatic transporters 101a and 101b are located at the positions E and F, respectively, as shown in FIG. 20B. At this time, the automatic carrier 101a is located outside the area M of the moving automatic carrier 101b as shown in FIG. 10 and at a position that is safe against collision with the automatic carrier 101b. .. After that, the automatic carrier 101b transmits carrier information (2, F, 90, standby) to the server device 201.

After receiving the carrier information (2, F, 90, standby), the movement control unit 225 of the server device 201, after receiving the carrier information (2, F, 90, standby), the sectioned travel route starting from the position E of the automatic carrier 101a in the route information 221c of the storage unit 221. Get the route information of. The movement control unit 225 generates movement information (E, B, 4) based on the acquired route information and transmits it to the automatic carrier 101a. Therefore, the server device 201 controls the automatic carrier 101a to start traveling after the automatic carrier 101b is stopped at a position that is safe against a collision with the automatic carrier 101a.

The automatic carrier 101a moves to the position B after receiving the movement information (E, B, 4) and unlocking the wheels 113a or 113b of the automatic carrier 101a after the loading and unloading of cargo is completed. To start traveling (step S4007). The lock may be released by an operator's operation via the input unit 116 of the automatic transporter 101a.

When the movement control unit 225 receives the carrier information (1, G, 180, travel) from the carrier information that is regularly received from the moving automatic carrier 101a, the movement control unit 225 stores the information in the route information 221c of the storage unit 221. The route information of the divided traveling route starting from the position F in a certain automatic carrier 101b is acquired. The movement control unit 225 generates movement information (F, E, 3) based on the acquired route information and transmits it to the automatic carrier 101b. Therefore, the server device 201 has the automatic carrier 101b at a position outside the area M of the moving automatic carrier 101a as shown in FIG. 10 and safe against a collision with the automatic carrier 101a. After being positioned, the automatic carrier machine 101b is controlled to start traveling. At this time, the automatic transporters 101a and 101b are located at the positions G and F, respectively, as shown in FIG. 20C.

The automatic carrier 101b starts traveling toward the position E according to the received movement information (F, E, 3) (step S4008). When the automatic carrier 101b reaches the position E, the automatic carrier 101b stops and waits until the next movement information is received from the server device 201. Further, the wheel 113a or 113b of the automatic carrier 101b is locked by the operation of the operator via the input unit 116 of the automatic carrier 101b (step S4009). After locking the wheels 113a or 113b, the automatic carrier 101b receives the loading and unloading of luggage. For example, even if the map information of the position E includes the loading/unloading operation of the luggage, and the automatic carrier 101b has previously acquired the map information of the position E from the map information 221b of the storage unit 221 of the server device 201. Good. Then, when the automatic carrier 101b arrives at the position E, the automatic carrier 101b may lock the wheel 113a or 113b by itself based on the map information.

Here, when the automatic carrier 101b arrives at the position E, the automatic carrier 101a transmits carrier information (1, H, 180, running) to the server device 201. That is, the automatic carriers 101a and 101b are located at the positions H and E, respectively, as shown in FIG. 20D. Therefore, both of the automatic transporters 101a and 101b are located outside the area M of each other as shown in FIG. 10 and at a position that is safe against collision with each other.

After the lock is completed, the automatic carrier 101b transmits carrier information (2, E, 90, lock) to the server device 201. Further, the movement control unit 225 receives the carrier information (2, E, 90, lock), and then, the route of the divided traveling route starting from the position E of the automatic carrier 101b in the route information 221c of the storage unit 221. Get information. The movement control unit 225 generates movement information (E, D, 3) based on the acquired route information and transmits it to the automatic carrier 101b. The automatic carrier 101b receives the movement information (E, D, 3), travels toward the position D after the loading/unloading of the luggage is completed and the wheels 113a or 113b of the automatic carrier 101b are unlocked. Is started (step S4010).

Here, while the automatic carrier 101b is on standby at the position E, the automatic carrier 101a transmits carrier information (1, B, 180, stop) to the server device 201. That is, the automatic carrier 101a arrives at the position B, which is the destination, and is stopped (Sstep S4011).

In addition, the automatic carrier 101b travels after starting the traveling while transmitting carrier information such as carrier information (2, I, 90, traveling) to the server device 201, and arrives at the destination position D and stops. Yes (step S4012). After the stop, the automatic carrier 101b receives the lock of the wheel 113a or 113b, and then transmits the carrier information (2, D, 90, lock) to the server device 201. 20E shows the state in which the automatic transporters 101a and 101b are located at the positions B and I, and FIG. 20F shows the state in which the automatic transporters 101a and 101b are located at the positions B and D, respectively.

In the above description, the example in which the traveling route RC1 of the automatic carrier 101a and the traveling route RC2 of the automatic carrier 101b intersect is described, but the traveling route of the automatic carrier 101a and the traveling route of the automatic carrier 101b are described. The above-mentioned control is applicable even when at least partially overlap. For example, when the traveling routes of each of the automatic transporters 101a and 101b run at least partially overlapping each other and the traveling routes of the automatic transporters 101a and 101b overlap each other, the server device 201 is located in front of the route of overlapping one of the automatic transporters 101a and 101b. You may make it control by making it wait by and pass the other first.

Moreover, although the case where two automatic carriers 101a and 101b may collide has been described above, three or more automatic carriers 101 may collide at the same time. In this case, the server device 201 may perform the above-described control among three or more automatic carrier machines 101. Further, even if there is a possibility that a plurality of automatic carrier machines 101 may collide, if two automatic carrier machines 101 can collide at the same time, the control by the server device 201 may be the same as that described above.

[1-2-5. Retaining Avoidance Control of Server Device 201 When There is a Possibility of Retaining in Automatic Carrier 101]
There is a possibility that the automatic carrier 101 interferes with another automatic carrier 101 so that the traveling path in the traveling direction is blocked by the other automatic carrier 101 during traveling and stays in the vicinity of the other automatic carrier 101. A specific stay avoidance control by the server device 201 in the case will be described. In this description, two automatic carriers 101a and 101b of the automatic carrier 101 are assumed to be the automatic carriers having a possibility of staying. Then, only the server device 201 and the automatic carrier machines 101a and 101b will be described.

FIG. 21 is a diagram showing on the grid map an example in which the travel routes of the automatic transporters 101a and 101b overlap and the retention may occur in the automatic transporters 101a and 101b. The retention avoidance control by the server device 201 is shown in FIG. It is a figure which shows the transition of the position of the automatic conveyance machine 101a and 101b along the flow of. Referring to FIG. 21, the traveling routes of the automatic transporters 101a and 101b on the grid map overlap.

When the automatic carriers 101a and 101b are in the state I of FIG. 21, the automatic carriers 101a and 101b are stopped at the positions H and A on the traveling routes where the automatic carriers 101a and 101b overlap each other. For example, the automatic carrier 101a is stopped at the position H for standby, and the automatic carrier 101b is temporarily stopped because it has confirmed the automatic carrier 101a as an obstacle on its travel route. The traveling direction of the automatic carrier 101b after traveling is set to the direction toward the position H, and the traveling direction of the automatic carrier 101a after standby is set to the same direction as the traveling direction of the automatic carrier 101b. There is.

FIG. 22 is a flowchart showing the flow of the stay avoidance control of the server device 201 when there is a possibility of staying in the automatic carrier 101a and 101b. Referring mainly to FIG. 22 among FIGS. 3, 6 and 22, the automatic carrier machines 101a and 101b periodically transmit carrier information to the server device 201 such as every one second during operation. When in the state I of FIG. 21, the automatic transporters 101a and 101b are stopped at the positions H and A until the movement information is received from the server device 201 (step S5001). The automatic carrier 101a continues to transmit carrier information (1, H, 90, stop) to the server device 201 until it receives the movement information, and the automatic carrier 101b conveys the carrier information until it receives the movement information. Machine information (2, A, 90, stop) is continuously transmitted to the server device 201.

After receiving the carrier information, the movement control unit 225 of the server device 201 receives the map information 221b of the storage unit 221, the route information of the automatic carriers 101a and 101b included in the route information 221c, and the received automatic carrier 101a and From the carrier information of 101b, it is predicted that the automatic carrier 101b may stop and stay near the stopped automatic carrier 101a, that is, the stay detection is performed (step S5002). Note that at least some of the operations performed by the movement control unit 225 described above and below may be performed by the control unit 220.

Next, the movement control unit 225 includes, in the route search unit 224, changing the traveling route of at least one of the automatic transporters 101a and 101b and/or changing the traveling speed in the traveling route in order to avoid staying. A route search is performed (step S5003). In this example, the route search unit 224 changes the traveling speed of only the automatic carrier 101b without changing the traveling route, and uses the route information of the automatic carrier 101b including the changed traveling speed to store the storage unit 221. The route information 221c of is updated.

Next, the movement control unit 225 acquires the route information of the automatic carrier 101b in the route information 221c, and based on the route information of the sectioned traveling route starting from the position A in the traveling route, the movement information (A, E, 4). ) Is generated and transmitted to the automatic carrier 101b.

The automatic carrier 101b starts traveling toward the position E according to the received movement information (A, E, 4) (step S5004). As shown in the state II of FIG. 21, when the automatic carrier 101b arrives at the position E, the automatic carrier 101b stops and waits until the next movement information is received from the server device 201 (step S5005). Then, the automatic carrier 101b continues to transmit carrier information (2, E, 90, stop) to the server device 201 until the next movement information is received. The waiting at the position E may be based on the map information previously acquired by the automatic carrier 101b, or may be based on the map information sent together with the movement information. At this time, the automatic carrier machines 101a and 101b are located outside each other as shown in FIG. 10 and can freely perform turning for changing the traveling direction. That is, the retention of the automatic carriers 101a and 101b due to the mutual contact at the start of traveling is suppressed.

The movement control unit 225, at the timing when the waiting time of the automatic carrier 101a at the position H has ended, the route information of the sectioned travel route starting from the position H of the automatic carrier 101a in the route information 221c of the storage unit 221. To get. Further, the movement control unit 225 generates movement information (H, L, 4) based on the acquired route information and transmits it to the automatic carrier 101a.

As shown in state III of FIG. 21, the automatic carrier 101a starts traveling toward the position L according to the received movement information (H, L, 4) (step S5006). After that, the movement control unit 225 acquires the route information of the divided traveling route starting from the position E of the automatic carrier 101b in the route information 221c of the storage unit 221, and based on the acquired route information, the movement information (E , H, 2) is generated and transmitted to the automatic carrier 101b. Upon receiving the movement information (E, H, 2), the automatic carrier 101b starts traveling toward the position H (step S5007). At this time, since the traveling speed 2 km/h of the automatic carrier 101b is lower than the traveling speed 4 km/h of the automatic carrier 101a, the interval between the automatic carrier 101b and the automatic carrier 101a may be reduced. Is suppressed. Further, as shown in the state IV of FIG. 21, the movement control unit 225 transmits carrier information such as carrier information (1, J, 90, stop) indicating that the carrier has moved in a direction away from the automatic carrier 101b. The movement information (E, H, 2) may be transmitted to the automatic carrier 101b after being received from the automatic carrier 101a.

Moreover, although the case where there is a possibility of staying in the two automatic carrier machines 101a and 101b has been described above, there is a possibility that more than two automatic carrier machines 101 may stay together. .. In this case, the server device 201 may perform the above-described control among three or more automatic carrier machines 101. On the other hand, even if there is a possibility that a plurality of automatic carrier machines 101 may stay, when two automatic carrier machines 101 can stay in a concentrated manner, the control by the server device 201 may be the same as that described above.

[1-2-6. Operation of the server device 201 and the automatic carrier 101 that also use the communication terminal 501 when searching the travel route of the automatic carrier 101 in operation]
The operation of the server device 201 and the automatic carrier 101 when searching the travel route by using the communication terminal 501 together with the operating automatic carrier 101 will be described.

FIG. 23 is a flowchart showing the flow of operations of the server device 201 and the automatic carrier 101 that also use the communication terminal 501 when controlling the operating automatic carrier 101. Referring mainly to FIG. 23 among FIGS. 3, 6 and 23, the automatic carrier 101 periodically transmits carrier information to the server device 201 such as every one second during operation. The control unit 220 of the server device 201 updates the carrier information 221d in the storage unit 221 by adding the received carrier information (step S6001).

Next, the operator of the communication terminal 501 transmits an instruction to set a starting point and a destination point for traveling of the automatic carrier 101 to the server device 201 via the communication terminal 501 (step S6002). At this time, identification information such as the identification number of the automatic carrier 101, information such as the position of the starting point and/or the position of the destination point, and the like can be sent. The information transmitted from communication terminal 501 may not include the starting point. In this case, for example, the destination point of the travel route on which the automatic carrier 101 is located when the server device 201 receives the information may be set as the starting point.

The control unit 220 of the server device 201 that has received the instruction from the communication terminal 501 sets the starting point and the destination point of the automatic carrier 101 based on the content of the instruction. Next, the control unit 220 causes the route search unit 224 to search for a travel route including the set starting point and destination point, and stores the searched travel route in the storage unit 221 (step S6003).

When two or more traveling routes are found as a result of the search (Yes in step S6004), the control unit 220 transmits the traveling route information to the communication terminal 501 (step S6005). The operator who has received the information on the travel route via the communication terminal 501 transmits the information on the travel route to be selected to the server device 201 via the communication terminal 501 (step S6006). Next, the control unit 220 causes the route search unit 224 to create route information regarding the selected travel route, and stores the route information in the route information 221c of the storage unit 221 (step S6007).

When one traveling route is found as a result of the search (No in step S6004), the control unit 220 adopts the traveling route and causes the route searching unit 224 to create route information regarding the adopted traveling route. , Is stored in the route information 221c of the storage unit 221 (step S6007). Even if one travel route is found, information on the travel route may be transmitted to the communication terminal 501 to request the operator's permission for adoption.

After step S6007, the movement control unit 225 of the server device 201 creates movement information of the automatic carrier 101 based on the route information 221c of the storage unit 221, and transmits the movement information to the automatic carrier 101. Upon receiving the movement information, the automatic carrier 101 starts traveling according to the information included in the movement information (step S6008).

During traveling, the automatic carrier 101 periodically transmits carrier information to the server device 201. The control unit 220 of the server device 201 stores the received carrier information in the storage unit 221 and transmits it to the communication terminal 501. In the present embodiment, all of the received carrier information is transmitted to communication terminal 501, but some may be transmitted. The operator can recognize the operating state of the automatic carrier 101 via the communication terminal 501, and further can recognize the occurrence of an abnormality in the automatic carrier 101.

In addition, it becomes necessary for the automatic carrier 101 to set a starting point and a destination point, avoid collision or stagnation with another automatic carrier 101, and change traveling operation such as deviation of the traveling route due to external factors. In this case, the server device 201 searches the travel route corresponding to the newly set start point and destination point and determines the travel route (step S6009). Then, the server device 201 creates movement information from the route information based on the determined travel route and transmits it to the automatic carrier 101. The automatic carrier 101 travels according to the received movement information (step S6010).

When the automatic carrier 101 detects an obstacle at a place that may hinder traveling, such as on or near the travel route (step S6011), the automatic carrier 101 provides the obstacle information including information about the position and range of the obstacle as carrier information. In addition, it is transmitted to the server device 201. The obstacle information may include only information regarding the presence or absence of an obstacle. Then, the automatic carrier 101 may be stopped when the obstacle is detected, in which case, the traveling may be automatically restarted when the obstacle is no longer detected, and an instruction from the server device 201 or the like may be given. You may restart traveling according to. For example, when the detected obstacle is a closed shutter, the automatic carrier 101 automatically starts traveling when the shutter is opened and is not detected as an obstacle, that is, when there is no obstacle. You can restart. In this case, when the server device 201 recognizes from the map information 221b of the storage unit 221 that the obstacle is the shutter, the automatic carrier 101 may leave the traveling determination without giving the movement information to the automatic carrier 101. ..

The server device 201 having received the carrier information including the obstacle information transmits an obstacle report including the information regarding the obstacle to the communication terminal 501. The communication terminal 501 displays the obstacle information included in the received obstacle report (step S6012). The operator who confirms the displayed obstacle information inputs an obstacle correspondence instruction including correspondence contents for the obstacle into the communication terminal 501 and transmits it to the server device 201 via the communication terminal 501 (step S6013). The obstacle handling instruction may include a change in the traveling speed of the automatic carrier 101, a standby, an operation stop, a retreat, a change in the traveling route due to a change in the destination, and the like. The obstacle handling instruction may be directed to the automatic carrier 101 that has detected the obstacle, and not only to the automatic carrier 101 that has detected the obstacle but also to a plurality of automatic carriers 101 including other automatic carriers 101. It may be one. Upon receiving the obstacle handling instruction, the server device 201 searches for a travel route, generates movement information, and the like according to the obstacle handling instruction, and transmits the movement information to the automatic carrier 101.

Further, when the automatic carrier 101 detects an obstacle in a situation where the communication terminal 501 is not used, the server device 201 that has received the carrier information including the obstacle information displays the obstacle report on the display unit 218 of the server device 201. You may display and notify an operator. Further, instead of the notification or in addition to the notification, the automatic carrier 101 may display obstacle information on the display unit 118 to notify the worker near the automatic carrier 101. Then, the server device 201 operates according to an obstacle handling instruction input by the operator to the server device 201 or an obstacle handling instruction input by the operator to the automatic carrier 101 and received from the automatic carrier 101. Good.

[1-3. Effect, etc.]
As described above, the mobile robot control system 100 according to the present embodiment includes the plurality of automatic carrier machines 101 and the server device 201 that wirelessly communicates with the automatic carrier machines 101. In the mobile robot control system 100, the automatic carrier 101 includes a self-position estimating unit 122 that estimates the position of the automatic carrier 101, and a first communication unit 117a that wirelessly communicates with the server device 201. The server device 201 includes a first communication unit 217a for performing wireless communication with the automatic carrier 101, map information 221b regarding a map 221a of a predetermined area in which the automatic carrier 101 operates, and a travel route set in the automatic carrier 101. Storage unit 221 for storing route information 221c including a moving route as described above, and carrier information 221d regarding the state of the automatic carrier 101 including the position of the automatic carrier 101 acquired via the first communication unit 217a, and map information. A route search unit 224 that searches a moving route to be set in the automatic carrier 101 based on 221b, and a movement control unit 225 that gives a moving instruction to the automatic carrier 101 based on the route information 221c. The movement control unit 225 determines, based on the carrier information 221d and the route information 221c, whether or not the movements of the plurality of automatic carriers 101 may interfere with each other. 224 changes the route information 221c relating to at least one of the automatic conveyance machines 101 that may cause interference so as to avoid the interference.

In the above-described configuration, the server device 201 uses the map information 221b, the route information 221c, and the carrier information 221d to check the status and movement route of each of the plurality of automatic carrier machines 101, and based on the confirmation result, a plurality of It is possible to determine whether or not interference may occur between the automatic carrier 101 of FIG. Further, the server device 201 can change the route information 221c regarding the automatic carrier 101 that may cause interference so as to avoid the interference, based on the confirmation result and the determination result. As a result, it becomes possible to avoid interference such as collision and contact between the automatic transporters 101. Therefore, the server device 201 enables centralized control of the plurality of automatic carrier machines 101.

In the mobile robot control system 100 according to the present embodiment, the route information 221c further includes the moving speed of the automatic carrier 101 on the moving route, and the route searching unit 224 does not change the route information 221c when interference may occur. , Changing the moving path or adjusting the moving speed of at least one automatic carrier 101 that may cause interference. In the above configuration, it is possible to easily avoid interference between the automatic carrier machines 101. The change of the moving speed includes the case where the automatic carrier 101 is stopped.

In the mobile robot control system 100 according to the present embodiment, the map information 221b includes a map 221a of a predetermined area as a grid map, and the movement route of the automatic carrier 101 and the instruction to move to the automatic carrier 101 include a grid. The grid coordinates applied to the map are used. In the above configuration, the data amount of the map information 221b can be reduced by using the map 221a included in the map information 221b as a grid map. Further, the process of searching the movement route of the automatic carrier 101 is simplified, and the movement information for instructing the automatic carrier 101 is also simplified. This improves the processing speed of the server device 201. Therefore, the server device 201 enables smooth and unified control of the plurality of automatic carrier machines 101.

In the mobile robot control system 100 according to the present embodiment, the map information 221b includes grid coordinates and attribute information set corresponding to the grid of the grid map. In the above-described configuration, the attribute information can include information such as the area in which the automatic carrier 101 cannot travel, the obstacle information, and the operation and direction of the automatic carrier 101. As a result, it becomes possible to set an appropriate movement route of the automatic carrier 101 using the attribute information. Further, the server device 201 transmits the grid coordinates and the attribute information to the automatic carrier 101 along with the movement route, for example, so that the automatic carrier 101 can perform an operation according to the attribute information at a predetermined position. ..

In the mobile robot control system 100 according to the present embodiment, the movement control unit 225 sets the other in the area M by the grid of the grid map corresponding to the area that can be passed when one of the automatic transporters 101 changes its direction. When the automatic carrier 101 of No. 1 can intrude, it is determined that the movement of one automatic carrier 101 and the other automatic carrier 101 can interfere with each other. With the above configuration, it is possible to perform control so that the other automatic carrier 101 does not enter the area M. Then, it is possible to avoid the interference with the other automatic carrier 101 regardless of the orientation of the one automatic carrier 101.

In the mobile robot control system 100 according to the present embodiment, the movement route of the automatic carrier 101 is composed of the segmented movement route divided at the change point of the operation of the automatic carrier 101 on the movement route, and the movement control unit 225. Gives an instruction of movement corresponding to each of the divided movement paths to the automatic carrier 101. In the above-described configuration, the information on the movement on the segmented movement route that the movement control unit 225 should give to the automatic conveyance device 101 is, for example, the position of the start point and the end point of the division movement route, the automatic conveyance device 101 at the start point and/or the end point. Direction, the moving speed on the divided moving route, and the like. Therefore, the calculation of the divided movement route is simplified, and the amount of information regarding the divided movement route to be transmitted to the automatic carrier 101 is also reduced.

The mobile robot control system 100 according to the present embodiment includes an access point 301 that relays communication between the automatic carrier 101 and the server device 201, and the access point 301 communicates with the automatic carrier 101 via wireless communication. It is connected and is connected to the server device 201 via the communication network 401. In the above configuration, communication between the server device 201 and the automatic carrier 101 becomes possible via the communication network 401 to which the server device 201 connects. Since the communication between the server device 201 and the automatic carrier 101 is established by installing the access point 301 and establishing the communication between the access point 301 and the automatic carrier 101, the cost can be reduced. ..

In the mobile robot control system 100 according to the present embodiment, the automatic carrier 101 includes an external sensor 115 that detects an object around the automatic carrier 101, and the surroundings of the automatic carrier 101 based on the detection result of the external sensor 115. And an obstacle detection unit 123 that generates obstacle information relating to the position and the position of the obstacle. The detection result by the obstacle detection unit 123 is transmitted to the server device 201 and stored in the storage unit 221 as carrier information. To be done. Furthermore, the automatic carrier 101 stops when the obstacle detection unit 123 detects an obstacle on the moving route, and starts moving when the obstacle detection unit 123 no longer detects an obstacle on the moving route, or The movement is started according to the instruction of the movement control unit 225 based on the route information 221c changed by the route search unit 224 based on the information. In the above configuration, the automatic carrier 101 pauses when an obstacle is detected, and moves automatically while avoiding interference with the obstacle according to the judgment of the automatic carrier 101 or an instruction from the server device 201. Can start.

In the mobile robot control system 100 according to the present embodiment, the automatic carrier 101 displays a plurality of moving routes transmitted from the server device 201 when the route searching unit 224 searches for a plurality of moving routes. 118, and an input unit 116 capable of inputting selection of a movement route from a plurality of movement routes. The movement control unit 225 has an automatic conveyance based on the selected movement route received from the automatic conveyance machine 101. The machine 101 is instructed to move. In the above-described configuration, it is possible to inquire of a worker or the like near the automatic carrier 101 about the moving route to be selected.

In the mobile robot control system 100 according to the present embodiment, the automatic carrier 101 has an input unit 116 for inputting a destination to be set in the moving route of the automatic carrier 101, and the route searching unit 224 is configured to automatically transfer the automatic carrier. Based on the destination received from the machine 101, the moving route of the automatic carrier 101 is searched. With the above configuration, the destination of the moving route can be set in the automatic carrier 101. That is, an operator or the like in the operation area can change the destination of the automatic transfer apparatus 101 according to the status of the operation area of the automatic transfer apparatus 101.

In the mobile robot control system 100 according to the present embodiment, the server device 201 includes the information about the map information 221b, the destination to be set on the moving route of the automatic carrier 101, and the automatic carrier 101 searched by the route search unit 224. It has an input unit 216 capable of inputting selection of a movement route from a plurality of movement routes. With the above configuration, various settings and selections can be made in the server device 201.

The mobile robot control system 100 according to the present embodiment includes a communication terminal 501 that wirelessly communicates with the server device 201. The communication terminal 501 can obtain information from the server device 201, and also gives instructions and information to the server device 201. It is possible to give With the above configuration, various settings and selections regarding the server device 201 and the automatic carrier 101 can be performed from the communication terminal 501.

Further, the server device 201 according to the present embodiment is a server device including at least some of the above-described configurations. As a result, the server device 201 has the same effects as the effects described above.

Note that the comprehensive or specific aspect of the above-described configuration may be realized by a non-transitory recording medium such as an apparatus, a method, an integrated circuit, a computer program, or a computer-readable CD-ROM. , A method, an integrated circuit, a computer program, and a recording medium.

[Other Embodiments]
As described above, the embodiments have been described as examples of the technology disclosed in the present application. However, the technique in the present disclosure is not limited to this, and can be applied to the embodiment in which changes, replacements, additions, omissions, etc. are appropriately made. Further, it is also possible to combine the respective constituent elements described in the above-described embodiment and other embodiments below to form a new embodiment.

Therefore, other embodiments will be exemplified below.

In the mobile robot control system 100 according to the above-described embodiment, the traveling route set in the automatic carrier 101 is a traveling route along the rows and columns of the grid map, and the curved portion is perpendicular to the straight portion. It was composed by and. Then, the traveling operation of the automatic carrier 101 on the traveling route is configured by the linear traveling operation in the straight portion and the turning operation in units of 90 degrees at the bent portion. However, the travel route is not limited to the above configuration. The travel route may include a portion that diagonally crosses the square, that is, a portion that linearly connects the two squares while diagonally crossing the square between the two squares.

In the above-described embodiment, the route search unit 224 is provided with the input unit 216 of the server device 201, the input unit 116 of the automatic carrier 101, the position of the starting point of the automatic carrier 101 provided via the communication terminal 501, and/or the like. Based on the position of the destination point, the grid at the position of the starting point and the grid at the position of the destination on the grid map are connected by the shortest route, and the travel route along the array of the grid is searched. That is, in the map information, the travelable route is recognized and the traveled route is searched. However, in addition to the map information, route candidate information may be held in advance. Here, the route candidate information is information having information on the start point and the end point of the travelable route. The presence of this route candidate information limits the number of solution candidates when searching for the shortest route search, which has the advantage of reducing the cost of calculation processing and shortening the calculation time.

In the above-described embodiment, regarding the control of the plurality of automatic carrier machines 101 by the server device 201 in avoiding collision and staying of the automatic carrier machine 101, the server device 201 detects a plurality of automatic carrier machines from the carrier machine information that is regularly received. The example has been described in which the movement information including only the movement on one divided traveling route is sequentially transmitted to the plurality of automatic carrier machines 101 while confirming the operation and position of the machine 101. However, the server device 201 may transmit movement information including a plurality of actions corresponding to a plurality of divided traveling routes. Alternatively, the timing at which the movement information is transmitted to the plurality of automatic transporters 101 corresponds to the timing at which the plurality of automatic transporters 101 perform the operation, but the timing is not limited to this. In the above case, the movement information indicates that each automatic carrier 101 can perform the operation corresponding to each divided traveling route at an appropriate time, so that the movement information corresponds to the execution timing of the operation corresponding to the divided traveling route and between the divided traveling routes. It may also include information such as an execution interval of the operation in the above, an execution order of the operation corresponding to the divided traveling route, and the like.

In the above-described embodiment, the automatic carrier 101 includes the two wheels 113a and the two wheels 113b, but may have a configuration including only the two wheels 113a. Further, the input of the instruction to the automatic carrier 101 was performed using the input unit 116 provided with a plurality of foot pedals, but the instruction is input from an external device via the communication network 401 or the communication terminal 501. May be.

As described above, the embodiments have been described as examples of the technology according to the present disclosure. To that end, the accompanying drawings and detailed description are provided.

Therefore, among the constituent elements described in the accompanying drawings and the detailed description, not only constituent elements essential for solving the problem but also constituent elements not essential for solving the problem in order to exemplify the above technology. Can also be included. Therefore, it should not be immediately recognized that the non-essential components are essential, because the non-essential components are described in the accompanying drawings and the detailed description.

Further, since the above-described embodiments are for exemplifying the technique in the present disclosure, various changes, replacements, additions, omissions, etc. can be made within the scope of the claims or the scope of equivalents thereof.

The present disclosure can be applied to a mobile robot control system and a server device that controls a mobile robot.

100 mobile robot control system 101 automatic carrier (mobile robot),
115 External sensor 116,216 Input unit 117a First communication unit (robot communication unit)
118 display unit 122 self-position estimation unit,
123 Obstacle Detecting Unit 201 Server Device 217a First Communication Unit (Server Communication Unit)
221 Storage unit 221a Map 221b Map information 221c Route information 221d Carrier information (mobile robot information)
224 Route search unit 225 Mobility control unit 301 Access point M area 401 Communication network 501 Communication terminal

Claims (15)

A mobile robot control system comprising a plurality of mobile robots and a server device that wirelessly communicates with the mobile robots,
The mobile robot is
A self-position estimation unit that estimates the position of the mobile robot,
A robot communication unit for performing wireless communication with the server device,
The server device is
A server communication unit for performing wireless communication with the mobile robot;
Map information about a map of a predetermined area in which the mobile robot operates, route information including a travel route set in the mobile robot, an area through which the mobile robot traveling along the travel route and a load of the mobile robot can pass , And a storage unit for storing mobile robot information relating to the state of the mobile robot including the position of the mobile robot acquired via the server communication unit,
A route search unit that searches a moving route to be set for the mobile robot based on the map information;
A movement control unit that gives a movement instruction to the mobile robot based on the route information,
The movement control unit determines, based on the mobile robot information and the route information, whether or not there is interference in movement between the plurality of mobile robots,
A mobile robot control system in which, when the interference may occur, the route search unit changes the route information regarding at least one of the mobile robots that may cause the interference so as to avoid the interference. The route information further includes a moving speed of the mobile robot on the moving route,
The route search unit changes the moving route or adjusts the moving speed of at least one of the mobile robots that may cause the interference when changing the route information when the interference may occur. A mobile robot control system according to claim 1. The map information includes a map of the predetermined area as a grid map,
The mobile robot control system according to claim 1 or 2, wherein a grid coordinate applied to the grid map is used to instruct a movement path of the mobile robot and a movement to the mobile robot. The mobile robot control system according to claim 3, wherein the map information includes grid coordinates and attribute information set corresponding to a grid of the grid map. The movement control unit is configured to move one of the mobile robots when the other mobile robot can invade an area defined by a grid of the grid map corresponding to an area that can be passed when the one mobile robot changes its direction. The mobile robot control system according to claim 3, wherein it is determined that the movements of the robot and the other mobile robot may interfere with each other. The movement route is composed of a segmented movement route divided at a change point of the movement of the mobile robot on the movement route,
The mobile robot control system according to any one of claims 1 to 5, wherein the movement control unit gives the mobile robot an instruction to move corresponding to each of the divided movement paths. Further comprising an access point for relaying communication between the mobile robot and the server device,
The mobile robot control system according to claim 1, wherein the access point is connected to the mobile robot via wireless communication and is connected to the server device via a communication network. The mobile robot is
An external sensor for detecting an object around the mobile robot,
Based on the detection result of the external sensor, an obstacle detection unit that generates obstacle information about the presence and position of an obstacle around the mobile robot,
The detection result by the obstacle detection unit is transmitted to the server device and stored in the storage unit as the mobile robot information,
The mobile robot stops when the obstacle detection unit detects an obstacle on the movement route, and starts moving when the obstacle detection unit no longer detects the obstacle on the movement route, or the obstacle. The mobile robot control system according to any one of claims 1 to 7, wherein movement is started according to an instruction of the movement control unit based on the route information changed by the route search unit based on object information. The mobile robot is
A display unit that displays the plurality of movement routes transmitted from the server device when the route search unit searches for a plurality of movement routes;
An input unit capable of inputting selection of the movement route from the plurality of movement routes,
The mobile robot control system according to claim 1, wherein the movement control unit gives a movement instruction to the mobile robot based on the selected movement route received from the mobile robot. The mobile robot has an input unit for inputting a destination to be set on a moving route of the mobile robot,
The mobile robot control system according to claim 1, wherein the route search unit searches for a movement route of the mobile robot based on the destination received from the mobile robot. The server device receives information regarding the map information, a destination to be set on a moving route of the mobile robot, and an input for selecting the moving route from a plurality of moving routes of the mobile robot searched by the route searching unit. The mobile robot control system according to any one of claims 1 to 10, comprising an input unit that is capable. Further comprising a communication terminal that wirelessly communicates with the server device,
The communication terminal, the mobile robot control system according to any one of the both that it is possible to obtain information from the server apparatus, according to claim 1 to 11 wherein it is possible to provide instructions and information to the server device. The route search unit searches for the travel route within an area excluding the travel-prohibited area.
The mobile robot control system according to claim 1. The storage unit stores route candidate information including information on a starting point and an ending point of a traveling route on which the mobile robot can travel,
The route search unit changes, based on the route candidate information, the route information about at least one of the mobile robots that may cause the interference so as to avoid the interference.
The mobile robot control system according to any one of claims 1 to 13. It is used to move the robot control system as claimed in any one of claims 1-14, the server device for controlling the mobile robot.

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