JP2023072447A - Mobile body control device - Google Patents

Abstract

To provide a mobile body control device capable of optimizing the whole efficiency while avoiding mobile bodies from interfering with each other.SOLUTION: In a movement control system 100, two mobile bodies cannot pass by each other on a route, therefor, when movement routes intersect, in order to avoid a collision between two AGVs 30, one AGV 30 must be waited, and then, the one AGV 30 must be moved after the other AGV 30 is moved, . Therefore, the movement control system calculates a conveyance schedule for minimizing an evaluation value while avoiding a collision between mobile bodies using collision prohibition conditions as constraints of a mixed integer programming problem. In a conveyance step, if one AGV 30 exists on a specific route, the other AGV 30 cannot enter the specific route. The conveyance schedule is determined by solving such a mixed integer programming problem, thereby, it is possible to optimize the whole efficiency while avoiding the AGVs 30 from interfering each other.SELECTED DRAWING: Figure 1

Description

The disclosure in this specification relates to a mobile body control device that controls movement of a mobile body.

When controlling a plurality of moving bodies, for example, automated guided vehicles (AGVs), there is a risk of collision between the AGVs unless the movement schedule of each AGV is appropriately set. Therefore, it is necessary to set a movement schedule that avoids collisions between AGVs. Conventionally, in order to set such travel schedules, the problem of planning tours to a plurality of destinations, that is, the problem of minimizing the length of tours represented by the shortest route problem, has been treated.

A system that controls a plurality of AGVs is based on a centralized route planning system that manages the positions of all AGVs using a single host computer and executes route planning considering all AGVs simultaneously. For example, for a plurality of AGVs, route candidates from the current location to the destination are expressed in a tree structure, and while sequentially checking whether or not collisions occur between AGVs, search trees are registered and deleted, and all AGVs There is a centralized route planning method that collectively searches for the motions of

In such a centralized route planning method, when the number of AGVs subject to route planning increases, the number of possible route candidates becomes enormous, making it difficult to search for the optimum route in a short time. Therefore, in the distributed route planning device described in Patent Document 1, the AGVs communicate with each other and each AGV calculates its own route plan, thereby distributing the calculation load.

Japanese Patent Application Laid-Open No. 2004-280213

In the device described in Patent Document 1, in order to avoid interference between AGVs, it is necessary to discover all interference on the route and repeat the avoidance plan calculation in each AGV. Although the load is distributed, there is a problem that the avoidance calculation needs to be repeated and the total calculation load is high. Furthermore, the finally obtained route plan, that is, the movement schedule, prioritizes avoidance of interference, so there is a risk that it may not be the most efficient movement schedule.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present disclosure to provide a mobile body control apparatus capable of optimizing overall efficiency while avoiding mutual interference of mobile bodies. aim.

The present disclosure employs the following technical means to achieve the aforementioned objects.

The mobile body control device disclosed herein is a mobile body control device for controlling movement of a plurality of mobile bodies (30) moving on a route, and the route is a route in which two mobile bodies do not pass each other. , a setting unit (141) for setting a movement route connecting a starting point and a terminal point of a plurality of moving objects and a movement process for moving the movement route; A calculation unit (144) for calculating a movement schedule of the moving body by solving a mixed integer programming problem aiming at minimizing a predetermined evaluation value while the moving body is moving according to the movement schedule; a control unit (145), wherein the constraint condition is that, in a divided route obtained by dividing the route by a length that is at least longer than that of the moving body, movement is completed until the moving body completes movement to the next divided route. There is a collision prohibition condition that prohibits the use of the previous divided route by other moving bodies, and the setting unit determines that the moving routes of at least two moving bodies overlap and the moving directions of the moving bodies face each other. If there is one moving object on the specific route, the moving process is set to prohibit the use of other moving objects on the specific route where the moving object exists.

According to such a moving body control device, two moving bodies do not pass each other on the route. One mobile must be moved after the other mobile is moved. Therefore, by using the no-collision condition as the constraint condition of the mixed integer programming problem, we calculate a movement schedule that minimizes the evaluation value while avoiding the collision of moving objects. The evaluation value is, for example, the time required to complete the movement of all moving bodies, the total moving time of all moving bodies, the total waiting time of all moving bodies, and the like. Moreover, since the movement schedule is determined by solving the mixed integer programming problem, it is possible to suppress repeating the calculations multiple times.

Furthermore, the setting unit prohibits other moving bodies from using the specific route on the specific route on which the moving body exists. Can not do it. For example, it is assumed that mobile bodies are arranged on adjacent divided paths and their positions are exchanged with each other. In this case, one moving body is placed on one divided path and two moving bodies are not placed on one divided path both before the movement and after the switching movement, so no collision occurs on the character surface. . However, moving bodies that actually move along the divided paths cannot pass each other on the paths, and therefore cannot switch places without colliding with each other. If there is only a collision prohibition condition like this, it is allowed that the positions of the moving bodies existing on the adjacent divided paths are switched, but since the setting unit prohibits the entry into the specific path, such switching is not possible. can be prevented. As a result, the overall efficiency can be further improved while avoiding mutual interference between moving bodies.

It should be noted that the symbols in parentheses of each of the means described above are examples showing the correspondence with specific means described in the embodiments described later.

1 is a block diagram showing the configuration of a movement control system 100; FIG. 4 is a flowchart showing processing of the AGV 30; 4 is a flowchart showing other processing of the AGV 30; 4 is a flowchart showing processing of the detection device 50; 4 is a flowchart showing another process of the detection device 50; 4 is a flowchart showing processing of the transport instruction device 60; The figure explaining a conveyance schedule. The figure explaining a formula. 4 is a flowchart showing processing of the server 40; 4 is a flowchart showing another process of the server 40; FIG. 4 is a diagram for explaining a first calculation example; The figure which shows the conveyance process of the 1st example of calculation. The figure which shows the conveyance schedule of a 1st example of calculation. The figure explaining the 2nd example of calculation. The figure which shows the conveyance process of the 2nd example of calculation. The figure which shows the conveyance schedule of a 2nd example of calculation. The figure explaining the 3rd example of calculation. The figure which shows the conveyance process of the 3rd example of calculation. The figure which shows the conveyance schedule of a 3rd example of calculation. 9 is a flowchart showing processing of the server 40 of the second embodiment; 10 is a flowchart showing processing of the server 40 of the third embodiment; The flowchart which shows the process of the server 40 of 4th Embodiment.

A plurality of embodiments for carrying out the present disclosure will be described below with reference to the drawings. In some cases, portions corresponding to the items described in the preceding embodiments are denoted by the same reference numerals, or one character is added to the preceding reference numerals to omit redundant description. Further, when a part of the configuration is explained in each embodiment, the other part of the configuration is assumed to be the same as the previously explained embodiment. It is possible not only to combine the parts specifically described in each embodiment, but also to partially combine the embodiments if there is no problem with the combination.

(First embodiment)
A first embodiment of the present disclosure will be described with reference to FIGS. 1 to 19. FIG. The movement control system 100 of this embodiment controls movement of a plurality of AGVs 30 that move on a route. The movement control system 100 includes an AGV 30, a server 40, a detection device 50, and a transportation instruction device 60, as shown in FIG.

The AGV 30, the server 40, the detection device 50, and the transport instruction device 60 each have a control section that executes programs stored in storage media and controls each section. The control unit has at least one arithmetic processing unit (CPU) and a storage medium that stores programs and data. A control unit of each device is realized by, for example, a microcomputer having a computer-readable storage medium. The storage medium is a non-transitional tangible storage medium that non-temporarily stores computer-readable programs and data. A storage medium is realized by a semiconductor memory, a magnetic disk, or the like. Hereinafter, the AGV 30, the server 40, the detection device 50, and the transport instruction device 60 may be referred to instead of the control units without specifying the respective control units.

The AGV 30 is a mobile body, and runs unmanned on a route using an electric motor as a drive source. The AGV 30 moves according to the movement schedule. The movement schedule is also called a transport schedule because the AGV 30 transports the object. The AGV 30 includes an AGV receiver 31 , an AGV transmitter 32 , a position detector 33 and an AGV controller 34 .

The AGV transmission unit 32 communicates with the server 40 and transmits predetermined information to the server 40 . The AGV reception unit 31 communicates with the server 40 and receives information from the server 40 . The position detector 33 acquires current position information of the AGV 30 . The position information includes the current position and traveling direction of AGV 30 . The position detection unit 33 periodically transmits the detected position information from the AGV transmission unit 32 to the server 40 .

The position detection unit 33 generates position information by composite positioning that combines a plurality of sensor information. The position detection unit 33 includes, for example, a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, a map database, and a locator ECU. A GNSS receiver receives positioning signals from a plurality of positioning satellites. The inertial sensor is a sensor that detects inertial force acting on the AGV 30 . Inertial sensors include, for example, gyro sensors and acceleration sensors. The map database is stored in non-volatile memory and includes route link data and node data. The locator ECU sequentially locates the current position of the AGV 30 by combining positioning signals received by the GNSS receiver, map data of the map database, and measurement results of the inertial sensor. The current position is represented by, for example, latitude and longitude coordinates.

The AGV control unit 34 controls the driving unit to move according to the transfer schedule received by the AGV receiving unit 31 . The transport schedule includes a travel route, departure times at each point, arrival times at each point, stop times at each point, and the like.

Next, the processing of the AGV 30 will be explained using the flow charts of FIGS. 2 and 3. FIG. The flowcharts shown in FIGS. 2 and 3 are repeatedly executed in a short time while the AGV 30 is powered on.

First, the flowchart of FIG. 2 will be described. In step S1, when the AGV receiver 31 receives the transport schedule, the process proceeds to step S2. In step S2, the drive unit is controlled to move according to the transfer schedule, and this flow ends. Accordingly, when the AGV 30 receives the transportation schedule, it moves according to the transportation schedule.

Next, the flowchart of FIG. 3 will be described. In step S1, the current position is detected by the position detector 33, and the process proceeds to step S2. In step S2, the AGV transmitter 32 is controlled to transmit the detected positional information indicating the current position to the server 40, and this flow ends. Thereby, the AGV 30 periodically transmits the current position to the server 40 .

Next, the detection device 50 will be described. A sensing device 50 is placed in the path to monitor path conditions and objects on the path. Objects on the path include the AGV 30 and other objects moving on the path, such as people. The detection device 50 transmits monitored information to the server 40 . The detection device 50 also outputs an instruction from the server 40 . The instruction is, for example, an instruction to permit or prohibit movement of a person.

As shown in FIG. 1, the detection device 50 includes a periphery monitoring unit 51, a detection device reception unit 52, a detection device transmission unit 53, and an instruction unit . The detecting device transmission unit 53 communicates with the server 40 and transmits predetermined information to the server 40 . The detecting device receiving section 52 communicates with the server 40 and receives information from the server 40 . The periphery monitoring unit 51 is used for monitoring the periphery of the detection device 50 . The periphery monitoring unit 51 transmits the detected monitoring information from the detecting device transmission unit 53 to the server 40 .

Perimeter monitoring unit 51 detects, as monitoring information, movement information of AGV 30 moving along a route and moving objects other than AGV 30 . The movement information is movement direction and movement speed. A working object is, for example, a person. The perimeter monitoring unit 51 also detects an abnormality on the route as monitoring information. Abnormalities on the route are detected by detecting the presence or absence of obstacles that hinder movement on the route. The peripheral monitoring unit 51 outputs abnormality information for detecting an abnormality on the route.

The surroundings monitoring unit 51 senses the surroundings. Periphery monitoring unit 51 is realized by, for example, an image sensor and an ultrasonic sonar. An image sensor is an imaging device that captures an image of the surroundings. The ultrasonic sonar is a sensor that detects the distance from the detection device 50 to a range-finding point on an object by transmitting search waves and receiving reflected waves reflected by the object. A ranging point is a portion on the surface of an object where the probe wave is reflected. The sensing range of ultrasonic sonar is a predetermined peripheral range, for example, several meters.

The instruction unit 54 instructs a moving object located in the vicinity, such as a person, to move. Instruction unit 54 gives instructions by, for example, outputting audio and displaying images. The indicator 54 plays the same role as a traffic light, for example, at an intersection where paths intersect. When receiving the instruction transmitted from the server 40 from the detecting device receiving section 52, the instruction section 54 outputs the received instruction.

Next, the processing of the detection device 50 will be described with reference to the flow charts of FIGS. 4 and 5. FIG. The flowcharts shown in FIGS. 4 and 5 are repeatedly executed in a short period of time while the detection device 50 is powered on.

First, the flowchart of FIG. 4 will be described. In step S1, it is determined whether or not the periphery monitoring unit 51 has detected a moving object, a moving object, or a path abnormality. . In step S2, the detecting device transmission unit 53 is controlled to transmit the detected movement information or abnormality information to the server 40 as monitoring information, and this flow ends. Accordingly, the detection device 50 periodically transmits monitoring information to the server 40 .

Next, the flowchart of FIG. 5 will be described. In step S1, when the detection device receiving section 52 receives the instruction, the process proceeds to step S2. In step S2, the instruction unit 54 is controlled to output the received instruction, and this flow ends. Thereby, the detecting device 50 can output the received instruction section 54 .

Next, the transport instruction device 60 will be described. The transportation instruction device 60 receives transportation instructions for a plurality of AGVs 30 and transmits the transportation instructions to the server 40 . The transportation instructing device 60 is an information terminal operated by an administrator, for example. The transportation instruction device 60 includes an instruction monitoring unit 61, a transportation reception unit 62, a transportation transmission unit 63, and an input unit 64, as shown in FIG. The transportation instruction device 60 is implemented by, for example, a personal computer (abbreviated as PC) capable of communicating with the outside and a portable information terminal such as a smart phone.

The transportation transmission unit 63 communicates with the server 40 and transmits predetermined information to the server 40 . The transport receiver 62 communicates with the server 40 and receives information from the server 40 . The input unit 64 is operated by the administrator to input transport instructions. When the transport instruction is input, the input unit 64 transmits the transport instruction from the transport transmission unit 63 to the server 40 .

The instruction monitoring section 61 monitors the transport instruction input from the input section 64 . When a new transport instruction different from the transport instruction currently being executed is input, the instruction monitoring unit 61 transmits information indicating that the input transport instruction is a new transport instruction from the transport transmission unit 63 to the server 40. Send to In other words, the updated transport instruction is controlled to be transmitted from the transport transmitter 63 .

Next, the processing of the transport instructing device 60 will be described using the flowchart of FIG. The flow chart shown in FIG. 6 is repeatedly executed in a short period of time while the transport instruction device 60 is powered on. In step S1, the presence or absence of a transport instruction is monitored, and the process proceeds to step S2. Whether or not there is a transport instruction is determined by the instruction monitoring section 61 . In step S3, it is determined whether or not there is a transport instruction, and if there is a transport instruction, the process proceeds to step S3, and if there is no transport instruction, the process returns to step S1. In step S3, since there is a transport instruction, the transport transmission unit 63 is controlled to transmit the transport instruction to the server 40, and this flow ends. Accordingly, when receiving a new transport instruction, the transport instruction device 60 transmits the new transport instruction to the server 40 .

Next, the server 40 will be explained. The server 40 is a mobile body control device, and controls movement of a plurality of AGVs 30 that move on a route. Specifically, the server 40 transmits a movement schedule to the AGV 30 and controls movement of the AGV 30 . The server 40 includes a storage unit 41, a server reception unit 42, a server transmission unit 43, and a server control unit 45, as shown in FIG.

The server transmission unit 43 communicates with the AGV 30, the detection device 50, and the transportation instruction device 60, and transmits predetermined information to each device. The server reception unit 42 also communicates with the AGV 30, the detection device 50, and the transportation instruction device 60 to receive information from each device. Information for managing the AGV 30 is stored in the storage unit 41 . The transport instruction transmitted from the transport instruction device 60 is stored in the storage unit 41 .

The server control unit 45 is a control unit that reads necessary information from the storage unit 41 and controls movement of the AGV 30 . As shown in FIG. 1, the server control unit 45 includes a setting unit 141, a prediction unit 142, a determination unit 143, a calculation unit 144, and a movement control unit 145 as functional blocks. The server control unit 45 also functions as an acquisition unit, and acquires position information and monitoring information via the server reception unit 42 . Therefore, the server control unit 45 acquires the current position of the AGV 30, the movement information of the moving object other than the AGV 30 moving along the route, and the abnormality in the route, that is, the non-movable portion of the route.

The setting unit 141 sets a movement route connecting the departure point and the end point of the plurality of AGVs 30 and a movement process for moving along the movement route. Also, if there is a waypoint, a moving route passing through the waypoint is set. Furthermore, if there is an order to the waypoints, the moving route is set in consideration of the order of the waypoints. Furthermore, when the movement of the AGV 30 has priority, the movement process is set in consideration of the priority.

The moving process is also referred to as a transporting process in the present embodiment. The setting unit 141 sets the shortest route connecting the departure point and the destination point as the movement route. Further, the setting unit 141 sets the movement routes so that overlap between the movement routes of the plurality of AGVs 30 is reduced. Therefore, for example, when there are a plurality of shortest routes, a travel route with less duplication is set. Further, it may be possible to set in advance whether to give priority to the shortest route or not to overlap. For example, if there is only one shortest route and overlap cannot be avoided, a route that is longer than the shortest route may be set if priority is given to avoiding duplication.

The calculation unit 144 calculates the movement schedule of the moving object by inputting the movement route and the movement process and solving the mixed integer programming problem aiming at minimizing the predetermined evaluation value while satisfying the constraint conditions. do.

Specifically, in this embodiment, the blocking job shop type scheduling problem is formulated so that a plurality of machines or facilities can be used at the same time. By doing so, it is possible to express zone control that avoids interference. This allows a transfer schedule to be calculated that optimizes overall efficiency while avoiding interference.

For example, if another AGV 30 exists on a split route adjacent in the traveling direction, the vehicle is allowed to enter the adjacent split route after the other AGV 30 has passed. This is commonly referred to as blocking job shop scheduling. This avoids collisions. Furthermore, in the present embodiment, the location where the AGV 30 exists and the entrance/exit of the overlapping route are secured at the same time, and entry into the overlapping route of other AGV 30 is prohibited to express zone control for head-on collision avoidance. For this purpose, we extend the formulation of the blocking job shop type scheduling problem to the so-called simultaneous use of multiple machines. Since this makes it possible to calculate transport scheduling without interference, there is no need for equipment for grasping the movement of the AGV 30 .

The movement control unit 145 controls movement of each AGV 30 according to the transportation schedule. The movement control unit 145 controls the server transmission unit 43 to transmit the transportation schedule to each AGV 30 . The prediction unit 142 predicts movements of people other than the AGV 30 based on the monitoring information detected by the detection device 50 . For example, it predicts in which direction along the route the detected person will proceed using movement information. The determination unit 143 determines whether or not to recalculate the transportation schedule when the transportation schedule is updated or when a new transportation instruction is issued.

Next, the transfer schedule will be described with reference to FIG. FIG. 7 shows that delays and detours occur in the comparative example, and optimum solutions are obtained in the embodiment. A route is composed of a plurality of divided routes. For example, the route shown in FIG. 7 consists of seven divided routes. Only one AGV 30 can be positioned in one split path. Also, the two AGVs 30 do not pass each other on the route. Therefore, even on a split route, the two AGVs 30 cannot pass each other.

A movement step indicates a split route on which an AGV 30 is located at a certain time. For example, as shown in FIG. 7, the route currently has seven divided routes, the first AGV 30A is located on the first divided route R1, and the second AGV 30B is located on the sixth divided route R6. After that, as each AGV 30 moves, the position of the split route changes. In the example shown in FIG. 7, the first AGV 30A has a departure point on the first divided route R1 and an arrival point on the fifth divided route R5. The second AGV 30B has a departure point on the sixth divided route R6 and an arrival point on the seventh divided route R7. In this case, since the two movement routes intersect at the second divided route R2, one of the AGVs 30 is passed first and the other is passed later.

In the first comparative example, the second AGV 30B first passes through the second split route R2, and then the first AGV 30A passes through the second split route R2. Although the movement of the second AGV 30B is thereby completed first, the waiting time of the first AGV 30A lengthens the overall transportation time.

Further, in the second comparative example, the second AGV 30B does not take the shortest route but bypasses the second divided route R2 to move the first AGV 30A and the second AGV 30B at the same time. This causes the second AGV 30B to take a detour, making the whole movement inefficient.

In the first embodiment, the first AGV 30A first passes through the second divided route R2, and then the second AGV 30B passes through the second divided route R2. By making the second AGV 30B wait and passing the first AGV 30A first, efficient movement is realized and collision is avoided. Thus, in this embodiment, the movement schedule is set so as to avoid collisions and shorten the time until all movements are completed.

Next, a specific transfer schedule calculation method will be described with reference to FIG. As described above, the calculation unit 144 inputs the movement path and the movement process, and solves the mixed integer programming problem for the purpose of minimizing the predetermined evaluation value while satisfying the constraint conditions. Calculate the travel schedule for A mixed integer programming problem, also called a mixed integer optimization problem, is an integer programming problem in which integer-valued variables and real-valued variables are mixed. Integer programming problems are optimization problems involving integer variables. The scheduling problem is the problem of assigning job schedules to resources such as humans and machines. In this embodiment, the resource corresponds to the route, and the job corresponds to movement of the AGV 30 .

An optimization problem is a problem of mathematically finding the optimal one for a purpose from candidates that satisfy a condition. An optimization problem consists of three elements: decision variables, objective functions and constraints. A decision variable is the object of decision-making or control, for which you want to determine a value. In this embodiment, the decision variable corresponds to the transportation schedule. An objective function is a function for judging whether a decision variable is good or bad for an objective. In this embodiment, the function is intended to minimize makespan, that is, to shorten the end time of the last job.

Constraints are conditions that candidate decision variables must satisfy. In this embodiment, the constraint includes a no-collision condition. The no-collision condition is a condition that permits the presence of one AGV 30 and prohibits the presence of two AGVs 30 in a divided route obtained by dividing the route by a length that is at least longer than the AGV 30 . In other words, the collision prohibition condition is a condition that prohibits other AGVs 30 from using the divided route before the movement is completed until the AGV 30 completes the movement to the next divided route.

Also, in the transport process input to the optimization problem, at least two AGV 30 movement paths overlap and the AGV 30 movement directions are opposite, and there is a possibility that the AGV 30 will interfere. When two AGVs 30 exist, it is set to prohibit the use of other AGVs 30 on the specific route where the AGV 30 exists.

Furthermore, when one AGV 30 exists on the specific route, the setting unit 141 prohibits the use of other AGVs 30 on the part of the specific route on which the AGV 30 exists in the moving direction of the moving object, Set the move process to allow the use of the direction part.

As shown in the rightmost column of FIG. 8, this embodiment uses the formula shown in blocking job shop scheduling. In contrast to the general job shop scheduling formulation shown in the left column of FIG. 8, the equation shown in the right column of FIG. 8 is the blocking job shop scheduling formulation.

Next, the equations of this embodiment on the right side of FIG. 8 will be described. Information about jobs and processes is indicated by variable subscripts. For example, S _α,i is a subscript indicating the i-th task of job α. s indicates the start time of the job, p indicates the processing time of the job, and _Cmax indicates the makespan of the schedule. R denotes the set of resources, P denotes the set of products, and Q _α and Q _β denote the sets of jobs for product α and product β. M denotes a large positive number. And x _{α,i, β,j} represents an integer from 0 to 1 and represents the manufacturing procedure of J _α,i and J _β,j .

The objective function of equation (1) aims at minimizing the makespan. And C _max in equation (2) represents the maximum finish time of the last job for each product. Equation (3) indicates a non-negative constraint on the start time, and Equation (4) indicates that each job runs after the preceding job runs. Therefore, the start time of the next job α,i+1 must be later than the processing end time S _α,i +p _α,i by the manufacturing resources.

Equations (5) and (6) are collision prohibition conditions that do not permit another mobile unit to use the divided route until the mobile unit has completed moving to the next divided route. x _α,i,β,j represents a decision variable that takes 0 if the i-th task of job α is operated before the j-th job of product β.

Next, processing of the server 40 will be described using the flowcharts of FIGS. 9 and 10. FIG. The flowcharts shown in FIGS. 9 and 10 are repeatedly executed in a short time while the server 40 is powered on.

First, the flowchart of FIG. 9 will be described. In step S1, the transfer process is obtained, and the process proceeds to step S2. In step S2, the calculation unit 144 calculates the transport schedule, and the process proceeds to step S3. In step S3, the server transmission unit 43 is controlled to transmit the transportation schedule to the AGV 30, and this flow ends. In this manner, the server control unit 45 calculates the transfer schedule based on the transfer process and transmits the calculated transfer schedule to the AGV 30 .

Next, the flowchart of FIG. 10 will be described. In step S1, the server reception unit 42 receives the transport instruction, and the process proceeds to step S2. In step S2, the determination unit 143 determines whether or not the transportation schedule needs to be recalculated according to the new transportation instruction. Then, in step S2, if recalculation is necessary, the process moves to step S3, and if not, the flow ends. Recalculation is required when a new AGV 30 is added or when a new transport destination is added. A case where recalculation is unnecessary is a case where a new transfer instruction changes the transfer amount although the transfer destination and transfer route are the same.

In step S3, the transfer process in the new transfer instruction is obtained, and the process proceeds to step S4. In step S4, the calculation unit 144 calculates the transfer schedule, and the process proceeds to step S5. In step S5, the server transmission unit 43 is controlled to transmit the transport schedule to the AGV 30, and this flow ends. In this manner, the server control unit 45 recalculates the transfer schedule based on the new transfer process and transmits the recalculated transfer schedule to the AGV 30 when the transfer instruction requires recalculation.

Next, three calculation examples of the transfer schedule will be described with reference to FIGS. 11 to 19. FIG. First, the first calculation example will be described. As shown in FIG. 11, the route of the first calculation example has seven divided routes. At the start, the first AGV 30A is positioned on the first divided route R1, and the second AGV 30B is positioned on the fifth divided route R5. do. The first AGV 30A has a departure point on the first divided route R1 and an arrival point on the sixth divided route R6. The second AGV 30B has a departure point on the fifth divided route R5 and an arrival point on the seventh divided route R7. In this case, of the two movement routes of the AGV 30, the second divided route R2, the third divided route R3, and the fourth divided route R4 are overlapping specific routes. On the specific route, the AGVs 30 may interfere with each other due to the opposing movement directions of the AGVs 30 . In this case, on the specific route, one of the AGVs 30 is passed first and the other is passed later.

FIG. 12 shows the transfer process. In the transport process of the first AGV 30A, the first divided route R1 is the starting point, and then the second divided route R2 is reached. In this case, since the second divided route R2 is a specific route, not only the second divided route R2 but also the fourth divided route R4 are in use in order to prohibit entry of other AGVs 30 into the specific route. Actually, only the second divided route R2 is used, but it is assumed that the fourth divided route R4 is virtually used, and other AGVs 30 are prevented from entering the specific route. After that, when the first AGV 30A moves from the second divided route R2 to the third divided route R3, similarly, since the third divided route R3 is a specific route, in order to prohibit other AGVs 30 from entering the specific route, It is assumed that not only the third divided route R3 but also the fourth divided route R4 are in use.

After that, when the first AGV 30A moves from the third divided route R3 to the fourth divided route R4, the fourth divided route R4 is a specific route, but since there is no specific route ahead in the moving direction, the fourth divided route R4, which is the current position, Assume that only the divided route R4 is in use. After that, the first AGV 30A moves from the fourth divided route R4 to the sixth divided route R6, and the movement of the first AGV 30A ends.

Similarly, in the transfer process of the second AGV 30B, the fifth divided route R5 is the starting point, and then the second AGV 30B moves to the fourth divided route R4. In this case, since the fourth divided route R4 is a specific route, not only the fourth divided route R4 but also the second divided route R2 are in use in order to prohibit entry of other AGVs 30 into the specific route. Actually, only the fourth divided route R4 is used, but it is assumed that the second divided route R2 is virtually used, and other AGVs 30 are prevented from entering the specific route. After that, when the second AGV 30B moves from the fourth divided route R4 to the third divided route R3, similarly, since the third divided route R3 is a specific route, in order to prohibit other AGVs 30 from entering the specific route, It is assumed that not only the third divided route R3 but also the second divided route R2 are in use.

After that, when the second AGV 30B moves from the third divided route R3 to the second divided route R2, the second divided route R2 is a specific route, but since there is no specific route ahead in the movement direction, the second AGV 30B, which is the current position, Assume that only the divided route R2 is in use. After that, the second AGV 30B moves from the second divided route R2 to the seventh divided route R7, and the movement of the second AGV 30B ends.

FIG. 13 shows the transportation schedule. The transportation schedule is calculated by inputting the transportation process of FIG. 12 so that the makespan of the above-mentioned formula (1) becomes the minimum value. The transportation schedule shown in FIG. 13 indicates divided routes used by each AGV 30 at a certain time.

As shown in FIG. 13, at the first time t1, the first AGV 30A is positioned on the first divided route R1 and the second AGV 30B is positioned on the fifth divided route R5. After that, at the second time t2, the first AGV 30A moves to the second divided route R2 and virtually uses the fourth divided route R4. At the second time t2, the second AGV 30B is not moving. After that, at the third time t3, the first AGV 30A moves to the third divided route R3 and virtually uses the fourth divided route R4. The second AGV 30B is not moving even at the third time t3. After that, at the fourth time t4, the first AGV 30A moves to the fourth split route R4. The second AGV 30B is not moving even at the fourth time t4.

After that, at the fifth time t5, the first AGV 30A moves to the sixth divided route R6, and the movement of the first AGV 30A ends. At the fifth time t5, the second AGV 30B also moves from the fifth divided route R5 to the fourth divided route R4. After that, from the sixth time t6 to the eighth time t8, the second AGV 30B sequentially moves to the third divided route R3, the second divided route R2, and the seventh divided route R7, and the movement of the second AGV 30B ends.

Thus, in the first example of calculation, there is a specific route in the movement routes of the two AGVs 30, but by using the specific routes in order without interference, the movement is completed without wasteful movement of the AGV 30. can do.

Next, a second example of calculation will be described with reference to FIGS. 14 to 16. FIG. As shown in FIG. 14, the route of the second calculation example has eight divided routes. At the start, the first AGV 30A is positioned on the first divided route R1, and the second AGV 30B is positioned on the eighth divided route R8. do. The first AGV 30A starts from the first divided route R1, passes through divided routes other than the eighth divided route R8, and returns to the starting point again. Therefore, the arrival point of the first AGV 30A is also the first divided route R1.

The second AGV 30B, whose starting point is the eighth divided route R8, passes through divided routes other than the first divided route R1 and returns to the starting point again. Therefore, the arrival point of the second AGV 30B is also the eighth divided route R8. In this case, of the two moving routes of the AGV 30, the second divided route R2 to the sixth divided route R6 are overlapping specific routes.

FIG. 15 shows the transfer process. In the transport process of the first AGV 30A, the first divided route R1 is the starting point, and then the second divided route R2 is reached. In that case, since the second divided route R2 is a specific route, in order to prohibit entry of other AGVs 30 into the specific route, not only the second divided route R2 but also the sixth divided route that is the entrance to the specific route R6 is also in use. Actually, only the second divided route R2 is used, but it is assumed that the sixth divided route R6 is virtually used, and other AGVs 30 are prevented from entering the specific route. After that, the first AGV 30A sequentially moves from the second divided route R2 to the third divided route R3, the fourth divided route R4, and the fifth divided route R5, while the sixth divided route R6 is also in use.

After that, when the first AGV 30A moves to the sixth divided route R6, since the sixth divided route R6 is a specific route, in order to prohibit other AGVs 30 from entering the specific route, not only the sixth divided route R6 but also It is assumed that the second divided route R2, which is the entrance/exit of the specific route located ahead in the traveling direction, is also in use. After that, the first AGV 30A moves to the seventh divided route R7, and the second divided route R2 is also in use. After that, the first AGV 30A moves in the order of the second divided route R2 and the first divided route R1, and the movement of the first AGV 30A ends.

Similarly, in the conveying process of the second AGV 30B, the starting point is the eighth divided route R8 and then moves to the sixth divided route R6. In this case, since the sixth divided route R6 is a specific route, not only the sixth divided route R6 but also the second divided route R2 are in use in order to prohibit entry of other AGVs 30 into the specific route. Actually, only the sixth divided route R6 is used, but assuming that the second divided route R2 is virtually used, other AGVs 30 are prevented from entering the specific route. After that, the second AGV 30B sequentially moves from the sixth divided route R6 to the fifth divided route R5, the fourth divided route R4, and the third divided route R3, while the second divided route R2 is also in use.

After that, when the second AGV 30B moves to the second divided route R2, since the second divided route R2 is a specific route, in order to prohibit other AGVs 30 from entering the specific route, not only the second divided route R2, It is also assumed that the sixth divided route R6, which is the entrance/exit of the nearest specific route located forward in the traveling direction, is also in use. After that, the second AGV 30B moves to the seventh divided route R7, and the sixth divided route R6 is also in use. After that, the second AGV 30B moves in the order of the sixth divided route R6 and the eighth divided route R8, and the movement of the second AGV 30B ends.

FIG. 16 shows the transportation schedule. The transportation schedule is calculated by inputting the transportation process of FIG. 15 so that the makespan of the above-mentioned formula (1) becomes the minimum value. The transportation schedule shown in FIG. 16 indicates divided routes used by each AGV 30 at a certain time.

As shown in FIG. 16, at the first time t1, the first AGV 30A is positioned on the first divided route R1, and the second AGV 30B is positioned on the eighth divided route R8. After that, at the second time t2, the first AGV 30A moves to the second divided route R2 and virtually uses the sixth divided route R6. At the second time t2, the second AGV 30B is not moving. After that, from the third time t3 to the sixth time t6, the first AGV 30A moves through the third divided route R3, the fourth divided route R4, the fifth divided route R5, and the sixth divided route R6 in sequence. Then, at the sixth time t6, not only the sixth divided route R6 but also the second divided route R2 is virtually used. After that, at the seventh time t7, the vehicle moves to the seventh divided route R7 and virtually uses the second divided route R2 as well. After that, at the eighth time t8 and the ninth time t9, the first AGV 30A moves through the second divided route R2 and the first divided route R1 in sequence, and the movement of the first AGV 30A ends.

At the ninth time t9, the movement of the second AGV 30B starts, moves to the sixth divided route R6, and virtually uses the second divided route R2 as well. After that, from the tenth time t10 to the thirteenth time t13, the second AGV 30B moves sequentially along the fifth divided route R5, the fourth divided route R4, the third divided route, and the second divided route R2. At the thirteenth time t13, not only the second divided route R2 but also the sixth divided route R6 is virtually used. After that, at the 14th time t14, it moves to the seventh divided route R7 and virtually uses the sixth divided route R6 as well. After that, at the 15th time t15 and the 16th time t16, the second AGV 30B moves through the sixth divided route R6 and the eighth divided route R8 in sequence, and the movement of the second AGV 30B ends.

Similarly, in the second calculation example, there is a specific route in the movement routes of the two AGVs 30, but by using the specific routes in order without interference, there is no useless movement of the AGV 30. can be completed.

Next, a third example of calculation will be described with reference to FIGS. 17 to 19. FIG. As shown in FIG. 17, the route of the third calculation example has ten divided routes. At the start, the first AGV 30A is positioned on the first divided route R1, and the second AGV 30B is positioned on the eighth divided route R8. The third AGV 30C is located on the fifth divided route R5. The first AGV 30A starts from the first divided route R1, passes through the second divided route R2, the fourth divided route R4, the sixth divided route R6, the seventh divided route R7, and the ninth divided route R9 in sequence. The arrival point is the tenth divided route R10. The second AGV 30B starts from the eighth divided route R8 and passes through the ninth divided route R9, the seventh divided route R7, the sixth divided route R6, the fourth divided route R4, and the second divided route R2 in sequence. The arrival point is the third divided route R3. The third AGV 30C starts from the fifth divided route R5, passes through the sixth divided route R6, the seventh divided route R7, and the ninth divided route R9 in sequence, and reaches the tenth divided route R10. . In this case, the second divided route R2, the fourth divided route R4, the sixth divided route R6, the seventh divided route R7, and the ninth divided route R9 among the three moving routes of the AGV 30 are overlapping specific routes.

FIG. 18 shows the transfer process. In the transport process of the first AGV 30A, the first divided route R1 is the starting point, and then the second divided route R2 is reached. In that case, since the second divided route R2 is a specific route, in order to prohibit entry of other AGVs 30 into the specific route, not only the second divided route R2 but also the sixth divided route R6 and the ninth divided route R9 are also in use. Actually, only the second divided route R2 is used, but it is assumed that the sixth divided route R6 and the ninth divided route R9 are virtually used, and other AGVs 30 are prevented from entering the specific route. After that, the first AGV 30A sequentially moves from the second divided route R2 to the fourth divided route R4, the sixth divided route R6, the seventh divided route R7, and the ninth divided route R9, during which the ninth divided route R9 is also in use. and The sixth divided route R6 is also in use until the first AGV 30A moves to the seventh divided route R7. After that, the first AGV 30A moves to the tenth divided route R10, and the movement of the first AGV 30A ends.

In the transport process of the second AGV 30B, the eighth divided route R8 is the starting point, and then the second AGV 30B moves to the ninth divided route R9. In that case, since the ninth divided route R9 is a specific route, in order to prohibit entry of other AGVs 30 into the specific route, not only the ninth divided route R9 but also the second divided route R2 and the sixth divided route R6 are also in use. Actually, only the ninth divided route R9 is used, but it is assumed that the second divided route R2 and the sixth divided route R6 are virtually used, and other AGVs 30 are prevented from entering the specific route. After that, the second AGV 30B sequentially moves from the ninth divided route R9 to the seventh divided route R7, the sixth divided route R6, the fourth divided route R4, and the second divided route R2, while the second divided route R2 is also in use. and The sixth divided route R6 is also in use until the second AGV 30B moves to the fourth divided route R4. After that, the second AGV 30B moves to the third divided route R3, and the movement of the second AGV 30B ends.

In the transport process of the third AGV 30C, the fifth divided route R5 is the starting point, and then the sixth divided route R6 is reached. In this case, since the sixth divided route R6 is a specific route, not only the sixth divided route R6 but also the ninth divided route R9 are in use in order to prohibit entry of other AGVs 30 into the specific route. Actually, only the sixth divided route R6 is used, but the ninth divided route R9 is virtually used to prevent other AGVs 30 from entering the specific route. After that, the third AGV 30C sequentially moves from the sixth divided route R6 to the seventh divided route R7 and then to the ninth divided route R9, during which the ninth divided route R9 is also in use. After that, the third AGV 30C moves to the tenth divided route R10, and the movement of the third AGV 30C ends.

FIG. 19 shows a transportation schedule. The transportation schedule is calculated by inputting the transportation process of FIG. 19 so that the makespan of the above-mentioned formula (1) becomes the minimum value. The transportation schedule shown in FIG. 19 indicates divided routes used by each AGV 30 at a certain time.

As shown in FIG. 19, at the first time t1, the first AGV 30A is positioned on the first divided route R1, the second AGV 30B is positioned on the eighth divided route R8, and the third AGV 30C is positioned on the fifth divided route R5. After that, at the second time t2, the second AGV 30B moves to the ninth divided route R9 and virtually uses the second divided route R2 and the sixth divided route R6. At the second time t2, the first AGV 30A and the third AGV 30C are not moving. After that, at a third time t3, a fourth time t4, and a fifth time t5, the second AGV 30B sequentially travels through the seventh divided route R7, the sixth divided route R6, and the fourth divided route R4. At the fifth time t5, since the sixth divided route R6 is not used, the third AGV 30C starts moving, moves to the sixth divided route R6, and virtually uses the ninth divided route R9 as well.

After that, at the sixth time t6, the second AGV 30B moves to the second split route R2. Then, at the sixth time t6 and the seventh time t7, the third AGV 30C sequentially travels through the seventh divided route R7 and the ninth divided route R9. After that, at the eighth time t8, the second AGV 30B moves to the third divided route R3, and the movement of the second AGV 30B ends. Also, the third AGV 30C moves to the tenth divided route R10, and the movement of the third AGV 30C ends.

The first AGV 30A starts moving at the eighth time t8, and until the thirteenth time t13, the second divided route R2, the fourth divided route R4, the sixth divided route R6, the seventh divided route R7, and the ninth divided route R7. Then, the first AGV 30A moves to the tenth divided route R10 and completes its movement.

Similarly, in the third calculation example, there is a specific route in the movement routes of the three AGVs 30, but by using the specific routes in order without interference, there is no useless movement of the AGV 30, and the movement of the AGV 30 can be completed.

As described above, in the movement control system 100 of the present embodiment, the two AGVs 30 do not pass each other on the route. , one AGV 30 must be moved after the other AGV 30 is moved. Therefore, a transport schedule that minimizes the evaluation value while avoiding the collision of moving objects is calculated by using the collision prohibition condition as a constraint condition of the mixed integer programming problem. The evaluation value is the time until the movement of all AGVs 30 is completed, the sum of the movement times of all the AGVs 30, the sum of the waiting times of the AGVs 30, and the like. The evaluation value is the time until completion. Further, since the transportation schedule is determined by solving the mixed integer programming problem, it is possible to suppress repetition of calculations multiple times.

Further, the setting unit 141 sets the transport process so that when one AGV 30 exists on the specific route, other AGVs 30 cannot enter the specific route. If only the collision prohibition condition is met, the positions of the AGVs 30 existing on the adjacent divided routes are allowed to change, but since the setting unit 141 prohibits entry into the specific route, such a change is prevented. be able to. This avoids the AGVs 30 from interfering with each other, while increasing overall efficiency.

Further, in the present embodiment, when one AGV 30 exists on the specific route, the setting unit 141 prohibits the use of other AGVs 30 to the portion of the specific route on which the AGV 30 exists in the movement direction of the AGV 30, Set the transfer process to allow the use of the part in the direction opposite to the direction. As a result, the specific route can be used more efficiently than prohibiting entry to the entire specific route. Therefore, while avoiding interference, it is possible to effectively utilize the specific route and improve efficiency.

Further, in this embodiment, when the moving route and the transport process are changed by the setting unit 141, the calculating unit 144 inputs the new moving route and the transport process to calculate the transport schedule. This allows the new information to be used to calculate the transport schedule. Therefore, it is possible to flexibly cope with changes in the transfer process.

(Second embodiment)
Next, a second embodiment of the present disclosure will be described using FIG. 20 . This embodiment is characterized in that the transport schedule is recalculated using the position information of the AGV 30 . FIG. 20 is a flow chart showing the processing of the server 40 of this embodiment. The flowchart shown in FIG. 20 is repeatedly executed in a short time while the server 40 is powered on.

In step S1, the positional information of each AGV 30 is obtained via the server reception section 42, and the process proceeds to step S2. In step S2, the position information is compared with the planned position on the transport schedule to calculate the deviation, and the process proceeds to step S3.

In step S3, it is determined whether or not the divergence is within the allowable range, and if it is within the allowable range, the recalculation is deemed unnecessary and the flow ends. If the deviation is outside the allowable range, recalculation is required and the process moves to step S4.

In step S4, the transport schedule is recalculated in consideration of the current position, and the process proceeds to step S5. In step S5, control is performed so that the recalculated transport schedule is transmitted from the server transmission unit 43 to each AGV 30, and this flow ends.

In this manner, the calculation unit 144 recalculates the transfer schedule when the difference between the current position of the AGV 30 and the planned position in the transfer schedule is greater than a predetermined value. As a result, interference of the AGV 30 due to the deviation between the current position and the planned position of the AGV 30 can be suppressed.

(Third embodiment)
Next, a third embodiment of the present disclosure will be described with reference to FIG. 21. FIG. This embodiment is characterized in that the transport schedule is recalculated using the monitoring information of the detection device 50 . FIG. 21 is a flow chart showing the processing of the server 40 of this embodiment. The flowchart shown in FIG. 21 is repeatedly executed in a short time while the server 40 is powered on.

In step S1, the monitoring information is acquired from the detecting device 50 via the server receiving section 42, and the process proceeds to step S2. In step S2, the monitoring information is used to predict the moving direction and moving speed of a moving object other than the AGV 30, such as a person, and the process proceeds to step S3.

In step S3, it is determined whether or not the transport schedule needs to be recalculated based on the moving object. Recalculation is necessary when there is a risk of interference between the AGV 30 and the person due to movement of the person.

In step S4, the transfer schedule is recalculated in consideration of the movement information of the person, and the process proceeds to step S5. In step S5, control is performed so that the recalculated transport schedule is transmitted from the server transmission unit 43 to each AGV 30, and the process proceeds to step S6. In step S6, the server control unit 45 is controlled to transmit an instruction to the moving object to the detection device 50, and this flow ends.

In this manner, the setting unit 141 predicts the movement of the working object from the movement information, and sets the movement path and movement process including the working object. Then, the calculation unit 144 receives the new movement route and movement process as input values and calculates the transfer schedule. This makes it possible to suppress interference between the AGV 30 and the moving object. Further, since the server control unit 45 outputs an instruction to the action object, the instruction unit 54 of the detection device 50 can instruct the action object to stop, for example. This allows a moving object, eg a person, to safely wait for the AGV 30 to pass or to move ahead of the AGV 30 as instructed.

Also, when giving instructions to the moving object, the constraint conditions for calculating the transfer schedule include a priority condition in which the priority of the movement of the AGV 30 and the moving object is set. For example, the condition is whether to give priority to the moving object or to give priority to the movement of the AGV 30 . The priority may change, for example, depending on conditions, or may be fixed in advance. For example, the priority may be changed depending on the time zone. Moreover, the priority may be such that the person is kept waiting in order to realize movement while preventing interference between the AGVs 30 and the person. Also, the priority of the AGV 30 and the person who is a mixed moving object may be determined according to the transport amount and the degree of congestion. Such priority and order of priority are stored in the storage unit 41 . Then, the schedule calculation according to the priority can be realized by adding a no-wait constraint, for example, not allowing the waiting time that gives priority to the movement of the person.

(Fourth embodiment)
Next, a fourth embodiment of the present disclosure will be described using FIG. 22 . This embodiment is characterized in that the transport schedule is recalculated using the monitoring information of the detection device 50 . FIG. 22 is a flowchart showing processing of the server 40 of this embodiment. The flowchart shown in FIG. 22 is repeatedly executed in a short time while the server 40 is powered on.

In step S1, the monitoring information is acquired from the detecting device 50 via the server receiving section 42, and the process proceeds to step S2. In step S2, the monitoring information is used to determine whether or not there is an abnormality in the route. If there is an abnormality, the process proceeds to step S3, and if there is no abnormality, this flow ends.

Path anomalies include static anomalies and dynamic anomalies. A static anomaly is an anomaly such as construction that is known in advance. The dynamic abnormality includes a temporary stop caused by automatic control of the AGV 30, a temporary stop caused by a physical problem such as collapse of cargo, and the like.

In step S3, since there is an abnormality in the route, it is determined whether or not it is necessary to recalculate the transportation schedule due to the abnormality. End the flow. The case where recalculation is necessary is when the transport cannot be carried out along the route of the transport schedule due to an abnormality.

In step S4, the transport process is set again in consideration of the path abnormality, and the process proceeds to step S5. In step S5, the transport schedule is recalculated in consideration of the route abnormality, and the process proceeds to step S6. In step S6, control is performed so that the recalculated transport schedule is transmitted from the server transmission unit 43 to each AGV 30, and this flow ends.

In this manner, the setting unit 141 sets a movement route that avoids the unmovable portion when there is a route abnormality. As a result, it is possible to suppress the AGV 30 from moving along an abnormal route.

(Other embodiments)
Although the preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present disclosure.

The structures of the above-described embodiments are merely examples, and the scope of the present disclosure is not limited to the scope of these descriptions. The scope of the present disclosure is indicated by the description of the claims, and further includes all changes within the meaning and range of equivalents to the description of the claims.

In the first embodiment described above, the moving body is implemented by the AGV 30, but is not limited to the AGV 30. All moving objects can be used for moving objects that cause collisions or deadlocks if they exist in the same position at the same time.

For example, the mobile body may be a transport robot in a closed space. A closed space is a space in which an area in which only a mobile object can exist is separated and in which the mobile object runs. Mobile objects may be, for example, patrol, surveillance, guidance and transport robots in manufacturing sites, hospitals, airports and department stores.

The moving object may also be mobility autonomously driven by a driver, such as a car, a taxi, or a bus that travels on the road. In that case, the functions implemented by the server control unit 45, such as the calculation unit 144 and the setting unit 141, may be provided on the vehicle side, and the destination and the route may be transmitted from the vehicle side to the server 40. FIG. Further, the server control unit 45 and the AGV 30 may be configured to share the processing. You can determine the route by Furthermore, the moving body may be mobility such as an automatic driving car whose driving method is controlled. Also, the moving object may be a train and an airplane. It can also be used for scheduling trains that run while sharing tracks and airplanes that share runways. Further, the moving body may move while occupying a route or space, such as a gantry crane and an elevator for transporting cargo.

Although the route is fixed in the first embodiment described above, it may not be fixed. The route does not have to be fixed in advance, for example, and may be changed along the way. Even if the route changes each time, it should be reflected in the process and the scheduling calculation should be performed again. Alternatively, a control method that changes the route each time may be used. Therefore, the mobile object may be a mobile object that calculates a route using a monitoring device, such as a trackless AGV.

Also, the scheduling target may be the entire route, or only an intersection where routes intersect or an entrance/exit of a specific route where routes overlap. It may be calculated each time by focusing on each intersection of the route. In addition, the results can be applied to the control of transport systems and traffic lights. Further, when there is one AGV 30 on the specific route, the setting unit 141 may set the transport process so as to prohibit the use of other AGVs 30 on the entire specific route.

In the first embodiment described above, the transport schedule is determined by the formula shown in FIG. 8, but the formula is not limited to this formula. The formulas of the present embodiment shown in FIG. 8 are merely examples, and other formulas may be used to calculate the transport schedule.

In the first embodiment described above, the position detector 33 detects the position of the AGV 30 using the GNSS receiver, but the configuration is not limited to this. For example, using an IoT router and an IoT tag that transmit and receive radio waves, the IoT tag is provided in the AGV 30, the IoT router is provided in a plurality of fixed positions, and the position of the IoT tag, that is, the position of the AGV 30 is estimated by the radio wave intensity of communication with the IoT router. You may

The functions realized by the server control unit 45 in the first embodiment described above may be realized by hardware and software different from those described above, or a combination thereof. The server control unit 45 may communicate with, for example, another control device, and the other control device may execute part or all of the processing. When the server controller 45 is implemented by an electronic circuit, it can be implemented by a digital circuit including many logic circuits, or by an analog circuit.

30 AGV (moving body) 31 AGV receiver 32 AGV transmitter 33 Position detector 34 AGV controller 40 Server 41 Storage 42 Server receiver 43 Server transmitter 45 … Server control unit (acquisition unit)
50 Detecting device 51 Surrounding monitoring unit 52 Detecting device receiving unit 53 Detecting device transmitting unit 54 Instruction unit 60 Conveyance instruction device 61 Instruction monitoring unit 62 Conveyance reception unit 63 Conveyance transmission unit 64 Input unit 100 Movement control system 141 Setting unit 142 Prediction unit 143 Determination unit 144 Calculation unit 145 Movement control unit

Claims (7)

A mobile body control device for controlling movement of a plurality of mobile bodies (30) moving on a route,
the route is a route in which the two moving bodies do not pass each other;
a setting unit (141) for setting a moving route connecting a starting point and a terminal point of a plurality of the moving objects, and a moving process for moving the moving route;
Calculation for calculating the movement schedule of the moving body by solving a mixed integer programming problem with the objective of minimizing a predetermined evaluation value while satisfying constraints, with the movement path and the movement process as input values. a part (144);
a movement control unit (145) that controls the movement of each of the moving bodies according to the movement schedule;
In the divided route obtained by dividing the route by a length that is at least longer than the length of the moving body, the constraint conditions include: has a no-collision condition that prohibits its use by other mobile objects,
In a specific route where at least two of the moving paths of the moving bodies overlap and the moving directions of the moving bodies are opposed to each other, and the moving bodies may interfere with each other, the setting unit may A moving body control device for setting the moving process so that, when one moving body exists, the use of other moving bodies is prohibited on the specific route on which the moving body exists. When one of the mobile bodies exists on the specific route, the setting unit prevents the use of the other mobile body for a part of the specific route on which the mobile body exists in the moving direction of the mobile body. 2. The moving body control device according to claim 1, wherein the moving step is set so as to prohibit the use of the portion opposite to the moving direction and to allow the use of the portion in the direction opposite to the moving direction. 3. The moving schedule according to claim 1, wherein, when the moving route and the moving process are changed by the setting unit, the calculating unit inputs the new moving route and the moving process to calculate the moving schedule. The moving body control device described. further comprising an acquisition unit (45) that acquires the current position of the mobile body,
4. The moving schedule according to any one of claims 1 to 3, wherein the calculating unit recalculates the moving schedule when a difference between the current position of the moving body and the planned position in the moving schedule is greater than a predetermined value. The moving body control device described. an acquisition unit (45) for acquiring movement information of a working object other than the moving object that moves along the path;
an instruction unit (54) that instructs the moving object to move,
the setting unit predicts the motion of the action object from the movement information, and sets the movement path and the movement step including the action object;
the calculation unit inputs the new movement route and the movement process to calculate the movement schedule;
5. The moving body control device according to claim 1, wherein the movement control unit controls the instruction unit to output an instruction to the moving object. 6. The moving body control apparatus according to claim 5, wherein the constraint conditions include a priority condition in which priority of movement of the moving body and the moving object is set. further comprising an acquisition unit (45) that acquires a non-movable portion of the route;
The moving body control device according to any one of claims 1 to 6, wherein the setting unit sets the moving route that avoids the immovable portion.

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