JP2019148870A - Moving object management system - Google Patents

Abstract

To provide a technique for maintaining communication between a moving object and a travel management device sending a command to the moving object.SOLUTION: Moving object management systems (100, 200) each have: a plurality of moving objects (10) which move according to guidance commands; a travel management device (50) which sends the guidance commands to the respective moving objects; and at least one wireless access point (2) which is connected by wireless to the respective moving objects and also connected by wireless or wired to the travel management device to relay communications between the respective moving objects and travel management device. The moving objects each communicate with a predetermined wireless access point to generate state data (32) indicative of a communication state and then transmit it to outside through the predetermined access point. The travel management device utilizes state data acquired from the respective moving objects to change a first guidance command to a second guidance command when the first guidance command meets a condition indicating that it is difficult to maintain the communications.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a mobile management system.

  Development of a mobile body that can move autonomously such as an automatic guided vehicle (automatic transport cart) and a mobile robot is in progress.

  A technique has been proposed in which a task execution command signal is issued and wirelessly transmitted to a mobile robot to cause the mobile robot to execute a task. Japanese Unexamined Patent Application Publication Nos. 2008-090575 and 2004-260769 disclose techniques for preventing communication disconnection between a radio base station and a mobile robot.

JP 2008-090575 A JP 2004-260769 A

  The present disclosure provides a technique for maintaining communication between a moving object and an operation management device that sends a command to the moving object.

  An exemplary mobile body management system according to the present disclosure is connected to a plurality of mobile bodies, each of which moves according to a guidance command, an operation management device that transmits the guidance command to each mobile body, and each mobile body by radio. And at least one wireless access point that is connected to the operation management device by radio or wire and relays communication between each of the mobile devices and the operation management device. A state data indicating a communication state is generated by communicating with a predetermined wireless access point, and is transmitted to the outside through the predetermined wireless access point, and the operation management device acquires the state acquired from each mobile unit. If the first guidance command matches the condition indicating that it is difficult to maintain communication using the data, the first guidance command is changed to the first guidance command. To change the induction directive.

  In the moving body management system according to the exemplary embodiment of the present invention, the moving body moves according to the guidance command received from the operation management apparatus. The operation management device uses the state data representing the communication state acquired from each mobile body, and the initial guidance command (first guidance command) to a certain mobile body is in a condition indicating that it is difficult to maintain communication. If they match, the first guidance command is changed to the second guidance command and transmitted to the moving body. For example, when the state data indicates a deterioration in the communication state, the movement according to the first guidance command whose communication state has deteriorated can be avoided by changing the first guidance command to the second guidance command.

FIG. 1 is an overhead view for explaining an overview of a mobile management system according to an exemplary embodiment of the present disclosure. FIG. 2 is an overhead view showing a state where a plurality of AGVs generate state data and transmit it to the operation management device. FIG. 3 is a diagram illustrating an example of a radio wave environment map. FIG. 4 is a diagram illustrating a basic configuration example of an exemplary mobile management system according to the present disclosure. FIG. 5 is a diagram illustrating an AGV that is communicably connected to a wireless AP. FIG. 6 is a diagram illustrating an AGV that is communicably connected to a wireless AP. FIG. 7 is a flowchart illustrating a procedure of a guidance command transmission process of the operation management device. FIG. 8 is a diagram showing a basic configuration example of a mobile management system provided with an access point control device. FIG. 9 is a diagram illustrating an example of a moving space in which three AGVs exist. FIG. 10A is a diagram showing the AGV and the towing cart before being connected. FIG. 10B is a diagram showing the connected AGV and towing cart. FIG. 11 is an external view of an exemplary AGV according to the present embodiment. FIG. 12A is a diagram illustrating a first hardware configuration example of AGV. FIG. 12B is a diagram illustrating a second hardware configuration example of AGV. FIG. 13A is a diagram schematically illustrating an AGV that moves while acquiring sensor data. FIG. 13B is a diagram schematically illustrating an AGV that moves while acquiring sensor data. FIG. 13C is a diagram schematically illustrating an AGV that moves while acquiring sensor data. FIG. 13D is a diagram schematically illustrating an AGV that moves while acquiring sensor data. FIG. 13E is a diagram schematically illustrating an AGV that moves while acquiring sensor data. FIG. 13F is a diagram schematically illustrating a part of the completed map. FIG. 14 is a diagram illustrating an example in which the entire area of one floor of one factory is covered by a combination of four partial map data M1, M2, M3, and M4. FIG. 15 is a diagram illustrating a hardware configuration example of the operation management apparatus. FIG. 16 is a diagram schematically illustrating an example of the movement route of the AGV determined by the operation management device.

<Terminology>
Prior to describing embodiments of the present disclosure, definitions of terms used herein will be described.

  An “automated guided vehicle” (AGV) means a trackless vehicle in which a package is loaded manually or automatically in a main body, travels automatically to a designated place, and is unloaded manually or automatically. “Automated guided vehicle” includes automatic guided vehicles and automatic forklifts.

  The term “unmanned” means that no person is required to steer the vehicle, and it does not exclude that the automated guided vehicle transports “person (for example, a person who loads and unloads luggage)”.

  An “unmanned towing vehicle” is a trackless vehicle that automatically pulls a cart that loads and unloads luggage manually or automatically travels to a designated location.

  An “unmanned forklift” is a trackless vehicle that includes a mast that moves up and down a load transfer fork, automatically transfers the load to the fork, etc., automatically travels to a designated location, and performs automatic cargo handling work.

  A “trackless vehicle” is a vehicle that includes wheels and an electric motor or engine that rotates the wheels.

  The “moving body” is a device that carries a person or a load and moves, and includes a driving device such as a wheel, a biped or multi-legged walking device, and a propeller that generate a driving traction for movement. The term “mobile body” in the present disclosure includes not only a narrow automatic guided vehicle but also a mobile robot and a drone.

  The “automatic traveling” includes traveling based on a command of a computer operation management system to which the automatic guided vehicle is connected by communication, and autonomous traveling by a control device included in the automatic guided vehicle. Autonomous traveling includes not only traveling where the automated guided vehicle travels to a destination along a predetermined route, but also traveling following a tracking target. Moreover, the automatic guided vehicle may temporarily perform manual travel based on an instruction from the worker. “Automatic travel” generally includes both “guided” travel and “guideless” travel, but in the present disclosure, it means “guideless” travel.

  The “guide type” is a system in which a derivative is installed continuously or intermittently and the guided vehicle is guided using the derivative.

  The “guideless type” is a method of guiding without installing a derivative. The automatic guided vehicle in the embodiment of the present disclosure includes a self-position estimation device and can travel in a guideless manner.

  The “self-position estimation device” is a device that estimates the self-position on the environment map based on sensor data acquired by an external sensor such as a laser range finder.

  An “external sensor” is a sensor that senses an external state of a moving body. Examples of the external sensor include a laser range finder (also referred to as a range sensor), a camera (or an image sensor), a LIDAR (Light Detection and Ranging), a millimeter wave radar, and a magnetic sensor.

  The “inner world sensor” is a sensor that senses the state inside the moving body. Examples of the internal sensor include a rotary encoder (hereinafter sometimes simply referred to as “encoder”), an acceleration sensor, and an angular acceleration sensor (for example, a gyro sensor).

  “SLAM” is an abbreviation for “Simultaneous Localization and Mapping”, which means that self-location estimation and environmental map creation are performed simultaneously.

<Background to the Inventor's Idea for the Technology Related to the Present Disclosure>
When operating a mobile body such as AGV by a command issued by the operation management device, the command can be transmitted from the operation management device to the mobile body using wireless communication such as a wireless LAN. The quality of wireless communication varies depending on the environment and time in which communication is performed. When the quality of wireless communication deteriorates, the moving body cannot receive the command, and the operation of the moving body may be hindered.

  At present, the quality of wireless communication is maintained above a certain level by manpower. For example, an engineer measures the radio field intensity in a wireless environment and determines the layout, radio wave output, and antenna angle of a certain wireless access point (hereinafter abbreviated as “wireless AP”) based on the data obtained by the measurement. . The same operation is repeated for other wireless APs. When the above work is completed for all the wireless APs, data can be transmitted and received between the mobile unit and the operation management device with a certain quality.

  However, even when an engineer performs the above-described work, the communication quality may change with time. For example, communication may be congested and communication quality may be reduced in a time zone in which many mobile units are operated, but communication quality is not substantially reduced in a time zone in which several mobile units are operated. In addition, when multiple workers use wireless communication in the same frequency band as a mobile unit using a mobile terminal or the like in an environment where a mobile unit exists, communication is performed according to the number of workers, the amount of communication, etc. Can occur at random timing. Communication congestion as in the above-described example cannot be avoided only by measuring the layout, radio wave output, antenna angle, and the like of the wireless AP under static conditions.

  The present inventor has repeatedly examined whether a device, not a hand, can automatically maintain the quality of the wireless communication environment above a certain standard. At the same time, we also examined whether the communication quality could be maintained even when the communication quality changed with time.

  It is known that there is a technology for automatically improving and maintaining the quality of the communication environment. For example, if a terminal connected to a wireless AP in a certain radio wave band can use other frequency bands, the wireless AP automatically moves to a free band when communication is congested. Let Thereby, congestion of a band can be avoided.

  Further, a technique for measuring radio wave interference between a plurality of wireless APs, and for the wireless AP itself or an access point control device managing a plurality of wireless APs to reduce the output power of the wireless AP to reduce radio wave interference. Is also known.

  In any of the above-described technologies, the wireless AP or the access point control device changes the communication environment to improve and maintain the communication quality.

  The inventor collects state data indicating a communication state from a mobile body or terminal communicating with the wireless AP, and uses the state data to improve and maintain communication quality more appropriately. The conclusion was reached.

<Exemplary Embodiment>
Hereinafter, an example of a mobile management system according to the present disclosure will be described with reference to the accompanying drawings. A more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for substantially the same configuration may be omitted. This is to avoid the following description from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. The inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure. They are not intended to limit the claimed subject matter.

  Below, "AGV" is illustrated and demonstrated as a moving body.

  FIG. 1 is an overhead view for explaining an overview of a mobile management system 100 according to an exemplary embodiment of the present disclosure.

  The mobile body management system 100 includes one or more wireless access points (wireless APs) 2, an AGV 10, and an operation management device 50. In FIG. 1, graphic symbols indicating the AGV 10 are shown at a plurality of positions, and these indicate that one AGV 10 shown at the upper right of FIG. 1 has moved to a different position. However, a plurality of AGVs 10 can exist.

  The wireless AP 2 is connected to each AGV 10 by radio and connected to the operation management device 50 by radio or wire, and relays communication between each AGV 10 and the operation management device 50. Wireless communication is performed in accordance with, for example, the Wi-Fi (registered trademark) standard. In the present embodiment, it is assumed that the wireless AP 2 and the operation management device 50 are connected by wire.

  Hereinafter, it may not be clearly indicated that the wireless AP 2 is present in communication between the AGV 10 and the operation management device 50. For example, the AGV 10 may be described as transmitting data to the operation management device 50. This means that the AGV 10 actually transmits data to the wireless AP 2 by wireless communication, and the wireless AP 2 transmits the received data to the operation management device 50 by wired communication.

  The AGV 10 is an automatic guided vehicle capable of “guideless type” traveling that does not require a derivative such as a magnetic tape for traveling. The AGV 10 may further include a “tracking mode” that moves following a person or another moving body.

  The AGV 10 can automatically travel in the moving space S in accordance with a guidance command from the operation management device. The AGV 10 can appropriately move according to the guidance command while estimating the self position. The AGV 10 can also transmit the estimation result to the operation management device. The AGV 10 periodically transmits data indicating its own position and orientation to the operation management device 50 every 100 milliseconds, for example.

  The operation management device 50 is a computer system that tracks the position of each AGV 10 and manages the movement (running) of each AGV 10. The operation management device 50 may be a desktop PC, a notebook PC, and / or a server computer. The operation management device 50 communicates with each AGV 10 via one or more wireless APs 2.

  The operation management device 50 transmits a guidance command to each AGV. The “guidance command” is a command for designating a movement path of the AGV 10 in a space (movement space) S in which the AGV 10 can move. The movement path can be expressed by, for example, arranging coordinate values of positions where the AGV 10 should pass in order. In the present embodiment, the coordinate value of the position is a coordinate value of an orthogonal coordinate system virtually set in the movement space S. However, the coordinate value of the polar coordinate system may be adopted. Specifically, a moving path may be specified by adopting a set of values of the direction (angle) and distance to the next position when a certain position is used as a reference as a coordinate value of the position.

  The operation management device 50 determines whether or not the AGV 10 has completed the movement along the instructed movement route, based on the data indicating the position and orientation received from the AGV 10. When it is determined that the movement has been completed, the operation management device 50 further transmits the next guidance command as necessary.

  In the example of FIG. 1, the operation management device 50 transmits a first guidance command to the AGV 10. The first guidance command designates a movement route R1 starting from the position P0 and going to the left in FIG. 1 via the position P11. The movement route R1 can be determined depending on the operation of the mobile management system 100.

  When a plurality of wireless APs 2 are provided in the mobile management system 100, each AGV including the AGV 10 is connected to the wireless AP 2 having the highest signal strength at the time of connection attempt, for example. Each AGV generates state data indicating a communication state by communicating with the wireless AP 2, and transmits the state data to the outside, for example, the operation management device 50. “State data indicating the communication state” is, for example, a numerical value representing the intensity of the received radio wave, the S / N ratio of the signal, and / or the signal quality. The signal quality can be quantitatively expressed by numerical values such as demodulation quality, the number of upper communication errors, and the number of data retransmissions associated with the occurrence of an error.

  Each AGV may transmit identification data (SSID to be described later) uniquely identifying the connection-destination wireless AP 2 separately from “state data indicating a communication state”. Since the installation position of each wireless AP 2 is known in advance, it is possible to identify the position data generated in relation to the wireless AP 2 at which position. Each AGV may transmit a coordinate value indicating the estimated self-position instead of the identification data.

  The operation management device 50 acquires and stores state data from each AGV. As a result, state data indicating the communication state of the moving space S in which each AGV is moving is accumulated.

  The operation management device 50 uses the accumulated state data to determine whether or not the first guidance command that has been transmitted to the AGV 10 meets a condition indicating that it is difficult to maintain communication. An example of “conditions indicating that it is difficult to maintain communication” is an area (“first type area”) in which the communication state is less than a predetermined reference on the movement route R1 specified by the first guidance command. Is called). More simply, the operation management device 50 determines whether or not the travel route R1 passes through a region where the communication state is deteriorated, that is, the first type region.

  FIG. 1 shows a moving route R1 that crosses the first type area A1 in which the communication state is deteriorated. For example, when the number of handset such as AGV10 connected to one wireless AP2 exceeds the design value, or when the wireless AP2 fails, the area near the wireless AP2 is the first type. Can be an area.

  When the first guidance command matches the “condition” described above, the operation management device 50 changes the first guidance command to the second guidance command. The second guidance command is not a command issued when the AGV 10 completes movement along the movement route, but is a new command adopted by replacing the first guidance command.

  The second guidance command changed from the first guidance command designates a movement route R2 starting from the position P0 and going in the left direction in FIG. 1 via the positions P21 and P22. The operation management device 50 can set a route that passes only an area (referred to as “second type area”) whose communication state is equal to or higher than a predetermined reference.

  FIG. 1 shows a movement route R2 that passes only the second type region A2 while avoiding the first type region A1. Since the AGV 10 moves only in the second type area A2 in a good communication state according to the second guidance command, the communication between the AGV 10 and the operation management device 50 is continuously maintained even during the movement of the AGV 10.

  FIG. 2 is an overhead view showing a state in which the plurality of AGVs 10 a to 10 e generate the state data 32 and transmit it to the operation management device 50. FIG. 2 schematically illustrates a plurality of wireless APs 2a to 2f. The interval between two adjacent wireless APs is, for example, 20 meters.

  Each of the AGVs 10a to 10e moves in accordance with the already received guidance command. In FIG. 2, the moving directions of the AGVs 10a to 10e are indicated by arrows. Each AGV generates state data 32 periodically or intermittently and transmits it to the operation management device 50 while moving. Thereby, the operation management apparatus 50 can know the communication state in the moving space S in which each AGV moves in real time or after a slight delay.

  The operation management device 50 accumulates the state data 32 acquired from each of the AGVs 10a to 10e and creates a radio wave environment map 52. The radio wave environment map 52 in this embodiment is a map that expresses the communication state of the moving space S by a numerical value for each place.

  FIG. 3 shows an example of the radio wave environment map 52. The radio wave environment map 52 is expressed as a set of a plurality of rectangular blocks. In this example, the shades of the rectangular blocks in the figure are associated with the communication state. The entire radio wave environment map 52 corresponds to the moving space S, and one rectangular block of the radio wave environment map 52 corresponds to a rectangular area having a certain width in the moving space S. In the radio wave environment map 52, the degree of good communication state is expressed by four gradations. A region where the communication state is good is indicated by a relatively dark block, and a region where the communication state is bad is indicated by a relatively thin block. The shading can be expressed by a numerical value indicating one of four gradations for each block.

  Refer to FIG. 2 again. Now, pay attention to the area A3 around the AGV 10c and the wireless AP 2d in the lower right of FIG. In the area A3, the AGV 10c is connected to the wireless AP 2d, but the communication state is deteriorated. The symbol “x” in the figure indicates that the communication state is less than a predetermined standard.

  Based on the state data 32 received from the AGV 10c, the operation management device 50 determines that the region A3 is a first type region whose communication state is less than a predetermined reference. Based on the determination result, the operation management device 50 gives the second lightest color to the area A3 'surrounded by the broken line at the lower right of the radio wave environment map 52 shown in FIG. The lightest color is an area where the AGV 10 has not traveled, and is attached to, for example, a room surrounded by a wall or an area where a pillar exists. In the present embodiment, it is assumed that the region with the lightest color and the second lightest color is the first type region.

  On the other hand, the operation management apparatus 50 attaches the third or fourth dark color to the second type region as a region where the communication state is equal to or higher than a predetermined reference.

  The radio wave environment map 52 expressed by four levels of light and shade is an example. There may be more or less shade levels. Instead of shading, different colors may be given according to the communication state.

  The operation management device 50 sets the first type region and the second type region on the radio wave environment map 52 by the above-described procedure. Thereby, the operation management apparatus 50 can determine whether the movement route designated by the 1st guidance command transmitted to each AGV10a-10e passes the 1st type area | region in the electromagnetic wave environment map 52. FIG.

  Here, the relationship between a moving AGV and a wireless AP communicating with such an AGV will be described. In the present embodiment, a unique service set identifier (SSID) that uniquely identifies each wireless AP 2 is set in advance. Also, it is assumed that each wireless AP 2 and each AGV 10 have an authentication / encryption method, an encryption key, and the like set in advance.

  In general, a wireless AP periodically transmits a signal called a “beacon”. Upon receiving the beacon, a client such as AGV sends a probe request to the wireless AP. The “probe request” is an inquiry as to whether the SSID of the wireless AP matches the SSID set in the client terminal. If the SSID is the same, the wireless AP transmits a “probe response”. As a result, the wireless AP and the client terminal transition to a connectable state.

  Thereafter, the above-described authentication / encryption method and encryption key are used, and the wireless AP 2 authenticates the client terminal. If it is determined that the client is correct, the client terminal makes a connection request to the access point. This request is called an “association request”. When the wireless AP performs an “association response”, which is a permission response, in response to the association request, the connection between the wireless AP and the client terminal is completed, and communication can be performed.

  A connection is established and communication is performed between the wireless AP 2 and each AGV 10 by the above-described procedure.

  When a plurality of wireless APs 2 are provided in the mobile management system 100, each AGV 10 can select which wireless AP 2 is connected. For example, each AGV 10 is connected to a wireless AP having the highest signal strength in the above-described procedure.

  FIG. 4 illustrates a basic configuration example of an exemplary mobile management system 100 according to the present disclosure. The mobile management system 100 controls the operation of at least one AGV 10 by the operation management device 50. FIG. 4 also shows a terminal device 20 operated by the user 1.

  FIG. 5 shows the AGV 10 that is communicably connected to the wireless AP 2a. The AGV 10 wirelessly transmits the status data 32 to the wireless AP 2a while traveling. The wireless AP 2a transmits the received status data 32 to the operation management device 50 via the switching hub 3 in a wired manner.

  When the AGV 10 moves in the direction of the arrow according to the guidance command, the interval between the wireless AP 2a and the AGV 10 with which the connection has been established increases, and the signal strength of the wireless AP 2a gradually decreases.

  On the other hand, as the AGV 10 approaches the wireless AP 2b, the signal strength of the wireless AP 2b gradually increases. If the AGV 10 continues to move, the signal strength of the wireless AP 2b becomes larger than the signal strength of the wireless AP 2a.

  Then, the AGV 10 transmits a probe request to the wireless AP 2b. When the connection with the wireless AP 2b is established through the above-described procedure, the wireless AP 2a connected to the AGV 10 is switched to the wireless AP 2b.

  FIG. 6 shows the AGV 10 that is communicably connected to the wireless AP 2b. By connecting the AGV 10 to the wireless AP 2b, the AGV 10a can continuously receive the guidance command with the operation management device 50. Moreover, AGV10 can transmit the status data 32 about a connection state with wireless AP2b.

  The operation of switching the connection destination wireless AP with the movement of the AGV 10 is referred to as “roaming”. Other AGVs moving in the moving space S can perform roaming in the same manner.

  The AGV 10 can also transmit data other than the state data 32 to the operation management device 50.

  In this embodiment, since each wireless AP 2 is assigned a unique SSID, a table in which the SSID of the wireless AP 2 is associated with information on the location where the wireless AP 2 is installed is prepared in advance. Can do. When each AGV 10 transmits the SSID of the connection destination wireless AP 2 to the operation management device 50 in addition to the status data 32, the operation management device 50 can estimate the region where the current AGV 10 exists by referring to the table. Thereby, the radio wave environment map 52 can be created.

  Note that it is not essential for the AGV 10 to transmit the SSID of the connection destination wireless AP 2. The operation management device 50 can also determine which wireless AP 2 is in a communication state with the AGV 10 based only on the state data 32. More specifically, when receiving the status data 32 from the wireless AP 2, the operation management device 50 can know the MAC address of the wireless AP 2 as a transmission source. The MAC address is an identifier that can uniquely identify each wireless AP 2 in the network. The operation management apparatus 50 can recognize that the state data 32 indicates the communication state between the AGV 10 and the wireless AP 2 that is the transmission source.

  As will be described later, in this embodiment, the AGV 10 holds map data of the moving space S in advance, and can estimate and output the current self-position using a laser range finder. Each AGV 10 may transmit a coordinate value indicating the estimated self-position to the operation management device 50 instead of the SSID information. By using the estimated coordinate values, it is possible to create a more accurate radio wave environment map 52.

  The AGV 10 may not be able to transmit the status data 32 to the operation management device 50 due to a failure or overload of the connection destination wireless AP 2. In such a case, the AGV 10 may roam to another wireless AP 2 after a certain time elapses or after a certain number of trials and still being disconnected. At this time, the AGV 10 transmits the identifier of the wireless AP 2 that has been disconnected together with the status data 32. Thereby, the position of the wireless AP 2 that has been disconnected can be reliably reflected in the radio wave environment map 52. In addition, when AGV10 cannot transmit the status data 32 to the operation management apparatus 50, a moving speed may be increased and it may detach | leave quickly from the area | region where such a communication state is not favorable.

  As described above, the AGV 10 transmits at least the state data 32 indicating the communication state with the connected wireless AP 2 to the operation management device 50. As a result, the operation management device 50 can create or update the radio wave environment map 52. As a result, it is possible to determine whether or not it is necessary to change the guidance command that has already taken effect. By using the AGV 10 as a sensor or probe that collects state data while moving in the moving space S, an accurate communication state can be grasped.

  In the mobile management system 100, each AGV 10 transmits the status data 32 directly to the operation management device 50. However, even in a system in which the status data 32 is aggregated in another device and the operation management device 50 receives the status data 32 aggregated from the device, the same functions and effects as the above-described mobile management system 100 can be obtained.

  FIG. 7 is a flowchart showing the procedure of the guidance command transmission process of the operation management device 50. The flowchart is executed by a signal processing circuit (CPU) mounted on the operation management device 50, and will be described as an operation of the operation management device 50 below.

  In step S <b> 10, the operation management device 50 transmits a first guidance command to each AGV 10.

  In step S <b> 11, the operation management device 50 receives state data from each AGV 10. Note that the process of step S11 can be executed as an interrupt process whenever status data is received from each AGV 10.

  In step S <b> 12, the operation management device 50 determines whether or not the movement route specified by the first guidance command passes through the first type region using the state data for each AGV 10. Note that passing through the first type region is an example. More generally, the operation management device 50 determines whether or not the first guidance command matches a condition indicating that it is difficult to maintain communication.

  In step S13, if the movement route passes through the first type region, the process proceeds to step S14, and if not, the process ends. In the latter case, each AGV 10 moves according to the first guidance command.

  In step S14, the operation management device 50 determines a travel route that passes through the second type area.

  In step S <b> 15, the operation management apparatus 50 transmits a second guidance command that designates the determined travel route to the target AGV 10. Thereby, AGV10 which received the 2nd guidance command changes a movement course according to the 2nd guidance command, and moves.

  Since the state data transmitted from each AGV 10 indicates the latest communication state in the moving space S, when the operation management device 50 receives the state data shown in step S11, the processing after step S12 is performed each time. Should be executed.

  FIG. 8 shows a basic configuration example of the mobile management system 200 provided with the access point control device 105. Hereinafter, the access point control device is abbreviated as “AP control device”.

  The AP control device 105 is communicably connected to each wireless AP 2 and collectively controls a plurality of wireless APs 2. The AP control device 105 can control a plurality of parameters such as a channel used for an arbitrary wireless AP 2 and radio wave intensity, for example. The AP control device 105 can also control a plurality of parameters of a plurality of wireless APs 2 at the same time. In addition, the AP control device 105 can collectively perform authentication and security management when connected to the AGV 10. This eliminates the need for authentication in each wireless AP 2. The AP control device 105 is sometimes called a “wireless LAN controller”.

  The access point control device 105 according to the present embodiment has a storage device 30, receives the status data 32 from each AGV 10 and accumulates it in the storage device 30. The AP control device 105 receives the acquisition request for the status data 32 from the operation management device 50 at a periodic or random timing. In response to receiving the acquisition request for the status data 32, the AP control device 105 transmits one or more untransmitted status data 32 to the operation management device 50. When receiving the acquisition request in which the specific status data 32 is specified, the AP control device 105 reads the specified specific status data 32 from the storage device 30 and transmits it to the operation management device 50.

  Of the configuration of the AP control device 105, a configuration particularly related to the present embodiment is that the AP control device 105 has a communication circuit, a storage device 30, and a signal processing circuit that performs processing related to the above-described state data. And having a work memory for the signal processing circuit. Such a configuration may be included in components of the operation management device 50 described later with reference to FIG. Therefore, illustration of the AP control device 105 is omitted in this specification.

  Next, another operation example of the mobile management system will be described.

  The operation management device 50 may transmit a guidance command for designating only the destination instead of the guidance command for designating the movement route. Each AGV 10 that has received the guidance command autonomously determines a movement route for reaching the destination specified by the guidance command.

  When each AGV 10 determines a movement route, each AGV 10 refers to the map data held inside and the radio wave environment map 52 to determine a route that avoids the first type region. The operation management device 50 also transmits the radio wave environment map 52 to each AGV 10 when the first guidance command is transmitted. Each time the operation management device 50 updates the radio wave environment map 52, each AGV 10 receives the updated radio wave environment map 52 from the operation management device 50. When each AGV 10 receives the updated radio wave environment map 52, each AGV 10 determines whether or not the first type area exists on the determined movement route, and if so, moves so as to pass through the second type area. Change the route.

  The exemplary embodiment has been described above. Hereinafter, a more specific and detailed configuration example will be described.

(1) Specific Example of System FIG. 9 shows an example of a moving space S in which three AGVs 10a, 10b, and 10c exist. Assume that all AGVs are traveling in the depth direction in the figure. The AGVs 10a and 10b are transporting loads placed on the top board. The AGV 10c travels following the front AGV 10b. For convenience of explanation, reference numerals 10a, 10b, and 10c are assigned in FIG. 9, but hereinafter, they are described as “AGV10”.

  In addition to the method of transporting a load placed on the top board, the AGV 10 can also transport the load using a tow cart connected to itself. FIG. 10A shows the AGV 10 and the towing cart 5 before being connected. A caster is provided on each foot of the traction cart 5. The AGV 10 is mechanically connected to the traction cart 5. FIG. 10B shows the AGV 10 and the traction cart 5 connected. When the AGV 10 travels, the tow cart 5 is pulled by the AGV 10. By pulling the tow cart 5, the AGV 10 can transport the load placed on the tow cart 5.

  The connection method between the AGV 10 and the traction cart 5 is arbitrary. Here, an example will be described. A plate 6 is fixed to the top plate of the AGV 10. The pulling cart 5 is provided with a guide 7 having a slit. The AGV 10 approaches the tow truck 5 and inserts the plate 6 into the slit of the guide 7. When the insertion is completed, the AGV 10 passes an electromagnetic lock pin (not shown) through the plate 6 and the guide 7 and applies an electromagnetic lock. Thereby, AGV10 and tow cart 5 are physically connected.

(2) Creation of environmental map A map in the moving space S is created so that the AGV 10 can travel while estimating its own position. The AGV 10 is equipped with a position estimation device and a laser range finder, and a map can be created using the output of the laser range finder.

  The AGV 10 transitions to a data acquisition mode by a user operation. In the data acquisition mode, the AGV 10 starts acquiring sensor data using the laser range finder. The laser range finder periodically scans the surrounding space S by periodically emitting, for example, an infrared or visible laser beam. The laser beam is reflected by the surface of a structure such as a wall or a pillar or an object placed on the floor. The laser range finder receives the reflected light of the laser beam, calculates the distance to each reflection point, and outputs measurement result data indicating the position of each reflection point. The direction and distance of the reflected light are reflected at the position of each reflection point. Data of measurement results obtained by one scan may be referred to as “measurement data” or “sensor data”.

  The position estimation device accumulates sensor data in a storage device. When the acquisition of the sensor data in the moving space S is completed, the sensor data accumulated in the storage device is transmitted to the external device. The external device is, for example, a computer having a signal processor and having a mapping program installed therein.

  The signal processor of the external device superimposes the sensor data obtained for each scan. A map of the space S can be created by repeatedly performing the process of overlapping by the signal processor. The external device transmits the created map data to the AGV 10. The AGV 10 stores the created map data in an internal storage device. The external device may be the operation management device 50 or another device.

  The AGV 10 may create the map instead of the external device. A circuit such as a microcontroller unit (microcomputer) of the AGV 10 may perform the processing performed by the signal processor of the external device described above. When a map is created in the AGV 10, there is no need to transmit the accumulated sensor data to an external device. The data capacity of sensor data is generally considered large. Since it is not necessary to transmit sensor data to an external device, occupation of the communication line can be avoided.

  The movement in the movement space S for acquiring the sensor data can be realized by the AGV 10 traveling according to the user's operation. For example, the AGV 10 receives a guidance command instructing movement in the front, rear, left, and right directions from the user wirelessly via the terminal device 20 (FIG. 4). The AGV 10 travels forward, backward, left and right in the moving space S according to the guidance command, and creates a map. When the AGV 10 is connected to a steering device such as a joystick by wire, a map may be created by traveling in the moving space S forward / backward and left / right according to a control signal from the steering device. Sensor data may be acquired by a person walking around a measurement carriage equipped with a laser range finder.

  4 and 9 show a plurality of AGVs 10, but one AGV may be used. When there are a plurality of AGVs 10, the user 1 can use the terminal device 20 to select one AGV 10 from the plurality of registered AGVs and create a map of the moving space S.

  After the map is created, each AGV 10 can automatically travel while estimating its own position using the map. A description of the process of estimating the self position will be given later.

(3) Configuration of AGV FIG. 11 is an external view of an exemplary AGV 10 according to the present embodiment. The AGV 10 includes two drive wheels 11a and 11b, four casters 11c, 11d, 11e, and 11f, a frame 12, a transport table 13, a travel control device 14, and a laser range finder 15. The two drive wheels 11a and 11b are provided on the right side and the left side of the AGV 10, respectively. The four casters 11c, 11d, 11e, and 11f are arranged at the four corners of the AGV 10. The AGV 10 also has a plurality of motors connected to the two drive wheels 11a and 11b, but the plurality of motors are not shown in FIG. Further, FIG. 11 shows one drive wheel 11a and two casters 11c and 11e located on the right side of the AGV 10, and a caster 11f located on the left rear part, but the left drive wheel 11b and the left front part. The caster 11d is not clearly shown because it is hidden behind the frame 12. The four casters 11c, 11d, 11e, and 11f can freely turn. In the following description, the drive wheels 11a and the drive wheels 11b are also referred to as wheels 11a and wheels 11b, respectively.

  The travel control device 14 is a device that controls the operation of the AGV 10, and mainly includes an integrated circuit including a microcomputer (described later), electronic components, and a board on which they are mounted. The traveling control device 14 performs the above-described data transmission / reception with the terminal device 20 and the preprocessing calculation.

  The laser range finder 15 is an optical device that measures the distance to a reflection point by, for example, emitting an infrared or visible laser beam 15a and detecting the reflected light of the laser beam 15a. In the present embodiment, the laser range finder 15 of the AGV 10 has a pulsed laser beam, for example, in a space in the range of 135 degrees to the left and right (total 270 degrees) with respect to the front of the AGV 10 while changing the direction every 0.25 degrees. The reflected light of each laser beam 15a is detected. Thereby, data of the distance to the reflection point in the direction determined by the angle corresponding to the total of 1081 steps every 0.25 degrees can be obtained. In the present embodiment, the scan of the surrounding space performed by the laser range finder 15 is substantially parallel to the floor surface and is planar (two-dimensional). However, the laser range finder 15 may perform scanning in the height direction.

  The AGV 10 can create a map of the space S based on the position and orientation (orientation) of the AGV 10 and the scan result of the laser range finder 15. The map may reflect the arrangement of walls, pillars and other structures around the AGV, and objects placed on the floor. The map data is stored in a storage device provided in the AGV 10.

  In general, the position and posture of a moving object are called poses. The position and orientation of the moving body in the two-dimensional plane are expressed by position coordinates (x, y) in the XY orthogonal coordinate system and an angle θ with respect to the X axis. The position and posture of the AGV 10, that is, the pose (x, y, θ) may be simply referred to as “position” hereinafter.

  The position of the reflection point seen from the radiation position of the laser beam 15a can be expressed using polar coordinates determined by the angle and the distance. In the present embodiment, the laser range finder 15 outputs sensor data expressed in polar coordinates. However, the laser range finder 15 may convert the position expressed in polar coordinates into orthogonal coordinates and output the result.

  Since the structure and operating principle of the laser range finder are known, further detailed description is omitted in this specification. Examples of objects that can be detected by the laser range finder 15 are people, luggage, shelves, and walls.

  The laser range finder 15 is an example of an external sensor for sensing the surrounding space and acquiring sensor data. Other examples of such an external sensor include an image sensor and an ultrasonic sensor.

  The traveling control device 14 can estimate the current position of the traveling control device 14 by comparing the measurement result of the laser range finder 15 with the map data held by the traveling control device 14. The stored map data may be map data created by another AGV 10.

  FIG. 12A shows a first hardware configuration example of the AGV 10. FIG. 12A also shows a specific configuration of the travel control device 14.

  The AGV 10 includes a travel control device 14, a laser range finder 15, two motors 16a and 16b, a drive device 17, wheels 11a and 11b, and two rotary encoders 18a and 18b.

  The travel control device 14 includes a microcomputer 14a, a memory 14b, a storage device 14c, a communication circuit 14d, and a position estimation device 14e. The microcomputer 14a, the memory 14b, the storage device 14c, the communication circuit 14d, and the position estimation device 14e are connected by a communication bus 14f and can exchange data with each other. The laser range finder 15 is also connected to the communication bus 14f via a communication interface (not shown), and transmits measurement data as a measurement result to the microcomputer 14a, the position estimation device 14e, and / or the memory 14b.

  The microcomputer 14 a is a processor or a control circuit (computer) that performs an operation for controlling the entire AGV 10 including the travel control device 14. Typically, the microcomputer 14a is a semiconductor integrated circuit. The microcomputer 14a transmits a PWM (Pulse Width Modulation) signal, which is a control signal, to the driving device 17 to control the driving device 17 and adjust the voltage applied to the motor. As a result, each of the motors 16a and 16b rotates at a desired rotation speed.

  One or more control circuits (for example, a microcomputer) for controlling the driving of the left and right motors 16a and 16b may be provided independently of the microcomputer 14a. For example, the motor driving device 17 may include two microcomputers that control the driving of the motors 16a and 16b, respectively. These two microcomputers may perform coordinate calculations using the encoder information output from the encoders 18a and 18b, respectively, and estimate the moving distance of the AGV 10 from a given initial position. The two microcomputers may control the motor drive circuits 17a and 17b using encoder information.

  The memory 14b is a volatile storage device that stores a computer program executed by the microcomputer 14a. The memory 14b can also be used as a work memory when the microcomputer 14a and the position estimation device 14e perform calculations.

  The storage device 14c is a nonvolatile semiconductor memory device. However, the storage device 14c may be a magnetic recording medium typified by a hard disk or an optical recording medium typified by an optical disk. Furthermore, the storage device 14c may include a head device for writing and / or reading data on any recording medium and a control device for the head device.

  The storage device 14c stores map data M of the traveling space S and data (movement route data) R of one or more movement routes. The map data M is created by the AGV 10 operating in the map creation mode and stored in the storage device 14c. The travel route data R is transmitted from the outside after the map data M is created. In the present embodiment, the map data M and the travel route data R are stored in the same storage device 14c, but may be stored in different storage devices.

  An example of the movement route data R will be described.

  As described above, the operation management device 50 designates a movement route by a guidance command. The movement path is determined by a set of coordinate values of positions at which the AGV 10 should pass in order. Such a set of coordinate values corresponds to the movement route data R. When the terminal device 20 is a tablet computer, the AGV 10 may receive movement route data R indicating a movement route from the tablet computer.

  The position to pass is also called a “marker”. The movement route data R includes at least position information of a start marker indicating a travel start position and an end marker indicating a travel end position, that is, coordinate values. The movement route data R may further include position information of one or more intermediate waypoint markers. When the movement route includes one or more intermediate waypoints, a route from the start marker to the end marker via the travel route point in order is defined as the movement route. The data of each marker may include data on the direction (angle) and traveling speed of the AGV 10 until moving to the next marker, in addition to the coordinate value of the marker. When the AGV 10 temporarily stops at the position of each marker and performs self-position estimation and notification to the terminal device 20, the data of each marker includes acceleration time required for acceleration to reach the travel speed, and / or Further, it may include data of deceleration time required for deceleration from the traveling speed until the vehicle stops at the position of the next marker.

  The operation management device 50 (for example, a PC and / or a server computer) instead of the terminal device 20 may control the movement of the AGV 10. In that case, the operation management device 50 may instruct the AGV 10 to move to the next marker every time the AGV 10 reaches the marker. For example, the AGV 10 receives, from the operation management apparatus 50, the coordinate value of the target position to be next, or the data of the distance to the target position and the angle to be traveled as the movement route data R indicating the movement route.

  The AGV 10 can travel along the stored travel route while estimating its own position using the created map and the sensor data output from the laser range finder 15 acquired during travel.

  The communication circuit 14d is a wireless communication circuit that performs wireless communication based on, for example, Bluetooth (registered trademark) and / or Wi-Fi (registered trademark) standards. Each standard includes a wireless communication standard using a frequency of 2.4 GHz band. For example, in a mode in which the AGV 10 is run to create a map, the communication circuit 14d performs wireless communication based on the Bluetooth (registered trademark) standard and communicates with the terminal device 20 one-on-one.

  The position estimation device 14e performs map creation processing and self-position estimation processing during traveling. The position estimation device 14e creates a map of the moving space S based on the position and orientation of the AGV 10 and the scan result of the laser range finder. During traveling, the position estimation device 14e receives sensor data from the laser range finder 15 and reads map data M stored in the storage device 14c. By matching the local map data (sensor data) created from the scan results of the laser range finder 15 with a wider range of map data M, the self position (x, y, θ) on the map data M can be obtained. Identify. The position estimation device 14e generates “reliability” data representing the degree to which the local map data matches the map data M. Each data of the self position (x, y, θ) and the reliability can be transmitted from the AGV 10 to the terminal device 20 or the operation management device 50. The terminal device 20 or the operation management device 50 can receive each data of its own position (x, y, θ) and reliability and display it on a built-in or connected display device.

  In the present embodiment, the microcomputer 14a and the position estimation device 14e are separate components, but this is an example. It may be a single chip circuit or a semiconductor integrated circuit capable of independently performing the operations of the microcomputer 14a and the position estimation device 14e. FIG. 12A shows a chip circuit 14g that includes a microcomputer 14a and a position estimation device 14e. Below, the example in which the microcomputer 14a and the position estimation apparatus 14e are provided independently is demonstrated.

  The two motors 16a and 16b are attached to the two wheels 11a and 11b, respectively, and rotate each wheel. That is, the two wheels 11a and 11b are drive wheels, respectively. In the present specification, the motor 16a and the motor 16b are described as being motors that drive the right wheel and the left wheel of the AGV 10, respectively.

  The moving body 10 further includes an encoder unit 18 that measures the rotational positions or rotational speeds of the wheels 11a and 11b. The encoder unit 18 includes a first rotary encoder 18a and a second rotary encoder 18b. The first rotary encoder 18a measures the rotation at any position of the power transmission mechanism from the motor 16a to the wheel 11a. The second rotary encoder 18b measures the rotation at any position of the power transmission mechanism from the motor 16b to the wheel 11b. The encoder unit 18 transmits the signals acquired by the rotary encoders 18a and 18b to the microcomputer 14a. The microcomputer 14a may control the movement of the moving body 10 using the signal received from the encoder unit 18 as well as the signal received from the position estimation device 14e.

  The drive device 17 has motor drive circuits 17a and 17b for adjusting the voltage applied to each of the two motors 16a and 16b. Each of motor drive circuits 17a and 17b includes a so-called inverter circuit. The motor drive circuits 17a and 17b turn on or off the current flowing through each motor by a PWM signal transmitted from the microcomputer 14a or the microcomputer in the motor drive circuit 17a, thereby adjusting the voltage applied to the motor.

  FIG. 12B shows a second hardware configuration example of the AGV 10. The second hardware configuration example is different from the first hardware configuration example (FIG. 12A) in that it has a laser positioning system 14 h and the microcomputer 14 a is connected to each component in a one-to-one relationship. To do.

  The laser positioning system 14 h includes a position estimation device 14 e and a laser range finder 15. The position estimation device 14e and the laser range finder 15 are connected by, for example, an Ethernet (registered trademark) cable. Each operation of the position estimation device 14e and the laser range finder 15 is as described above. The laser positioning system 14h outputs information indicating the pause (x, y, θ) of the AGV 10 to the microcomputer 14a.

  The microcomputer 14a has various general purpose I / O interfaces or general purpose input / output ports (not shown). The microcomputer 14a is directly connected to other components in the travel control device 14 such as the communication circuit 14d and the laser positioning system 14h via the general-purpose input / output port.

  The configuration other than the configuration described above with reference to FIG. 12B is the same as the configuration in FIG. 12A. Therefore, description of a common structure is abbreviate | omitted.

  AGV10 in embodiment of this indication may be provided with safety sensors, such as a bumper switch which is not illustrated. The AGV 10 may include an inertial measurement device such as a gyro sensor. By using the measurement data obtained by the internal sensors such as the rotary encoders 18a and 18b or the inertial measuring device, the movement distance and the change amount (angle) of the AGV 10 can be estimated. These estimated values of distance and angle are called odometry data, and can exhibit a function of assisting position and orientation information obtained by the position estimation device 14e.

(4) Map Data FIGS. 13A to 13F schematically show the AGV 10 that moves while acquiring sensor data. The user 1 may move the AGV 10 manually while operating the terminal device 20. Alternatively, the sensor data may be acquired by placing the unit including the travel control device 14 shown in FIGS. 12A and 12B, or the AGV 10 itself on the cart, and the user 1 manually pushing or driving the cart. .

  FIG. 13A shows an AGV 10 that scans the surrounding space using the laser range finder 15. A laser beam is emitted at every predetermined step angle, and scanning is performed. The illustrated scan range is an example schematically shown, and is different from the above-described scan range of 270 degrees in total.

  In each of FIGS. 13A to 13F, the position of the reflection point of the laser beam is schematically shown using a plurality of black spots 4 represented by the symbol “·”. The laser beam scan is executed in a short cycle while the position and posture of the laser range finder 15 change. For this reason, the actual number of reflection points is much larger than the number of reflection points 4 shown in the figure. The position estimation device 14e accumulates the position of the black spot 4 obtained as the vehicle travels, for example, in the memory 14b. By continuously performing scanning while the AGV 10 is traveling, the map data is gradually completed. In FIG. 13B to FIG. 13E, only the scan range is shown for simplicity. The scan range is an example, and is different from the above-described example of 270 degrees in total.

  The map may be created using the microcomputer 14a in the AGV 10 or an external computer based on the sensor data after obtaining the amount of sensor data necessary for creating the map. Or you may create a map in real time based on the sensor data which AGV10 which is moving moves.

  FIG. 13F schematically shows a part of the completed map 40. In the map shown in FIG. 13F, a free space is partitioned by a point cloud corresponding to a collection of laser beam reflection points. Another example of the map is an occupied grid map that distinguishes between a space occupied by an object and a free space in units of grids. The position estimation device 14e accumulates map data (map data M) in the memory 14b or the storage device 14c. The number or density of black spots shown in the figure is an example.

  The map data obtained in this way can be shared by a plurality of AGVs 10.

  A typical example of an algorithm in which the AGV 10 estimates its own position based on map data is ICP (Iterative Closest Point) matching. As described above, by matching the local map data (sensor data) created from the scan result of the laser range finder 15 with a wider range of map data M, the self-position (x, y, θ) can be estimated.

  When the area where the AGV 10 travels is wide, the data amount of the map data M increases. For this reason, there is a possibility that inconveniences such as an increase in map creation time or a long time for self-position estimation may occur. If such inconvenience occurs, the map data M may be created and recorded separately for a plurality of partial map data.

  FIG. 14 shows an example in which the entire area of one floor of one factory is covered by a combination of four partial map data M1, M2, M3, and M4. In this example, one partial map data covers an area of 50 m × 50 m. A rectangular overlapping region having a width of 5 m is provided at the boundary between two adjacent maps in each of the X direction and the Y direction. This overlapping area is called a “map switching area”. When the AGV 10 traveling while referring to one partial map reaches the map switching area, the traveling is switched to refer to another adjacent partial map. The number of partial maps is not limited to four, and may be appropriately set according to the area of the floor on which the AGV 10 travels, the performance of the computer that executes map creation and self-location estimation. The size of the partial map data and the width of the overlapping area are not limited to the above example, and may be arbitrarily set.

(5) Configuration Example of Operation Management Device FIG. 15 shows a hardware configuration example of the operation management device 50. The operation management device 50 includes a CPU 51, a memory 52, a position database (position DB) 53, a communication circuit 54, a map database (map DB) 55, an image processing circuit 56, and a radio wave environment map database (DB) 57. And have.

  The CPU 51, the memory 52, the position DB 53, the communication circuit 54, the map DB 55, and the image processing circuit 56 are connected by a communication bus 58, and can exchange data with each other.

  The CPU 51 is a signal processing circuit (computer) that controls the operation of the operation management device 50. Typically, the CPU 51 is a semiconductor integrated circuit.

  The memory 52 is a volatile storage device that stores a computer program executed by the CPU 51. The memory 52 can also be used as a work memory when the CPU 51 performs calculations.

  The position DB 53 stores position data indicating each position that can be a destination of each AGV 10. The position data can be represented by coordinates virtually set in the factory by an administrator, for example. The location data is determined by the administrator.

  The communication circuit 54 performs wired communication based on, for example, the Ethernet (registered trademark) standard. The communication circuit 54 is connected to the wireless AP 2 by wire, and can communicate with the AGV 10 via the wireless AP 2. The communication circuit 54 receives data to be transmitted to the AGV 10 from the CPU 51 via the bus 58. The communication circuit 54 transmits the data (notification) received from the AGV 10 to the CPU 51 and / or the memory 52 via the bus 58.

  The map DB 55 stores internal map data of a factory or the like where the AGV 10 travels. The map may be the same as or different from the map 40 (FIG. 13F). As long as the map has a one-to-one correspondence with the position of each AGV 10, the format of the data is not limited. For example, the map stored in the map DB 55 may be a map created by CAD.

  The position DB 53 and the map DB 55 may be constructed on a nonvolatile semiconductor memory, or may be constructed on a magnetic recording medium represented by a hard disk or an optical recording medium represented by an optical disk.

  The image processing circuit 56 is a circuit that generates video data to be displayed on the monitor 59. The image processing circuit 56 operates exclusively when the administrator operates the operation management device 50. In the present embodiment, further detailed explanation is omitted. The monitor 59 may be integrated with the operation management device 50. Further, the CPU 51 may perform the processing of the image processing circuit 56.

  The radio wave environment map DB 57 stores the latest radio wave environment map 52. When the CPU 51 receives the state data from the AGV 10, based on the state data, the area including the position of the AGV 10 or the position of the wireless AP 2 that has communicated with the AGV 10 corresponds to the first type area or the second type area. Determine if it applies. By reflecting the determination result on the radio wave environment map 52, the CPU 51 can update the radio wave environment map 52 to the latest state.

(6) Operation of Operation Management Device The basic operation of the operation management device 50 will be described with reference to FIG. FIG. 16 is a diagram schematically illustrating an example of the movement route of the AGV 10 determined by the operation management device 50.

An outline of general operations of the AGV 10 and the operation management device 50 is as follows. In the following, an example will be described in which an AGV 10 is currently at a position M ₁ , passes through several positions, and travels to a final destination position M _{n + 1} (n: a positive integer greater than or equal to 1). . In the position DB 53, coordinate values indicating positions such as a position M ₂ to be passed next to the position M _{1 and} a position M ₃ to be passed next to the position M ₂ are recorded.

The CPU 51 of the operation management device 50 reads the coordinate values from the position M ₂ to M _{n + 1} with reference to the position DB 53 and generates a guidance command in which the coordinate values are arranged in the order in which they should pass. The communication circuit 54 transmits a guidance command to the AGV 10 via the wireless AP 2.

The CPU 51 periodically receives data indicating the current position and posture from the AGV 10 via the wireless AP 2. Thus, the operation management device 50 can track the position of each AGV 10. The CPU 51 continues tracking until it is determined that the current position of the AGV ₁₀ matches the position M _{n + 1} . When AGV10 reaches _{Mn + 1} , tracking is terminated.

The operation management device 50 can also guide each AGV 10 by other methods. Specifically, when the operation management device 50 arrives at the point designated by the AGV 10, the operation management device 50 may transmit a guidance command for designating the next point. That is, you may generate | occur | produce the guidance instruction | command which designates a passage start point each time instead of the movement route which designated a series of passage points. When AGV10 exists at the position _{M 1,} operation control unit 50 reads out the coordinate values of the position _{M 2,} and transmits the AGV10 generates an induced command directing to the position _{M 2.} Upon arrival at the position M _2, then the operation control unit 50 reads the coordinate values of the position M _3, and transmits the AGV10 generates an induced command directing to the position M _3. The above-described processing is continued until the final point, position M _{n + 1} , is reached.

  When the operation management device 50 transmits a guidance command by the above-described method, the operation management device 50 can grasp the approximate position of the AGV 10 even if the communication between the AGV 10 and the wireless AP 2 is disconnected. For example, the operation management device 50 can estimate that the AGV 10 exists between a position after completion of movement based on the immediately preceding guidance command and a destination position based on the current guidance command. Thereby, even when the status data 32 that should be received from the AGV 10 cannot be acquired, the operation management device 50 can acquire the approximate position of each AGV 10. If the position where the state data 32 was last acquired is used instead of the position after completion of movement based on the immediately preceding guidance command, the position accuracy of the AGV 10 can be further improved. Thereby, it becomes possible to specify the area | region which cannot communicate more accurately.

  Even when the operation management device 50 generates a guidance command for designating a passing point each time, the first type region is avoided by referring to the latest radio wave environment map 52 at the time of guidance command generation. You may specify the position within.

  In the description of the above-described embodiment, an AGV that travels in a two-dimensional space (floor surface) is taken as an example. However, the present disclosure can also be applied to a moving object that moves in a three-dimensional space, such as a flying object (drone). When a 3D space map is created while a drone is flying, the 2D space can be expanded to a 3D space.

  The comprehensive or specific aspect described above may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium. Alternatively, the present invention may be realized by any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

  The mobile body management system of the present disclosure can be suitably used for moving and transporting goods such as luggage, parts, and finished products in factories, warehouses, construction sites, logistics, hospitals, and the like.

  1 user, 2a, 2b access point, 10 AGV (moving body), 11a, 11b driving wheel (wheel), 11c, 11d, 11e, 11f caster, 12 frame, 13 transport table, 14 travel control device, 14a microcomputer, 14b Memory, 14c Storage device, 14d Communication circuit, 14e Positioning device, 16a, 16b Motor, 15 Laser range finder, 17a, 17b Motor drive circuit, 20 Terminal device (mobile computer such as tablet computer), 21 CPU, 22 Memory, 23 Communication circuit, 24 image processing circuit, 25 display, 26 touch screen sensor, 50 operation management device, 51 CPU, 52 memory, 53 position database (position DB), 54 communication times 55 Map database (Map DB), 56 Image processing circuit, 57 Radio wave environment map database (Radio wave environment map DB), 100, 200 Mobile management system, 105 AP control device 105, A1 Area where communication state is deteriorating ( 1st type area), A2 good communication area (2nd type area), R1 movement route specified by the first guidance command, R2 movement route designated by the second guidance command, M overall map of the movement space

Claims (11)

A plurality of moving bodies each moving according to a guidance command;
An operation management device for transmitting the guidance command to each mobile unit;
At least one wireless access point that is wirelessly connected to each of the mobile units and that is connected to the operation management device wirelessly or by wire to relay communication between each of the mobile units and the operation management device; With
Each mobile unit generates state data indicating a communication state by communicating with a predetermined wireless access point, and transmits the data to the outside through the predetermined wireless access point.
The operation management device uses the state data acquired from each of the moving bodies, and when the first guidance command matches a condition indicating that it is difficult to maintain communication, the first guidance A moving body management system that changes a command to a second guidance command. The guidance command is a command for designating a moving path of the moving body,
When the first guidance command designates a first movement route and the second guidance command designates a second movement route different from the first movement route,
When the first movement route is a route that passes through the first type region where the communication state is less than a predetermined reference, the operation management device sends the first guidance command to the second guidance command. The mobile management system according to claim 1, wherein the mobile management system is changed to:   2. The mobile management system according to claim 1, wherein the second movement route is a route that passes only through a second type region whose communication state is equal to or greater than the predetermined reference.   4. The mobile body management system according to claim 1, wherein each mobile body generates the state data periodically or intermittently and transmits the state data while moving according to a current guidance command. 5. The operation management device is
A first communication circuit that receives the state data from each mobile body and transmits a guidance command to each mobile body;
Based on the state data received from each moving body, for each first guidance command of each moving body, it is determined whether or not the first moving path passes through the first type region, and passes. 5. The mobile body management system according to claim 1, further comprising: a signal processing circuit that determines the second movement route and changes the first guidance command to the second guidance command. Each moving body is
A motor,
A drive device for controlling the motor to move the movable body;
A second communication circuit that is wirelessly connected to the at least one wireless access point and communicates with the operation management device;
A control circuit for controlling the driving device and the second communication circuit;
The second communication circuit includes:
Establishing a connection with the predetermined wireless access point and transmitting or receiving a radio signal with the predetermined wireless access point;
Obtaining the state data using the wireless signal;
The acquired state data is transmitted to the outside via the predetermined wireless access point.
The mobile body management system according to claim 5. The moving body is
A memory for storing map data of the moving space;
A sensor that senses the surrounding space and outputs sensor data;
A positioning device that collates the sensor data with the map data and outputs at least position data indicating the current self-position; and
The second communication circuit further transmits the position data;
The signal processing circuit of the operation management device creates a communication environment map reflecting the communication state in the space in which each mobile body has moved based on the position data and the state data received from each mobile body. The mobile body management system according to claim 6.   The mobile object management system according to claim 7, wherein the signal processing circuit of the operation management device creates the communication environment map in which the first type area and the second type area are classified so as to be identifiable.   When the second communication circuit cannot communicate with the at least one wireless access point, the mobile body continues to move, and after the communication with the at least one wireless access point is enabled, the status data and The mobile management system according to claim 7 or 8, wherein the position data is transmitted.   The mobile management system according to claim 1, wherein the communication state is at least one of a reception level and signal quality of a radio signal. An access point control device for controlling operation of the at least one wireless access point;
The access point control device receives the status data from each mobile unit,
The said operation management apparatus is a moving body management system in any one of Claim 1 to 10 which acquires the said status data of each said moving body from the said access point control apparatus.

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