WO2022239583A1 - Autonomous mobile body control device and autonomous mobile body control method - Google Patents

Autonomous mobile body control device and autonomous mobile body control method Download PDF

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Publication number
WO2022239583A1
WO2022239583A1 PCT/JP2022/017355 JP2022017355W WO2022239583A1 WO 2022239583 A1 WO2022239583 A1 WO 2022239583A1 JP 2022017355 W JP2022017355 W JP 2022017355W WO 2022239583 A1 WO2022239583 A1 WO 2022239583A1
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Prior art keywords
maintenance
mobile body
autonomous mobile
route
generation unit
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PCT/JP2022/017355
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French (fr)
Japanese (ja)
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敏明 中村
誠也 伊藤
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株式会社日立製作所
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Publication of WO2022239583A1 publication Critical patent/WO2022239583A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management

Definitions

  • the present invention relates to an autonomous mobile body control device and an autonomous mobile body control method.
  • a luggage transport vehicle capable of automatic operation is a vehicle that does not need to be driven by a worker, and is configured as an autonomous mobile body.
  • maintenance personnel go to the position of the self-supporting mobile body where the abnormality has occurred, repair the self-supporting mobile body, recover the self-supporting mobile body, that is, operate the self-supporting mobile body. It is necessary to perform work such as moving to a predetermined return position.
  • Patent Document 1 discloses an automatic guided vehicle that stops by sending an abnormality signal to a ground control device when an abnormality occurs, and a ground control device that stores an abnormal state of the automatic guided vehicle and sends an abnormality command to an operator.
  • An automated guided vehicle system comprising:
  • the work environment of the distribution warehouse is a mixture of maintenance personnel in charge of maintenance work for the autonomous mobile bodies and other autonomous mobile bodies in operation.
  • Patent Document 1 does not describe a technique for assisting maintenance personnel in quickly moving to the position of the self-supporting mobile body in which an abnormality has occurred.
  • the present invention has been made in consideration of the above situation, and the purpose of the present invention is to enable maintenance personnel to quickly arrive at the position of an autonomous mobile body in which an abnormality has occurred.
  • a self-supporting mobile body control device is a self-supporting mobile body control device that controls the operation of a plurality of self-supporting mobile bodies that perform predetermined work in a workplace.
  • a self-supporting mobile body control device includes an abnormality detection unit that detects the occurrence of an abnormality in the self-supporting mobile body based on an abnormality signal transmitted from the self-supporting mobile body, and the self-supporting mobile body by the abnormality detection unit When an abnormality is detected, information on the maintenance route to the position of the abnormal independent mobile body, which is the abnormal independent mobile body, or the work space when maintenance personnel take measures for the abnormal independent mobile body a maintenance information generating unit that generates maintenance work range information indicating the range and displays the maintenance route or the maintenance work range on the screen of a maintenance terminal owned by a maintenance worker.
  • an autonomous mobile body control method is an autonomous mobile body control method by an autonomous mobile body control device that controls the motion of a plurality of independent mobile bodies that perform predetermined work in a workshop.
  • a self-supporting mobile body control method includes a procedure for detecting the occurrence of an abnormality in the self-supporting mobile body based on an abnormality signal transmitted from the self-supporting mobile body, and detecting an abnormality in the self-supporting mobile body.
  • Information on the maintenance route to the position of the abnormal independent mobile body which is an autonomous mobile body where a and a procedure for generating the information of and displaying it on the screen of the maintenance terminal owned by the maintenance person.
  • maintenance personnel can quickly arrive at the position of the self-supporting mobile body in which an abnormality has occurred.
  • FIG. 1 is a block diagram showing a configuration example of hardware constituting an autonomous mobile body control device of an autonomous mobile body control system according to a first embodiment of the present invention
  • FIG. 5 is a diagram showing a display example of a maintenance route on the display unit of the maintenance terminal according to the first embodiment of the present invention
  • FIG. 7 is a flow chart showing an example of a procedure of outward maintenance route generation processing by a maintenance route generation unit according to the first embodiment of the present invention
  • FIG. 7 is a flowchart showing an example of a procedure of return route maintenance route generation processing by a maintenance route generation unit according to the first embodiment of the present invention
  • FIG. 4 is a flow chart showing an example of a procedure of processing by a transportation plan generation unit according to the first embodiment of the present invention
  • 4 is a flow chart showing an example of a procedure of processing by a transportation plan generation unit according to the first embodiment of the present invention
  • It is a block diagram showing a schematic configuration of an autonomous mobile body control system according to a second embodiment of the present invention.
  • 10 is a diagram showing a display example of safe work zones on the display unit of the maintenance terminal according to the second embodiment of the present invention
  • 10 is a flow chart showing an example of the procedure of a transportation plan generation method by a transportation plan generation unit according to the second embodiment of the present invention
  • 10 is a flow chart showing an example of the procedure of a transportation plan generation method by a transportation plan generation unit according to the second embodiment of the present invention
  • FIG. 1 is a schematic diagram showing a configuration example of an autonomous mobile control system 100 according to a first embodiment of the present invention.
  • an autonomous mobile body control system 100 includes an autonomous mobile body control device 1 and automatic forklifts 22_1 to 22_3 as independent mobile bodies.
  • the automatic forklifts 22_1 to 22_3 are collectively referred to as the automatic forklifts 22 when it is not necessary to identify them individually.
  • An automatic forklift 22 (hereinafter also referred to as a "vehicle") is placed in the warehouse 2 (an example of a workshop).
  • a plurality of cargo storage areas 21 are arranged in which vehicles 22 load and unload cargo (an example of predetermined work).
  • the luggage storage area 21 is indicated by a rectangular frame in FIG.
  • a maintenance worker M who takes measures when an abnormality occurs in the vehicle 22.
  • a maintenance worker M has a maintenance terminal 3 that is referred to or operated when performing maintenance work.
  • the autonomous mobile body control device 1 is a device that controls the work of transporting packages by the vehicle 22, and includes an error information reception unit 10, a maintenance route generation unit 11, a transportation plan generation unit 12, and the like.
  • the error information receiving unit 10 (an example of an anomaly detection unit) transmits and receives various signals wirelessly to and from the vehicle 22 operating inside the warehouse 2 .
  • the error information receiving unit 10 detects the occurrence of an abnormality in the vehicle 22 when receiving an abnormality signal indicating the occurrence of an abnormality from the vehicle 22 . Then, the error information receiving unit 10 acquires the identification number of the vehicle 22, the details of the abnormality, and the information on the location of the occurrence of the abnormality, which are included in the abnormality signal. output to 12.
  • the maintenance route generation unit 11 Based on the information input from the error information receiving unit 10, the maintenance route generation unit 11 (an example of the maintenance information generation unit) generates a vehicle 22 in which an abnormality has occurred (an example of an independent mobile body with an abnormality, hereinafter referred to as "abnormality (also referred to as "vehicle") and a return maintenance route (an example of a maintenance route) are generated, and the maintenance route is transmitted to and displayed on the maintenance terminal 3 carried by the maintenance worker M. I do.
  • abnormality also referred to as "vehicle”
  • a return maintenance route an example of a maintenance route
  • the maintenance route generation unit 11 can change the maintenance route based on the determination result of whether or not the abnormality in the abnormal vehicle requires an emergency response. Specifically, when the maintenance route generation unit 11 determines that the abnormality in the abnormal vehicle requires an emergency response, the maintenance route generating unit 11 generates a maintenance route that may affect the passage of other vehicles 22 in operation. Generate. In other words, a maintenance route is generated that gives top priority to quickly arriving at the location of the abnormal vehicle.
  • An abnormality that requires an emergency response is an abnormality that affects the running of other vehicles 22 in operation. For example, if there is an obstacle in front of the vehicle and the vehicle cannot move forward, it will affect the running of other vehicles 22 in operation, and thus will require an emergency response. On the other hand, even if the abnormal vehicle breaks down and cannot be moved from the spot, the return route until returning to the return position is a route that has no possibility of contacting another vehicle 22 in operation. Then, the anomaly becomes an anomaly that does not require an emergency response.
  • the maintenance route generator 11 When the maintenance route generator 11 generates a maintenance route that may affect the traffic of other vehicles 22 in operation, the maintenance route generator 11 notifies the transportation plan generator 12 of the work route of the other vehicles 22 in operation. request a change of Specifically, the maintenance route generation unit 11 instructs the transportation plan generation unit 12 to set the work routes of the other vehicle 22 in operation as work routes Rd1 and Rd2 that do not hinder the passage of abnormal vehicles that pass through the maintenance route.
  • the maintenance route generation unit 11 ask to change to Processing by the maintenance route generation unit 11 will be described in detail with reference to FIGS. 4 and 5 described later.
  • the transportation plan generation unit 12 (an example of a work plan generation unit) generates transportation plans for the vehicles 22_1 to 22_3.
  • the transport plan referred to here is a transport plan that enables the vehicles 22_1 to 22_3 to efficiently carry out the work within the warehouse 2 .
  • the transportation plan generation unit 12 generates work instructions based on the generated transportation plan, and transmits the work instructions to each of the vehicles 22_1 to 22_3.
  • the transportation plan generation unit 12 receives a request to change the transportation plan from the maintenance route generation unit 11, the work route of the other vehicle 22 in operation does not interfere with the passage of abnormal vehicles passing through the maintenance route. Change to working route. Then, the transportation plan generation unit 12 transmits the changed work route to each vehicle 22 in operation. Processing by the transportation plan generation unit 12 will be described in detail with reference to FIGS. 6 and 7 described later.
  • FIG. 2 is a block diagram showing a configuration example of hardware constituting the autonomous mobile control device 1 and the maintenance terminal 3 of the autonomous mobile control system 100. As shown in FIG.
  • the computer 50 shown in FIG. 2 is hardware used as a computer used in the autonomous mobile body control device 1 and the maintenance terminal 3.
  • the computer 50 includes a CPU (Central Processing Unit) 501, a ROM 502 (Read Only Memory), and a RAM (Random Access Memory) 503, which are connected to a bus B, respectively.
  • computer 50 includes nonvolatile storage 504 , display unit 505 , operation input unit 506 and network interface 507 .
  • the CPU 201 reads the program code of the software that implements each function according to this embodiment from the ROM 202, develops it in the RAM 503, and executes it.
  • the computer 50 may include a processing device such as an MPU (Micro-Processing Unit) instead of the CPU 501 .
  • the RAM 503 is temporarily written with variables, parameters, and the like generated during arithmetic processing.
  • the nonvolatile storage 504 includes, for example, a HDD (Hard Disk Drive), an SSD (Solid State Drive), flexible disk, optical disk, magneto-optical disk, CD-ROM, CD-R, magnetic tape, non-volatile memory card, etc. can be used.
  • the non-volatile storage 504 stores an OS (Operating System), various parameters, programs for making the computer 50 function, and the like.
  • the non-volatile storage 504 is used as an example of a computer-readable non-transitory recording medium storing programs executed by the computer 50 .
  • the display unit 505 is, for example, a monitor configured with an LCD (Liquid Crystal Display) or the like, and displays the results of processing performed by the computer 50 and the like.
  • the display section 505 displays the maintenance route information and the like generated by the maintenance route generation section 11 (FIG. 1).
  • a NIC Network Interface Card
  • the network interface 507 exchanges various data with an external device via a network such as a LAN (Local Area Network) or a communication line. Send and receive.
  • a network such as a LAN (Local Area Network) or a communication line. Send and receive.
  • FIG. 3A and 3B are diagrams showing display examples of maintenance routes on the display unit 30 of the maintenance terminal 3.
  • FIG. 3A shows a display example of the outbound maintenance route Ro
  • FIG. 3B shows a display example of the return route Ri. indicate.
  • the screen of the display section 30 includes an error information display section Ar1, a warehouse information display section Ar2, a start button Bn1, a finish button Bn2, and the like.
  • error information display portion Ar1 information such as occurrence time information If1, vehicle number If2, error content If3, and countermeasure If4 is displayed.
  • Occurrence time information If1 indicates the time when an abnormality occurred in the abnormal vehicle.
  • the vehicle number If2 indicates information on the vehicle number of the abnormal vehicle.
  • the error content If3 indicates the content of the abnormality in the abnormal vehicle.
  • Abnormalities include, for example, failure of a forward obstacle detection sensor (not shown) of the vehicle 22, detection of an obstacle in front, failure of the vehicle 22 itself, and the like.
  • Countermeasure If4 indicates information on a countermeasure according to the content of the abnormality. Countermeasures include, for example, repairing a location where an abnormality has occurred, returning the vehicle 22 to the return position by driving, and removal of obstacles by maintenance personnel M, and the like.
  • maintenance personnel M can appropriately grasp the content of the abnormality in the abnormal vehicle and the countermeasure method.
  • the warehouse information display area Ar2 a floor plan of the inside of the warehouse 2 is described, the cargo storage area is indicated by a rectangular frame, and the abnormal vehicle 22a (see FIG. 1) is indicated by a black triangular mark, indicating that the vehicle is operating normally. Vehicles 22 inside are indicated by white circles.
  • the current position Pn of the maintenance worker M and the outward maintenance route Ro are indicated by arrows.
  • the outbound maintenance route Ro is a route to the position Pa of the abnormal vehicle (hereinafter referred to as "abnormal vehicle position").
  • the maintenance worker M can quickly reach the abnormal vehicle position Pa by checking the outward maintenance route Ro on the screen of the maintenance terminal 3 shown in FIG. 3A.
  • the maintenance worker M presses the start button Bn1 when starting to move to the abnormal vehicle position Pa. By this operation, the start of movement to the abnormal vehicle position Pa by the maintenance worker M is notified to the transportation plan generation unit 12 of the independent movement control device 1 .
  • information on the current position Pn of the maintenance worker M is also displayed in the warehouse information display section Ar2, and the information on the current position Pn is updated and displayed at will.
  • the maintenance worker M can intuitively grasp the information as to whether or not he or she is correctly following the route to the abnormal vehicle position Pa, the distance to the abnormal vehicle position Pa, and the like.
  • the maintenance worker M presses the start button Bn1 shown in FIG. 3B at the start of countermeasures at the abnormal vehicle position Pa or at the start of return to the return position Pr.
  • the transportation plan generation unit 12 is notified of the start of countermeasures for the abnormal vehicle position Pa or the start of return to the return position Pr.
  • the maintenance worker M presses the completion button Bn2 shown in FIG. 3B when the countermeasures for the abnormal vehicle position Pa are completed or when the vehicle returns to the return position Pr.
  • the transfer plan generation unit 12 is notified of the completion of countermeasures at the abnormal vehicle position Pa or the return to the return position Pr.
  • FIG. 4 is a flow chart showing an example of the procedure of the outward maintenance route generation processing by the maintenance route generation unit 11 .
  • the maintenance route generation unit 11 determines whether or not information regarding an abnormality of the automatic forklift 22 has been received from the error information reception unit 10 (step S1). If it is determined in step S1 that no information regarding an abnormality has been received (NO in step S1), the maintenance route generator 11 repeats the determination in step S1.
  • step S3 If it is determined in step S3 that the abnormality does not require urgent countermeasures (NO determination in step S3), the maintenance route generation unit 11 determines that the traffic of other vehicles (automatic forklift trucks) 22 in operation is not affected. A maintenance route Ro for the outbound route that does not affect is generated (step S4). Next, the maintenance route generation unit 11 transmits the outbound maintenance route Ro generated in step S4 to the maintenance terminal 3 possessed by the maintenance worker M (step S5). After the processing of step S5, the outward maintenance route generation processing by the maintenance route generation unit 11 ends.
  • step S3 if it is determined in step S3 that there is an abnormality that requires urgent countermeasures (YES determination in step S3), the maintenance route generation unit 11 may affect the traffic of other vehicles 22 in operation.
  • a maintenance route Ro for the outbound route is generated (step S6).
  • the maintenance route generation unit 11 requests the transportation plan generation unit 12 to change the work route of another vehicle (step S7).
  • the maintenance route generation unit 11 transmits information on the outward maintenance route Ro to the transportation plan generation unit 12 (step S8).
  • the maintenance route generation unit 11 determines whether or not a work route change completion notification has been received from the transportation plan generation unit 12 (step S9).
  • step S9 If it is determined in step S9 that the work route change completion notification has not been received (NO in step S9), the maintenance route generation unit 11 repeats the determination in step S9. On the other hand, when it is determined in step S9 that the work route change completion notification has been received (when step S9 determines YES), the maintenance route generation unit 11 performs the processing of step S5. That is, the outbound maintenance route Ro generated in step S6 is transmitted to the maintenance terminal 3 possessed by the maintenance worker M.
  • step S9 determines YES
  • FIG. 5 is a flow chart showing an example of the procedure of the return route maintenance route processing by the maintenance route generation unit 11 .
  • the maintenance route generation unit 11 determines whether or not the arrival of the maintenance worker M at the abnormal vehicle position Pa has been detected (step S11). When it is determined in step S11 that the arrival of the maintenance worker M at the abnormal vehicle position Pa has not been detected (NO in step S11), the maintenance route generator 11 repeats the determination in step S11.
  • step S11 when it is determined in step S11 that the maintenance worker M has arrived at the abnormal vehicle position Pa (when step S11 determines YES), the maintenance route generation unit 11 causes the transportation plan generation unit 12 to generate the current The transport status information at (at that time) is acquired (step S12). Next, the maintenance route generation unit 11 starts a return route maintenance route generation process (step S13).
  • the maintenance route generation unit 11 determines whether or not it is necessary for the maintenance worker M to return urgently from the abnormal vehicle position Pa (step S14). If it is determined in step S14 that the emergency return is not necessary (NO in step S14), the maintenance route generator 11 does not affect the traffic of other vehicles (automatic forklifts) 22 in operation. A maintenance route Ri for the return route that does not exist is generated (step S15).
  • the maintenance route generation unit 11 transmits the return route maintenance route Ri generated in step S15 to the maintenance terminal 3 possessed by the maintenance worker M (step S16). Next, the maintenance route generation unit 11 determines whether or not the return to the return position Pr by the maintenance worker M has been detected (step S17).
  • step S17 If it is determined in step S17 that the return to the period position Pr has not been detected (NO in step S17), the maintenance route generator 11 repeats the determination in step S17. On the other hand, when it is determined in step S17 that the return to the period position Pr has been detected (when step S17 determines YES), the maintenance route generation unit 11 transmits a countermeasure completion notification to the transportation plan generation unit 12. (Step S18).
  • step S14 determines that an urgent return is necessary (if determined as YES in step S14).
  • the maintenance route generation unit 11 determines that the traffic of other vehicles (automatic forklift trucks) 22 in operation is affected.
  • the maintenance route generation unit 11 requests the transportation plan generation unit 12 to change the work route of another vehicle (step S20).
  • the maintenance route generation unit 11 transmits information on the return route maintenance route Ri to the transportation plan generation unit 12 (step S21).
  • the maintenance route generation unit 11 determines whether or not a work route change completion notification has been received from the transportation plan generation unit 12 (step S22).
  • FIGS. 6 and 7 are flowcharts showing an example of the procedure of processing by the transportation plan generation unit 12.
  • FIG. 6 and 7 are flowcharts showing an example of the procedure of processing by the transportation plan generation unit 12.
  • the transportation plan generation unit 12 formulates a transportation plan based on the number of vehicles 22 that are operating normally (step S31). Next, the transportation plan generator 12 transmits the transportation plan to each vehicle 22 (step S32). Next, the transportation plan generator 12 instructs each vehicle 22 to start operation (step S33).
  • the transportation plan generation unit 12 determines whether or not information on the abnormal vehicle 22a has been received from the error information reception unit 10 (step S34). If it is determined in step S34 that the information on the abnormal vehicle 22a has not been received (NO in step S34), the transportation plan generation unit 12 determines whether transportation by the vehicle 22 has been completed (step S35). If it is determined in step S35 that the transport has not been completed (NO determination in step S35), the transport plan generation unit 12 returns to step S35 to perform determination.
  • step S35 if it is determined in step S35 that the transport by the vehicle 22 has been completed (YES in step S35), the transport plan generation process by the transport plan generation unit 12 ends.
  • step S34 When it is determined in step S34 that the information on the abnormal vehicle 22a has been received from the error information receiving unit 10 (when step S34 determines YES), the transportation plan generation unit 12 generates a transportation plan for vehicles excluding the abnormal vehicle 22a. is generated again (step S36). Next, the transportation plan generator 12 transmits the transportation plan generated in step S36 to each vehicle 22 other than the abnormal vehicle 22a (step S37). Next, the transport plan generator 12 instructs each vehicle 22 other than the abnormal vehicle 22a to start operation (step S38).
  • the transportation plan generation unit 12 determines whether or not a work route change request has been received from the maintenance route generation unit 11 (step S39 in FIG. 7). If it is determined in step S39 that a work route change request has been received (if determined as YES in step S39), the transportation plan generation unit 12 determines whether the outbound maintenance route Ro or the inbound maintenance route Ri has been received. is determined (step S40). If it is determined in step S40 that no maintenance route has been received (NO determination in step S40), the transportation plan generation unit 12 repeats the determination in step S40.
  • step S49 If it is determined in step S49 that the transportation has not been completed (NO determination in step S49), the transportation plan generation unit 12 returns to step S34 of FIG. 6 to perform determination. That is, it is determined whether information about the abnormal vehicle 22a has been received from the error information receiving unit 10 or not. On the other hand, if it is determined in step S49 that the transport by the vehicle 22 has been completed (YES in step S49), the transport plan generating process by the transport plan generating unit 12 ends.
  • the autonomous mobile body control device 1 includes an error information receiving unit 10 that detects the occurrence of an abnormality in the vehicle 22 based on an abnormality signal transmitted from the vehicle 22, and a maintenance route generation unit 11 and including.
  • the error information receiving unit 10 detects an abnormality in the vehicle 22
  • the maintenance route generating unit 11 generates information on the maintenance route to the position of the abnormal vehicle 22a, and displays the information on the screen of the maintenance terminal 3 possessed by the maintenance worker M. Let Therefore, according to the present embodiment, maintenance personnel M can quickly arrive at the abnormal vehicle position Pa.
  • the maintenance route generation unit 11 changes the route in the maintenance route based on the determination result of whether or not the response to the abnormal independent mobile unit requires urgency. Specifically, when the maintenance route generation unit 11 determines that the handling of the abnormal vehicle 22a requires urgency, the maintenance route generation unit 11 selects a maintenance route that does not affect the passage of other vehicles 22 that are operating normally. Generate routes that may affect In other words, a maintenance route is generated that prioritizes the rapid arrival of the maintenance worker M at the abnormal vehicle position Pa. Then, the maintenance route generation unit 11 requests the transportation plan generation unit 12 to change the work route of the other vehicle 22 to a route that does not hinder movement of maintenance personnel passing through the maintenance route.
  • the maintenance route generation unit 11 determines that the handling of the abnormal vehicle 22a does not require urgency, the maintenance route does not affect the traffic of other vehicles 22 that are operating normally. Generate no routes. Therefore, according to the present embodiment, it is possible to ensure the safety of maintenance personnel M during movement to the abnormal vehicle position Pa and to maintain the operation of other automatic forklift trucks 22 at the same time.
  • the maintenance route generation unit 11 displays information (error information) regarding an abnormality that has occurred in the abnormal vehicle 22a, a method of coping with the abnormality, and an outbound maintenance route Ro or a return route on the screen of the maintenance terminal 3.
  • Information on the maintenance route Ri and the current position Pr of the maintenance worker M is displayed. Therefore, according to the present embodiment, the maintenance worker M can appropriately take measures against the abnormality of the abnormal vehicle 22a while viewing the screen of the maintenance terminal 3.
  • FIG. 8 is a block diagram showing a schematic configuration of an autonomous mobile body control system 100A according to the second embodiment of the present invention.
  • the autonomous mobile body control system 100A differs from the autonomous mobile body control system 100 according to the first embodiment shown in FIG. The point is that a safe work zone generating unit 13 exists instead of the unit 11 .
  • the definition of the "operating hazard zone” stipulates the method of indicating the surroundings of the operating hazard zone, the rules that must be observed within the operating hazard zone, and so on. Regulations to be observed within the operating hazard zone include, for example, the traveling speed of the vehicle 22 (speed limit lower than the rated speed) when passing through the operating hazard zone, prohibition of the vehicle 22 into the operating hazard zone, and the like. .
  • the safe work zone generation unit 13 After generating the safe work zone, the safe work zone generation unit 13 requests the transportation plan generation unit 12 to comply with the rules that should be observed in the safe work zone. By operating the vehicles 22 other than the abnormal vehicle 22a based on this request, it is possible to protect the safety of the maintenance personnel M and prevent the deterioration of the operating efficiency of the other vehicles 22 due to a collision with the abnormal vehicle 22a.
  • normally operating vehicles 22 are indicated by white circles, and abnormal vehicles 22a are indicated by black triangles.
  • the current position of maintenance worker M is also indicated by an easy-to-understand symbol such as the figure of a person shown in the figure.
  • the operating zone Zo indicating the range in which the vehicle 22 operates is indicated by a dashed frame, and the safe work zone Zm is indicated by a bold dashed line.
  • processing for erasing the display of the safe work zone Zm from the screen shown in FIG. 9 is also performed by a control unit or the like (not shown).
  • a control unit or the like not shown.
  • only the operating zone Zo is displayed on the screen shown in FIG. In the operating zone Zo, the vehicle 22 can run at the rated running speed.
  • the transportation plan generation unit 12 determines whether or not information on the safe work zone Zm has been received from the safe work zone generation unit 13 (step S59). ).
  • the information on the safe work zone Zm includes, for example, information such as the position and size of the safe work zone Zm, rules to be observed within the safe work zone Zm, and the like.
  • step S59 When it is determined in step S59 that the information on the safe work zone Zm has been received (when the determination in step S59 is YES), the transportation plan generation unit 12 sends the information (position, size, etc.) on the safe work zone Zm to each It is transmitted to the vehicle 22 (step S60).
  • the transport plan generation unit 12 requests each vehicle 22 to comply with the rules to be observed in the safe work zone Zm, such as the traveling speed within the safe work zone Zm (step S61).
  • the transportation plan generator 12 instructs each vehicle 22 to start operation (step S62).
  • the transportation plan generation unit 12 transmits a zone support completion notification to the safe work zone generation unit 13 (step S63).
  • the transportation plan generation unit 12 determines whether or not it has received a countermeasure completion notification from the safe work zone generation unit 13 (step S64). If it is determined in step S64 that the countermeasure completion notification has not been received (NO determination in step S64), the transportation plan generation unit 12 repeats the determination in step S64.
  • the safe work zone generation unit 13 generates the safe work zone Zm based on the determination result of whether or not the response to the abnormal vehicle 22a requires urgency. Different time zones may be used.
  • the safe work zone generation unit 13 determines that the response to the abnormal vehicle 22a requires urgency, it may affect the work plans of the other vehicles 22 that are operating normally.
  • a safe working zone Zm can be generated during the time period. As a result, the maintenance worker M can quickly arrive at the position of the safe work zone Zm to take measures against the abnormal vehicle 22a.
  • the safe work zone generation unit 13 determines that the response to the abnormal vehicle 22a does not require urgency, there is a possibility that the work plans of the other vehicles 22 that are operating normally will be affected.
  • a safe work zone Zm is generated in the time period when there is no As a result, it is possible to ensure the safety of the maintenance worker M when moving to the safe work zone Zm and to maintain the operation of the other automatic forklift trucks 22 at the same time.
  • each of the above-described embodiments is a detailed and specific description of the configuration of the device (autonomous mobile body control device) and system (autonomous mobile body control system) in order to explain the present invention in an easy-to-understand manner. It is not limited to those having all the configurations described above. It is also possible to replace part of the configuration of one embodiment with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. Moreover, it is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.
  • control lines or information lines indicated by arrows in FIGS. 1 and 8 indicate those that are considered necessary for explanation, and do not necessarily indicate all the control lines and information lines on the product. In practice, it may be considered that almost all configurations are interconnected.
  • processing steps describing time-series processing refer to processing performed in time-series according to the described order, as well as processing performed in parallel or individually, even if processing is not necessarily performed in time-series. It also includes processing (eg, parallel processing or processing by objects) that is executed in parallel.
  • each component of the autonomous mobile body control device may be implemented in any hardware as long as each hardware can transmit and receive information to and from each other via a network.
  • a process performed by a certain processing unit may be implemented by one piece of hardware, or may be implemented by distributed processing by a plurality of pieces of hardware.

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Abstract

An autonomous mobile body control device according to one aspect of the present invention comprises: an error information reception unit that detects the occurrence of an anomaly in a vehicle on the basis of an anomaly signal transmitted from the vehicle; and a maintenance route generation unit that, when the error information reception unit detects an anomaly in the vehicle, generates information pertaining to a maintenance route to the position of the anomalous vehicle or information pertaining to a safe work zone and displays the maintenance route or the safe work zone on a screen of a maintenance terminal possessed by a maintenance worker.

Description

自立移動体制御装置及び自立移動体制御方法AUTONOMOUS MOBILE CONTROL DEVICE AND AUTONOMOUS MOBILE CONTROL METHOD
　本発明は、自立移動体制御装置及び自立移動体制御方法に関する。 The present invention relates to an autonomous mobile body control device and an autonomous mobile body control method.
　近年、物流倉庫等で稼働するフォークリフト等の荷物搬送車両の自動運転化が進んでいる。自動運転が可能な荷物搬送車両は、作業員による運転が不要な車両であり、自立移動体として構成される。自立移動体に異常が生じた場合、異常が発生している自立移動体の位置まで保守員が出向き、該自立移動体の修理や、自立移動体の回収、すなわち、自立移動体を運転して予め定められた帰着位置まで移動させる作業などを行う必要がある。 In recent years, automated driving of cargo transport vehicles such as forklifts that operate in distribution warehouses is progressing. A luggage transport vehicle capable of automatic operation is a vehicle that does not need to be driven by a worker, and is configured as an autonomous mobile body. When an abnormality occurs in the self-supporting mobile body, maintenance personnel go to the position of the self-supporting mobile body where the abnormality has occurred, repair the self-supporting mobile body, recover the self-supporting mobile body, that is, operate the self-supporting mobile body. It is necessary to perform work such as moving to a predetermined return position.
　例えば、特許文献１には、異常発生時に地上制御装置に異常信号を送信して停止する無人搬送車と、無人搬送車の異常状態を記憶し、異常指令を作業者に発信する地上制御装置と、を備えた無人搬送車システムが開示されている。 For example, Patent Document 1 discloses an automatic guided vehicle that stops by sending an abnormality signal to a ground control device when an abnormality occurs, and a ground control device that stores an abnormal state of the automatic guided vehicle and sends an abnormality command to an operator. An automated guided vehicle system comprising:
特開２００９－１５５３９号公報JP-A-2009-15539
　ところで、物流倉庫において複数の自立移動体が稼働している状態において、そのうちの１台が故障したとする。この場合、物流倉庫の作業環境は、自立移動体の保守作業を担当する保守員と、稼働中の他の自立移動体とが混在したものとなる。このような作業環境においては、稼働中の他の自立移動体に対する影響を最小限にするためにも、保守員が、異常が発生している自立移動体の位置に迅速に到着することが重要となる。 By the way, let's say that one of the multiple autonomous mobile units is in operation in a distribution warehouse and one of them breaks down. In this case, the work environment of the distribution warehouse is a mixture of maintenance personnel in charge of maintenance work for the autonomous mobile bodies and other autonomous mobile bodies in operation. In such a work environment, it is important for maintenance personnel to quickly arrive at the position of the autonomous mobile body in which an abnormality is occurring, in order to minimize the impact on other autonomous mobile bodies in operation. becomes.
　しかしながら、特許文献１には、異常が発生している自立移動体の位置への保守員の迅速な移動を補助するような技術については記載されていない。 However, Patent Document 1 does not describe a technique for assisting maintenance personnel in quickly moving to the position of the self-supporting mobile body in which an abnormality has occurred.
　本発明は、上記の状況を考慮してなされたものであり、本発明の目的は、異常が発生している自立移動体の位置に保守員が迅速に到着できるようにすることにある。 The present invention has been made in consideration of the above situation, and the purpose of the present invention is to enable maintenance personnel to quickly arrive at the position of an autonomous mobile body in which an abnormality has occurred.
　本発明の一態様に係る自立移動体制御装置は、作業場において所定の作業を行う複数の自立移動体の動作の制御を行う自立移動体制御装置である。本発明の一態様に係る自立移動体制御装置は、自立移動体から送信される異常信号に基づいて、自立移動体における異常の発生を検知する異常検知部と、異常検知部による自立移動体の異常の検知時に、異常が発生している自立移動体である異常発生自立移動体の位置までの保守経路の情報、又は、保守員が異常発生自立移動体への対策を行う場合における作業空間の範囲を示す保守作業範囲の情報を生成して、保守経路又は保守作業範囲を保守員が所持する保守端末の画面に表示させる保守情報生成部と、を備える。 A self-supporting mobile body control device according to one aspect of the present invention is a self-supporting mobile body control device that controls the operation of a plurality of self-supporting mobile bodies that perform predetermined work in a workplace. A self-supporting mobile body control device according to an aspect of the present invention includes an abnormality detection unit that detects the occurrence of an abnormality in the self-supporting mobile body based on an abnormality signal transmitted from the self-supporting mobile body, and the self-supporting mobile body by the abnormality detection unit When an abnormality is detected, information on the maintenance route to the position of the abnormal independent mobile body, which is the abnormal independent mobile body, or the work space when maintenance personnel take measures for the abnormal independent mobile body a maintenance information generating unit that generates maintenance work range information indicating the range and displays the maintenance route or the maintenance work range on the screen of a maintenance terminal owned by a maintenance worker.
　また、本発明の一態様に係る自立移動体制御方法は、作業場において所定の作業を行う複数の自立移動体の動作の制御を行う自立移動体制御装置による自立移動体制御方法である。本発明の一態様に係る自立移動体制御方法は、自立移動体から送信される異常信号に基づいて、自立移動体における異常の発生を検知する手順と、自立移動体の異常の検知時に、異常が発生している自立移動体である異常発生自立移動体の位置までの保守経路の情報、又は、保守員が異常発生自立移動体への対策を行う場合における作業空間の範囲を示す保守作業範囲の情報を生成して、保守員が所持する保守端末の画面に表示させる手順と、を含む。 Further, an autonomous mobile body control method according to an aspect of the present invention is an autonomous mobile body control method by an autonomous mobile body control device that controls the motion of a plurality of independent mobile bodies that perform predetermined work in a workshop. A self-supporting mobile body control method according to an aspect of the present invention includes a procedure for detecting the occurrence of an abnormality in the self-supporting mobile body based on an abnormality signal transmitted from the self-supporting mobile body, and detecting an abnormality in the self-supporting mobile body. Information on the maintenance route to the position of the abnormal independent mobile body, which is an autonomous mobile body where a and a procedure for generating the information of and displaying it on the screen of the maintenance terminal owned by the maintenance person.
　本発明の少なくとも一態様によれば、異常が発生している自立移動体の位置に保守員が迅速に到着できるようになる。
　上記した以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。 According to at least one aspect of the present invention, maintenance personnel can quickly arrive at the position of the self-supporting mobile body in which an abnormality has occurred.
Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.
本発明の第１の実施形態に係る自立移動体制御システムの構成例を示す概略図である。BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the structural example of the independent mobile body control system which concerns on the 1st Embodiment of this invention. 本発明の第１の実施形態に係る自立移動体制御システムの自立移動体制御装置を構成するハードウェアの構成例を示すブロック図である。1 is a block diagram showing a configuration example of hardware constituting an autonomous mobile body control device of an autonomous mobile body control system according to a first embodiment of the present invention; FIG. 本発明の第１の実施形態に係る保守端末の表示部における保守ルートの表示例を示す図である。FIG. 5 is a diagram showing a display example of a maintenance route on the display unit of the maintenance terminal according to the first embodiment of the present invention; 本発明の第１の実施形態に係る保守ルート生成部による往路の保守ルート生成処理の手順の例を示すフローチャートである。FIG. 7 is a flow chart showing an example of a procedure of outward maintenance route generation processing by a maintenance route generation unit according to the first embodiment of the present invention; FIG. 本発明の第１の実施形態に係る保守ルート生成部による復路の保守ルート生成処理の手順の例を示すフローチャートである。FIG. 7 is a flowchart showing an example of a procedure of return route maintenance route generation processing by a maintenance route generation unit according to the first embodiment of the present invention; FIG. 本発明の第１の実施形態に係る搬送計画生成部による処理の手順の例を示すフローチャートである。4 is a flow chart showing an example of a procedure of processing by a transportation plan generation unit according to the first embodiment of the present invention; 本発明の第１の実施形態に係る搬送計画生成部による処理の手順の例を示すフローチャートである。4 is a flow chart showing an example of a procedure of processing by a transportation plan generation unit according to the first embodiment of the present invention; 本発明の本発明の第２の実施形態に係る自立移動体制御システムの概略構成を示すブロック図である。It is a block diagram showing a schematic configuration of an autonomous mobile body control system according to a second embodiment of the present invention. 本発明の第２の実施形態に係る保守端末の表示部における安全作業ゾーンの表示例を示す図である。FIG. 10 is a diagram showing a display example of safe work zones on the display unit of the maintenance terminal according to the second embodiment of the present invention; 本発明の第２の実施形態に係る搬送計画生成部による搬送計画生成方法の手順の例を示すフローチャートである。10 is a flow chart showing an example of the procedure of a transportation plan generation method by a transportation plan generation unit according to the second embodiment of the present invention; 本発明の第２の実施形態に係る搬送計画生成部による搬送計画生成方法の手順の例を示すフローチャートである。10 is a flow chart showing an example of the procedure of a transportation plan generation method by a transportation plan generation unit according to the second embodiment of the present invention;
　以下、本発明を実施するための形態（以下、「実施形態」と称する）の例について、添付図面を参照しながら説明する。本発明は実施形態に限定されるものではなく、実施形態における種々の数値等は例示である。また、本明細書及び図面において、同一の構成要素又は実質的に同一の機能を有する構成要素には同一の符号を付することとし、重複する説明は省略する。 Hereinafter, examples of modes for carrying out the present invention (hereinafter referred to as "embodiments") will be described with reference to the accompanying drawings. The present invention is not limited to the embodiments, and various numerical values and the like in the embodiments are examples. In addition, in the present specification and drawings, the same components or components having substantially the same functions are denoted by the same reference numerals, and overlapping descriptions are omitted.
＜第１の実施形態＞
［自立移動体制御システムの構成］
　まず、図１を参照して、本発明の第１の実施形態に係る自立移動体制御システムの構成について説明する。図１は、本発明の第１の実施形態に係る自立移動体制御システム１００の構成例を示す概略図である。 <First embodiment>
[Configuration of autonomous mobile control system]
First, referring to FIG. 1, the configuration of the autonomous mobile body control system according to the first embodiment of the present invention will be described. FIG. 1 is a schematic diagram showing a configuration example of an autonomous mobile control system 100 according to a first embodiment of the present invention.
　図１に示すように、本実施形態に係る自立移動体制御システム１００は、自立移動体制御装置１と、自立移動体としての自動フォークリフト２２＿１～２２＿３と、を含む。なお、以下の説明において、自動フォークリフト２２＿１～２２＿３を個別に識別する必要がない場合には、これらを自動フォークリフト２２と総称する。 As shown in FIG. 1, an autonomous mobile body control system 100 according to the present embodiment includes an autonomous mobile body control device 1 and automatic forklifts 22_1 to 22_3 as independent mobile bodies. In the following description, the automatic forklifts 22_1 to 22_3 are collectively referred to as the automatic forklifts 22 when it is not necessary to identify them individually.
　自動フォークリフト２２（以下、「車両」とも称する）は、倉庫２（作業場の一例）内に配置される。倉庫２内には、車両２２による荷物の積み下ろし（所定の作業の一例）が行われる荷物置き場２１が複数配置される。荷物置き場２１は、図１においては矩形の枠で示される。また、倉庫２内には、車両２２に異常が発生した場合に対策を行う保守員Ｍも存在する。保守員Ｍは、保守作業を行う際に参照又は操作する保守端末３を所持している。 An automatic forklift 22 (hereinafter also referred to as a "vehicle") is placed in the warehouse 2 (an example of a workshop). In the warehouse 2, a plurality of cargo storage areas 21 are arranged in which vehicles 22 load and unload cargo (an example of predetermined work). The luggage storage area 21 is indicated by a rectangular frame in FIG. Further, in the warehouse 2, there is also a maintenance worker M who takes measures when an abnormality occurs in the vehicle 22.例文帳に追加A maintenance worker M has a maintenance terminal 3 that is referred to or operated when performing maintenance work.
　自立移動体制御装置１は、車両２２による荷物の運搬作業を制御する装置であり、エラー情報受信部１０、保守ルート生成部１１及び搬送計画生成部１２等を含む。 The autonomous mobile body control device 1 is a device that controls the work of transporting packages by the vehicle 22, and includes an error information reception unit 10, a maintenance route generation unit 11, a transportation plan generation unit 12, and the like.
　エラー情報受信部１０（異常検知部の一例）は、倉庫２内で稼働中の車両２２との間で、無線を介して各種信号の送受信を行う。例えば、エラー情報受信部１０は、異常の発生を示す異常信号を車両２２から受信した場合に、車両２２における異常の発生を検知する。そして、エラー情報受信部１０は、異常信号に含まれる車両２２の識別番号、異常の内容及び異常発生場所の情報を取得し、取得したこれらの情報を、保守ルート生成部１１及び搬送計画生成部１２に出力する。 The error information receiving unit 10 (an example of an anomaly detection unit) transmits and receives various signals wirelessly to and from the vehicle 22 operating inside the warehouse 2 . For example, the error information receiving unit 10 detects the occurrence of an abnormality in the vehicle 22 when receiving an abnormality signal indicating the occurrence of an abnormality from the vehicle 22 . Then, the error information receiving unit 10 acquires the identification number of the vehicle 22, the details of the abnormality, and the information on the location of the occurrence of the abnormality, which are included in the abnormality signal. output to 12.
　保守ルート生成部１１（保守情報生成部の一例）は、エラー情報受信部１０から入力された情報に基づいて、異常が発生している車両２２（異常発生自立移動体の一例、以下、「異常車両」とも称する）の位置までの往路の保守ルートＲｏ及び復路の保守ルート（保守経路の一例）を生成し、該保守ルートを、保守員Ｍが所持する保守端末３に送信して表示させる制御を行う。 Based on the information input from the error information receiving unit 10, the maintenance route generation unit 11 (an example of the maintenance information generation unit) generates a vehicle 22 in which an abnormality has occurred (an example of an independent mobile body with an abnormality, hereinafter referred to as "abnormality (also referred to as "vehicle") and a return maintenance route (an example of a maintenance route) are generated, and the maintenance route is transmitted to and displayed on the maintenance terminal 3 carried by the maintenance worker M. I do.
　なお、保守ルート生成部１１は、異常車両における異常が、緊急の対応を要するものであるか否かの判定結果に基づいて、保守ルートを変更することができる。具体的には、保守ルート生成部１１は、異常車両における異常が緊急の対応を要するものであると判定した場合、稼働中の他の車両２２の通行に影響を及ぼす可能性のある保守ルートを生成する。つまり、異常車両の位置に迅速に到着することを最優先とした保守ルートを生成する。 It should be noted that the maintenance route generation unit 11 can change the maintenance route based on the determination result of whether or not the abnormality in the abnormal vehicle requires an emergency response. Specifically, when the maintenance route generation unit 11 determines that the abnormality in the abnormal vehicle requires an emergency response, the maintenance route generating unit 11 generates a maintenance route that may affect the passage of other vehicles 22 in operation. Generate. In other words, a maintenance route is generated that gives top priority to quickly arriving at the location of the abnormal vehicle.
　緊急の対応を要する異常とは、稼働中の他の車両２２の走行に影響を与えてしまう異常である。例えば、前方に障害物があって、そこから先に進めないような異常は、稼働中の他の車両２２の走行に影響を及ぼしてしまうため、緊急の対応を要する異常となる。一方、異常車両が故障してその場から移動できないような状況であっても、帰着位置へ帰還するまでの退路が、稼働中の他の自動車両２２と接触する可能性がないルートである場合には、該異常は、緊急の対応が不要な異常となる。 An abnormality that requires an emergency response is an abnormality that affects the running of other vehicles 22 in operation. For example, if there is an obstacle in front of the vehicle and the vehicle cannot move forward, it will affect the running of other vehicles 22 in operation, and thus will require an emergency response. On the other hand, even if the abnormal vehicle breaks down and cannot be moved from the spot, the return route until returning to the return position is a route that has no possibility of contacting another vehicle 22 in operation. Then, the anomaly becomes an anomaly that does not require an emergency response.
　保守ルート生成部１１は、稼働中の他の車両２２の通行に影響を及ぼす可能性のある保守ルートを生成した場合、搬送計画生成部１２に対して、稼働中の他の車両２２の作業ルートの変更を依頼する。具体的には、保守ルート生成部１１は、搬送計画生成部１２に対して、稼働中の他の車両２２の作業ルートを、保守ルートを通行する異常車両の通行を妨げない作業ルートＲｄ１、Ｒｄ２へ変更するよう依頼する。保守ルート生成部１１による処理については、後述の図４及び図５を参照して詳述する。 When the maintenance route generator 11 generates a maintenance route that may affect the traffic of other vehicles 22 in operation, the maintenance route generator 11 notifies the transportation plan generator 12 of the work route of the other vehicles 22 in operation. request a change of Specifically, the maintenance route generation unit 11 instructs the transportation plan generation unit 12 to set the work routes of the other vehicle 22 in operation as work routes Rd1 and Rd2 that do not hinder the passage of abnormal vehicles that pass through the maintenance route. ask to change to Processing by the maintenance route generation unit 11 will be described in detail with reference to FIGS. 4 and 5 described later.
　搬送計画生成部１２（作業計画生成部の一例）は、車両２２＿１～２２＿３の搬送計画を生成する。ここでいう搬送計画は、倉庫２内において車両２２＿１～２２＿３が効率よく作業を遂行することを可能とする搬送計画である。また、搬送計画生成部１２は、生成した搬送計画に基づいて作業指示を生成し、該作業指示を車両２２＿１～２２＿３のそれぞれに送信する。 The transportation plan generation unit 12 (an example of a work plan generation unit) generates transportation plans for the vehicles 22_1 to 22_3. The transport plan referred to here is a transport plan that enables the vehicles 22_1 to 22_3 to efficiently carry out the work within the warehouse 2 . Further, the transportation plan generation unit 12 generates work instructions based on the generated transportation plan, and transmits the work instructions to each of the vehicles 22_1 to 22_3.
　さらに、搬送計画生成部１２は、保守ルート生成部１１からの搬送計画の変更依頼を受けた場合、稼働中の他の車両２２の作業ルートを、保守ルートを通行する異常車両の通行を妨げない作業ルートへ変更する。そして、搬送計画生成部１２は、変更した作業ルートを、稼働中の各車両２２に送信する。搬送計画生成部１２による処理については、後述の図６及び図７を参照して詳述する。 Further, when the transportation plan generation unit 12 receives a request to change the transportation plan from the maintenance route generation unit 11, the work route of the other vehicle 22 in operation does not interfere with the passage of abnormal vehicles passing through the maintenance route. Change to working route. Then, the transportation plan generation unit 12 transmits the changed work route to each vehicle 22 in operation. Processing by the transportation plan generation unit 12 will be described in detail with reference to FIGS. 6 and 7 described later.
［計算機のハードウェア構成例］
　次に、図１に示した自立移動体制御システム１００の自立移動体制御装置１の制御系の機能を実現するための各装置のハードウェア構成について、図２を参照して説明する。図２は、自立移動体制御システム１００の自立移動体制御装置１及び保守端末３を構成するハードウェアの構成例を示すブロック図である。 [Computer hardware configuration example]
Next, the hardware configuration of each device for realizing the function of the control system of the autonomous mobile body control device 1 of the autonomous mobile body control system 100 shown in FIG. 1 will be described with reference to FIG. FIG. 2 is a block diagram showing a configuration example of hardware constituting the autonomous mobile control device 1 and the maintenance terminal 3 of the autonomous mobile control system 100. As shown in FIG.
　図２に示す計算機５０は、自立移動体制御装置１、保守端末３で使用されるコンピュータとして用いられるハードウェアである。計算機５０は、バスＢにそれぞれ接続されたＣＰＵ（Central Processing Unit）５０１、ＲＯＭ５０２（Read Only Memory）及びＲＡＭ（Random Access Memory）５０３を備える。さらに、計算機５０は、不揮発性ストレージ５０４、表示部５０５、操作入力部５０６及びネットワークインターフェース５０７を備える。 The computer 50 shown in FIG. 2 is hardware used as a computer used in the autonomous mobile body control device 1 and the maintenance terminal 3. The computer 50 includes a CPU (Central Processing Unit) 501, a ROM 502 (Read Only Memory), and a RAM (Random Access Memory) 503, which are connected to a bus B, respectively. Further, computer 50 includes nonvolatile storage 504 , display unit 505 , operation input unit 506 and network interface 507 .
　ＣＰＵ２０１は、本実施形態に係る各機能を実現するソフトウェアのプログラムコードをＲＯＭ２０２から読み出し、ＲＡＭ５０３に展開して実行する。なお、計算機５０は、ＣＰＵ５０１の代わりに、ＭＰＵ（Micro-Processing Unit）等の処理装置を備えてもよい。ＲＡＭ５０３には、演算処理の途中に発生した変数やパラメータ等が一時的に書き込まれる。 The CPU 201 reads the program code of the software that implements each function according to this embodiment from the ROM 202, develops it in the RAM 503, and executes it. Note that the computer 50 may include a processing device such as an MPU (Micro-Processing Unit) instead of the CPU 501 . The RAM 503 is temporarily written with variables, parameters, and the like generated during arithmetic processing.
　不揮発性ストレージ５０４には、例えば、ＨＤＤ（Hard Disk Drive）、ＳＳＤ（Solid
 State Drive）、フレキシブルディスク、光ディスク、光磁気ディスク、ＣＤ－ＲＯＭ、ＣＤ－Ｒ、磁気テープ、不揮発性のメモリカード等を用いることができる。この不揮発性ストレージ５０４には、ＯＳ（Operating System）、各種のパラメータの他に、計算機５０を機能させるためのプログラム等が記録される。つまり、不揮発性ストレージ５０４は、計算機５０によって実行されるプログラムを格納した、コンピュータ読取可能な非一過性の記録媒体の一例として用いられる。 The nonvolatile storage 504 includes, for example, a HDD (Hard Disk Drive), an SSD (Solid
State Drive), flexible disk, optical disk, magneto-optical disk, CD-ROM, CD-R, magnetic tape, non-volatile memory card, etc. can be used. The non-volatile storage 504 stores an OS (Operating System), various parameters, programs for making the computer 50 function, and the like. In other words, the non-volatile storage 504 is used as an example of a computer-readable non-transitory recording medium storing programs executed by the computer 50 .
　表示部５０５は、例えば、ＬＣＤ（Liquid Crystal Display）等で構成されるモニタであり、計算機５０で行われる処理の結果等を表示する。保守端末３で使用される計算機５０においては、表示部５０５に、保守ルート生成部１１（図１）で生成された保守ルートの情報等が表示される。 The display unit 505 is, for example, a monitor configured with an LCD (Liquid Crystal Display) or the like, and displays the results of processing performed by the computer 50 and the like. In the computer 50 used in the maintenance terminal 3, the display section 505 displays the maintenance route information and the like generated by the maintenance route generation section 11 (FIG. 1).
　操作入力部５０６は、ユーザーによる操作が入力されるブロックであり、例えば、キーボード、マウス等によって構成される。なお、表示部５０５と操作入力部５０６とは、タッチパネルとして一体に形成されてもよい。 The operation input unit 506 is a block for inputting operations by the user, and is composed of, for example, a keyboard and a mouse. Note that the display unit 505 and the operation input unit 506 may be integrally formed as a touch panel.
　ネットワークインターフェース５０７には、例えば、ＮＩＣ（Network Interface Card）等が用いられ、ネットワークインターフェース５０７は、ＬＡＮ（Local Area Network）等のネットワーク又は通信線を介して、外部装置との間で各種のデータを送受信する。 For the network interface 507, for example, a NIC (Network Interface Card) or the like is used, and the network interface 507 exchanges various data with an external device via a network such as a LAN (Local Area Network) or a communication line. Send and receive.
［保守端末における保守ルートの表示例］
　次に、図３を参照して、保守端末３の表示部３０における保守ルートの表示例について説明する。図３は、保守端末３の表示部３０における保守ルートの表示例を示す図であり、図３Ａには往路の保守ルートＲｏの表示例を示し、図３Ｂには復路の保守ルートＲｉの表示例を示す。 [Display example of maintenance route on maintenance terminal]
Next, a display example of a maintenance route on the display unit 30 of the maintenance terminal 3 will be described with reference to FIG. 3A and 3B are diagrams showing display examples of maintenance routes on the display unit 30 of the maintenance terminal 3. FIG. 3A shows a display example of the outbound maintenance route Ro, and FIG. 3B shows a display example of the return route Ri. indicate.
　図３Ａ及び図３Ｂに示すように、表示部３０の画面は、エラー情報表示部Ａｒ１、倉庫情報表示部Ａｒ２、開始ボタンＢｎ１及び完了ボタンＢｎ２等を含む。 As shown in FIGS. 3A and 3B, the screen of the display section 30 includes an error information display section Ar1, a warehouse information display section Ar2, a start button Bn1, a finish button Bn2, and the like.
　エラー情報表示部Ａｒ１には、発生時刻情報Ｉｆ１、車両番号Ｉｆ２、エラー内容Ｉｆ３及び対策方法Ｉｆ４の各情報が表示される。 In the error information display portion Ar1, information such as occurrence time information If1, vehicle number If2, error content If3, and countermeasure If4 is displayed.
　発生時刻情報Ｉｆ１は、異常車両に異常が発生した時刻の情報を示す。車両番号Ｉｆ２は、異常車両の車両番号の情報を示す。エラー内容Ｉｆ３は、異常車両における異常の内容を示す。異常には、例えば、車両２２が有する前方障害物検知センサ（図示略）の故障、前方に存在する障害物の検知、車両２２自体の故障等がある。対策方法Ｉｆ４は、異常の内容に応じた対策方法の情報を示す。対策方法には、例えば、異常発生個所の修理、運転による車両２２の帰着位置への帰還、保守員Ｍによる障害物の撤去等がある。 Occurrence time information If1 indicates the time when an abnormality occurred in the abnormal vehicle. The vehicle number If2 indicates information on the vehicle number of the abnormal vehicle. The error content If3 indicates the content of the abnormality in the abnormal vehicle. Abnormalities include, for example, failure of a forward obstacle detection sensor (not shown) of the vehicle 22, detection of an obstacle in front, failure of the vehicle 22 itself, and the like. Countermeasure If4 indicates information on a countermeasure according to the content of the abnormality. Countermeasures include, for example, repairing a location where an abnormality has occurred, returning the vehicle 22 to the return position by driving, and removal of obstacles by maintenance personnel M, and the like.
　保守員Ｍは、エラー情報表示部Ａｒ１に表示された各情報を確認することにより、異常車両における異常に関する内容、及び、対策方法について、適切に把握することができる。 By confirming each piece of information displayed in the error information display section Ar1, maintenance personnel M can appropriately grasp the content of the abnormality in the abnormal vehicle and the countermeasure method.
　倉庫情報表示部Ａｒ２には、倉庫２内の見取り図が記載されており、荷物置き場が矩形の枠で示され、異常車両２２ａ（図１参照）は黒塗りの三角印で示され、正常に稼働中の車両２２は白塗りの丸印で示されている。また、倉庫情報表示部Ａｒ２には、保守員Ｍの現在位置Ｐｎ及び往路の保守ルートＲｏが矢印で表示されている。往路の保守ルートＲｏは、異常車両の位置（以下、「異常車両位置」と称する）Ｐａまでの道のりである。 In the warehouse information display area Ar2, a floor plan of the inside of the warehouse 2 is described, the cargo storage area is indicated by a rectangular frame, and the abnormal vehicle 22a (see FIG. 1) is indicated by a black triangular mark, indicating that the vehicle is operating normally. Vehicles 22 inside are indicated by white circles. In the warehouse information display area Ar2, the current position Pn of the maintenance worker M and the outward maintenance route Ro are indicated by arrows. The outbound maintenance route Ro is a route to the position Pa of the abnormal vehicle (hereinafter referred to as "abnormal vehicle position").
　保守員Ｍは、図３Ａに示す保守端末３の画面において往路の保守ルートＲｏを確認することにより、異常車両位置Ｐａまで迅速に到達することができる。保守員Ｍは、異常車両位置Ｐａまでの移動を開始する際に、開始ボタンＢｎ１を押下する。この操作により、保守員Ｍによる異常車両位置Ｐａまでの移動の開始が、自立移動制御装置１の搬送計画生成部１２に伝えられる。 The maintenance worker M can quickly reach the abnormal vehicle position Pa by checking the outward maintenance route Ro on the screen of the maintenance terminal 3 shown in FIG. 3A. The maintenance worker M presses the start button Bn1 when starting to move to the abnormal vehicle position Pa. By this operation, the start of movement to the abnormal vehicle position Pa by the maintenance worker M is notified to the transportation plan generation unit 12 of the independent movement control device 1 .
　また、倉庫情報表示部Ａｒ２には、保守員Ｍの現在位置Ｐｎの情報も表示され、現在位置Ｐｎの情報は随意更新して表示される。これにより、保守員Ｍは、異常車両位置Ｐａまでの経路を自分が間違いなく通行しているか否かの情報や、異常車両位置Ｐａまでの距離などを、直観的に把握することができる。 In addition, information on the current position Pn of the maintenance worker M is also displayed in the warehouse information display section Ar2, and the information on the current position Pn is updated and displayed at will. As a result, the maintenance worker M can intuitively grasp the information as to whether or not he or she is correctly following the route to the abnormal vehicle position Pa, the distance to the abnormal vehicle position Pa, and the like.
　保守員Ｍは、異常車両位置Ｐａに到着すると、図３Ａに示される完了ボタンＢｎ２を押下する。この操作により、保守員Ｍによる異常車両位置Ｐａへの到着が搬送計画生成部１２に通知される。また、保守員Ｍによる完了ボタンＢｎ２の押下検知時には、不図示の表示制御部等によって、画面を図３Ｂに示す画面に切り替える処理が行われる。 When the maintenance worker M arrives at the abnormal vehicle position Pa, he presses the completion button Bn2 shown in FIG. 3A. By this operation, the transportation plan generation unit 12 is notified that the maintenance worker M has arrived at the abnormal vehicle position Pa. Further, when the press of the completion button Bn2 by the maintenance person M is detected, a process of switching the screen to the screen shown in FIG. 3B is performed by a display control unit (not shown) or the like.
　図３Ｂに示す画面の構成も、図３Ａに示した画面の構成と同様である。図３Ｂに示す画面においては、異常車両位置Ｐａから帰着位置Ｐｒまでの経路である、復路の保守ルートＲｉが表示される。保守員Ｍは、復路の保守ルートＲｉを確認することにより、異常車両位置Ｐａから帰着位置Ｐｒまで、迅速に戻ることができる。なお、保守ルート生成部１１は、復路の保守ルートＲｉは、保守員Ｍが異常車両２２ａを運転して帰着位置まで帰還する場合と、保守員Ｍがその場で対処を行って保守員のみが帰還する場合とで、経路を異ならせることができる。 The configuration of the screen shown in FIG. 3B is also the same as the configuration of the screen shown in FIG. 3A. On the screen shown in FIG. 3B, a return maintenance route Ri, which is a route from the abnormal vehicle position Pa to the return position Pr, is displayed. The maintenance worker M can quickly return from the abnormal vehicle position Pa to the return position Pr by confirming the return maintenance route Ri. The maintenance route generation unit 11 determines that the maintenance route Ri for the return trip is a case where the maintenance worker M drives the abnormal vehicle 22a and returns to the return position, and a case where the maintenance worker M takes measures on the spot and only the maintenance worker A different route can be used for returning.
　保守員Ｍは、異常車両位置Ｐａにおける対策の開始時、又は、帰着位置Ｐｒまでの帰還の開始時に、図３Ｂに示される開始タンＢｎ１を押下する。この操作により、異常車両位置Ｐａにおける対策の開始、又は、帰着位置Ｐｒまでの帰還の開始が、搬送計画生成部１２に通知される。 The maintenance worker M presses the start button Bn1 shown in FIG. 3B at the start of countermeasures at the abnormal vehicle position Pa or at the start of return to the return position Pr. By this operation, the transportation plan generation unit 12 is notified of the start of countermeasures for the abnormal vehicle position Pa or the start of return to the return position Pr.
　保守員Ｍは、異常車両位置Ｐａにおける対策の完了時、又は、帰着位置Ｐｒまでの帰還時に、図３Ｂに示される完了ボタンＢｎ２を押下する。この操作により、異常車両位置Ｐａにおける対策の完了、又は、帰着位置Ｐｒまでの帰還が、搬送計画生成部１２に通知される。 The maintenance worker M presses the completion button Bn2 shown in FIG. 3B when the countermeasures for the abnormal vehicle position Pa are completed or when the vehicle returns to the return position Pr. By this operation, the transfer plan generation unit 12 is notified of the completion of countermeasures at the abnormal vehicle position Pa or the return to the return position Pr.
［自立移動体制御システムによる自立移動体制御方法］
　次に、図４～図７を参照して、自立移動体制御システム１００による自立移動体制御方法について説明する。 [Self-supporting mobile body control method by self-supporting mobile body control system]
Next, the autonomous mobile body control method by the autonomous mobile body control system 100 will be described with reference to FIGS. 4 to 7. FIG.
〔保守ルート生成部による処理〕
　まず、図４及び図５を参照して、自立移動体制御システム１００の自立移動体制御装置１の保守ルート生成部１１（図１参照）による処理について説明する。まず、図４を参照して、保守ルート生成部１１による往路の保守ルート生成処理の手順について説明する。
図４は、保守ルート生成部１１による往路の保守ルート生成処理の手順の例を示すフローチャートである。 [Processing by Maintenance Route Generation Unit]
First, with reference to Drawing 4 and Drawing 5, processing by maintenance route generation part 11 (refer to Drawing 1) of self-supporting mobile control device 1 of self-supporting mobile control system 100 is explained. First, with reference to FIG. 4, the procedure of the outward maintenance route generation processing by the maintenance route generation unit 11 will be described.
FIG. 4 is a flow chart showing an example of the procedure of the outward maintenance route generation processing by the maintenance route generation unit 11 .
　まず、保守ルート生成部１１は、エラー情報受信部１０から、自動フォークリフト２２の異常に関する情報を受信したか否かを判定する（ステップＳ１）。ステップＳ１で、異常に関する情報は受信していないと判定された場合（ステップＳ１がＮＯ判定の場合）、保守ルート生成部１１は、ステップＳ１の判定を繰り返す。 First, the maintenance route generation unit 11 determines whether or not information regarding an abnormality of the automatic forklift 22 has been received from the error information reception unit 10 (step S1). If it is determined in step S1 that no information regarding an abnormality has been received (NO in step S1), the maintenance route generator 11 repeats the determination in step S1.
　一方、ステップＳ１で、異常に関する情報を受信したと判定された場合（ステップＳ１がＹＥＳ判定の場合）、保守ルート生成部１１は、エラーの対策方法を選択（決定）する（ステップＳ２）。次いで、保守ルート生成部１１は、異常の内容が、緊急の対策を要するものであるか否かを判定する（ステップＳ３）。 On the other hand, if it is determined in step S1 that information regarding an abnormality has been received (YES in step S1), the maintenance route generation unit 11 selects (determines) an error countermeasure method (step S2). Next, the maintenance route generation unit 11 determines whether or not the contents of the abnormality require urgent countermeasures (step S3).
　ステップＳ３で、緊急の対策を要する異常ではないと判定された場合（ステップＳ３がＮＯ判定の場合）、保守ルート生成部１１は、稼働中の他の車両（自動フォークリフト）２２の通行に影響を及ぼさない往路の保守ルートＲｏを生成する（ステップＳ４）。次いで、保守ルート生成部１１は、ステップＳ４で生成した往路の保守ルートＲｏを、保守員Ｍが所持する保守端末３に送信する（ステップＳ５）。ステップＳ５の処理後、保守ルート生成部１１による往路の保守ルート生成処理は終了する。 If it is determined in step S3 that the abnormality does not require urgent countermeasures (NO determination in step S3), the maintenance route generation unit 11 determines that the traffic of other vehicles (automatic forklift trucks) 22 in operation is not affected. A maintenance route Ro for the outbound route that does not affect is generated (step S4). Next, the maintenance route generation unit 11 transmits the outbound maintenance route Ro generated in step S4 to the maintenance terminal 3 possessed by the maintenance worker M (step S5). After the processing of step S5, the outward maintenance route generation processing by the maintenance route generation unit 11 ends.
　一方、ステップＳ３で、緊急の対策を要する異常であると判定された場合（ステップＳ３がＹＥＳ判定の場合）、保守ルート生成部１１は、稼働中の他の車両２２の通行に影響を及ぼす可能性のある往路の保守ルートＲｏを生成する（ステップＳ６）。 On the other hand, if it is determined in step S3 that there is an abnormality that requires urgent countermeasures (YES determination in step S3), the maintenance route generation unit 11 may affect the traffic of other vehicles 22 in operation. A maintenance route Ro for the outbound route is generated (step S6).
　次いで、保守ルート生成部１１は、搬送計画生成部１２に対して、他の車両の作業ルートの変更を依頼する（ステップＳ７）。次いで、保守ルート生成部１１は、搬送計画生成部１２に、往路の保守ルートＲｏの情報を送信する（ステップＳ８）。次いで、保守ルート生成部１１は、搬送計画生成部１２より、作業ルートの変更完了通知を受け付けたか否かを判定する（ステップＳ９）。 Next, the maintenance route generation unit 11 requests the transportation plan generation unit 12 to change the work route of another vehicle (step S7). Next, the maintenance route generation unit 11 transmits information on the outward maintenance route Ro to the transportation plan generation unit 12 (step S8). Next, the maintenance route generation unit 11 determines whether or not a work route change completion notification has been received from the transportation plan generation unit 12 (step S9).
　ステップＳ９で、作業ルートの変更完了通知は受け付けていないと判定された場合（ステップＳ９がＮＯ判定の場合）、保守ルート生成部１１は、ステップＳ９の判定を繰り返す。一方、ステップＳ９で、作業ルートの変更完了通知を受け付けたと判定された場合（ステップＳ９がＹＥＳ判定の場合）、保守ルート生成部１１は、ステップＳ５の処理を行う。すなわち、ステップＳ６で生成した往路の保守ルートＲｏを、保守員Ｍが所持する保守端末３に送信する。 If it is determined in step S9 that the work route change completion notification has not been received (NO in step S9), the maintenance route generation unit 11 repeats the determination in step S9. On the other hand, when it is determined in step S9 that the work route change completion notification has been received (when step S9 determines YES), the maintenance route generation unit 11 performs the processing of step S5. That is, the outbound maintenance route Ro generated in step S6 is transmitted to the maintenance terminal 3 possessed by the maintenance worker M. FIG.
　次に、図５を参照して、保守ルート生成部１１による復路の保守ルート生成処理について説明する。図５は、保守ルート生成部１１による復路の保守ルート処理の手順の例を示すフローチャートである。 Next, with reference to FIG. 5, the return route maintenance route generation processing by the maintenance route generation unit 11 will be described. FIG. 5 is a flow chart showing an example of the procedure of the return route maintenance route processing by the maintenance route generation unit 11 .
　まず、保守ルート生成部１１は、異常車両位置Ｐａへの保守員Ｍの到着を検知したか否かを判定する（ステップＳ１１）。ステップＳ１１で、異常車両位置Ｐａへの保守員Ｍの到着は検知していないと判定された場合（ステップＳ１１がＮＯ判定の場合）、保守ルート生成部１１は、ステップＳ１１の判定を繰り返す。 First, the maintenance route generation unit 11 determines whether or not the arrival of the maintenance worker M at the abnormal vehicle position Pa has been detected (step S11). When it is determined in step S11 that the arrival of the maintenance worker M at the abnormal vehicle position Pa has not been detected (NO in step S11), the maintenance route generator 11 repeats the determination in step S11.
　一方、ステップＳ１１で、異常車両位置Ｐａへの保守員Ｍの到着を検知したと判定された場合（ステップＳ１１がＹＥＳ判定の場合）、保守ルート生成部１１は、搬送計画生成部１２より、現在（その時点）における搬送状況情報を取得する（ステップＳ１２）。次いで、保守ルート生成部１１は、復路の保守ルート生成処理を開始する（ステップＳ１３）。 On the other hand, when it is determined in step S11 that the maintenance worker M has arrived at the abnormal vehicle position Pa (when step S11 determines YES), the maintenance route generation unit 11 causes the transportation plan generation unit 12 to generate the current The transport status information at (at that time) is acquired (step S12). Next, the maintenance route generation unit 11 starts a return route maintenance route generation process (step S13).
　次いで、保守ルート生成部１１は、異常車両位置Ｐａからの保守員Ｍの緊急の帰還は必要であるか否かを判定する（ステップＳ１４）。ステップＳ１４で、緊急の帰還は不要であると判定された場合（ステップＳ１４がＮＯ判定の場合）、保守ルート生成部１１は、稼働中の他の車両（自動フォークリフト）２２の通行に影響を及ぼさない復路の保守ルートＲｉを生成する（ステップＳ１５）。 Next, the maintenance route generation unit 11 determines whether or not it is necessary for the maintenance worker M to return urgently from the abnormal vehicle position Pa (step S14). If it is determined in step S14 that the emergency return is not necessary (NO in step S14), the maintenance route generator 11 does not affect the traffic of other vehicles (automatic forklifts) 22 in operation. A maintenance route Ri for the return route that does not exist is generated (step S15).
　次いで、保守ルート生成部１１は、ステップＳ１５で生成した復路の保守ルートＲｉを、保守員Ｍが所持する保守端末３に送信する（ステップＳ１６）。次いで、保守ルート生成部１１は、保守員Ｍによる帰着位置Ｐｒへの帰還を検知したか否かを判定する（ステップＳ１７）。 Next, the maintenance route generation unit 11 transmits the return route maintenance route Ri generated in step S15 to the maintenance terminal 3 possessed by the maintenance worker M (step S16). Next, the maintenance route generation unit 11 determines whether or not the return to the return position Pr by the maintenance worker M has been detected (step S17).
　ステップＳ１７で、期間位置Ｐｒへの帰還は検知していないと判定された場合（ステップＳ１７がＮＯ判定の場合）、保守ルート生成部１１は、ステップＳ１７の判定を繰り返す。一方、ステップＳ１７で、期間位置Ｐｒへの帰還を検知したと判定された場合（ステップＳ１７がＹＥＳ判定の場合）、保守ルート生成部１１は、搬送計画生成部１２に、対策完了通知を送信する（ステップＳ１８）。 If it is determined in step S17 that the return to the period position Pr has not been detected (NO in step S17), the maintenance route generator 11 repeats the determination in step S17. On the other hand, when it is determined in step S17 that the return to the period position Pr has been detected (when step S17 determines YES), the maintenance route generation unit 11 transmits a countermeasure completion notification to the transportation plan generation unit 12. (Step S18).
　一方、ステップＳ１４で、緊急の帰還が必要であると判定された場合（ステップＳ１４がＹＥＳ判定の場合）、保守ルート生成部１１は、稼働中の他の車両（自動フォークリフト）２２の通行に影響を及ぼす可能性のある復路の保守ルートＲｉを生成する（ステップＳ１９）。 On the other hand, if it is determined in step S14 that an urgent return is necessary (if determined as YES in step S14), the maintenance route generation unit 11 determines that the traffic of other vehicles (automatic forklift trucks) 22 in operation is affected. A maintenance route Ri on the return route that may exert a
　次いで、保守ルート生成部１１は、搬送計画生成部１２に対して、他の車両の作業ルートの変更を依頼する（ステップＳ２０）。次いで、保守ルート生成部１１は、搬送計画生成部１２に、復路の保守ルートＲｉの情報を送信する（ステップＳ２１）。次いで、保守ルート生成部１１は、搬送計画生成部１２より、作業ルートの変更完了通知を受け付けたか否かを判定する（ステップＳ２２）。 Next, the maintenance route generation unit 11 requests the transportation plan generation unit 12 to change the work route of another vehicle (step S20). Next, the maintenance route generation unit 11 transmits information on the return route maintenance route Ri to the transportation plan generation unit 12 (step S21). Next, the maintenance route generation unit 11 determines whether or not a work route change completion notification has been received from the transportation plan generation unit 12 (step S22).
　ステップＳ２２で、作業ルートの変更完了通知は受け付けていないと判定された場合（ステップＳ２２がＮＯ判定の場合）、保守ルート生成部１１は、ステップＳ２２の判定を繰り返す。一方、ステップＳ２２で、作業ルートの変更完了通知を受け付けたと判定された場合（ステップＳ２２がＹＥＳ判定の場合）、保守ルート生成部１１は、ステップＳ１６以降の処理を行う。そして、ステップＳ１８の処理後、保守ルート生成部１１による復路の保守ルート生成処理は終了する。 If it is determined in step S22 that the work route change completion notification has not been received (NO determination in step S22), the maintenance route generation unit 11 repeats the determination in step S22. On the other hand, when it is determined in step S22 that the work route change completion notification has been received (when step S22 determines YES), the maintenance route generation unit 11 performs the processing from step S16 onward. After the processing of step S18, the maintenance route generation processing for the return route by the maintenance route generation unit 11 ends.
〔搬送計画生成部による処理〕
　次に、図６及び図７を参照して、搬送計画生成部１２（図１参照）による搬送計画生成処理について説明する。図６及び図７は、搬送計画生成部１２による処理の手順の例を示すフローチャートである。 [Processing by Transportation Plan Generation Unit]
Next, referring to FIGS. 6 and 7, the transportation plan generation processing by the transportation plan generation unit 12 (see FIG. 1) will be described. 6 and 7 are flowcharts showing an example of the procedure of processing by the transportation plan generation unit 12. FIG.
　まず、搬送計画生成部１２は、正常に稼働している車両２２の台数に基づいて、搬送計画を策定する（ステップＳ３１）。次いで、搬送計画生成部１２は、各車両２２に搬送計画を送信する（ステップＳ３２）。次いで、搬送計画生成部１２は、各車両２２に稼働開始を指示する（ステップＳ３３）。 First, the transportation plan generation unit 12 formulates a transportation plan based on the number of vehicles 22 that are operating normally (step S31). Next, the transportation plan generator 12 transmits the transportation plan to each vehicle 22 (step S32). Next, the transportation plan generator 12 instructs each vehicle 22 to start operation (step S33).
　次いで、搬送計画生成部１２は、エラー情報受信部１０から異常車両２２ａの情報を受信したか否かを判定する（ステップＳ３４）。ステップＳ３４で、異常車両２２ａの情報は受信していないと判定された場合（ステップＳ３４がＮＯ判定の場合）、搬送計画生成部１２は、車両２２による搬送が完了したか否かを判定する（ステップＳ３５）。ステップＳ３５で、搬送は完了していないと判定された場合（ステップＳ３５がＮＯ判定の場合）、搬送計画生成部１２は、ステップＳ３５に戻って判定を行う。 Next, the transportation plan generation unit 12 determines whether or not information on the abnormal vehicle 22a has been received from the error information reception unit 10 (step S34). If it is determined in step S34 that the information on the abnormal vehicle 22a has not been received (NO in step S34), the transportation plan generation unit 12 determines whether transportation by the vehicle 22 has been completed ( step S35). If it is determined in step S35 that the transport has not been completed (NO determination in step S35), the transport plan generation unit 12 returns to step S35 to perform determination.
　一方、ステップＳ３５で、車両２２による搬送は完了したと判定された場合（ステップＳ３５がＹＥＳ判定の場合）、搬送計画生成部１２による搬送計画生成処理は終了する。 On the other hand, if it is determined in step S35 that the transport by the vehicle 22 has been completed (YES in step S35), the transport plan generation process by the transport plan generation unit 12 ends.
　ステップＳ３４で、エラー情報受信部１０から異常車両２２ａの情報を受信したと判定された場合（ステップＳ３４がＹＥＳ判定の場合）、搬送計画生成部１２は、異常車両２２ａを除いた車両における搬送計画を生成しなおす（ステップＳ３６）。次いで、搬送計画生成部１２は、ステップＳ３６で生成した搬送計画を、異常車両２２ａ以外の各車両２２に送信する（ステップＳ３７）。次いで、搬送計画生成部１２は、異常車両２２ａ以外の各車両２２に稼働開始を指示する（ステップＳ３８）。 When it is determined in step S34 that the information on the abnormal vehicle 22a has been received from the error information receiving unit 10 (when step S34 determines YES), the transportation plan generation unit 12 generates a transportation plan for vehicles excluding the abnormal vehicle 22a. is generated again (step S36). Next, the transportation plan generator 12 transmits the transportation plan generated in step S36 to each vehicle 22 other than the abnormal vehicle 22a (step S37). Next, the transport plan generator 12 instructs each vehicle 22 other than the abnormal vehicle 22a to start operation (step S38).
　次いで、搬送計画生成部１２は、保守ルート生成部１１から作業ルートの変更依頼を受け付けたか否かを判定する（図７のステップＳ３９）。ステップＳ３９で、作業ルートの変更依頼を受け付けたと判定された場合（ステップＳ３９がＹＥＳ判定の場合）、搬送計画生成部１２は、往路の保守ルートＲｏ又は復路の保守ルートＲｉを受信したか否かを判定する（ステップＳ４０）。ステップＳ４０で、保守ルートは受信していないと判定された場合（ステップＳ４０がＮＯ判定の場合）、搬送計画生成部１２は、ステップＳ４０の判定を繰り返す。 Next, the transportation plan generation unit 12 determines whether or not a work route change request has been received from the maintenance route generation unit 11 (step S39 in FIG. 7). If it is determined in step S39 that a work route change request has been received (if determined as YES in step S39), the transportation plan generation unit 12 determines whether the outbound maintenance route Ro or the inbound maintenance route Ri has been received. is determined (step S40). If it is determined in step S40 that no maintenance route has been received (NO determination in step S40), the transportation plan generation unit 12 repeats the determination in step S40.
　一方、ステップＳ４０で、保守ルートを受信したと判定された場合（ステップＳ４０がＹＥＳ判定の場合）、搬送計画生成部１２は、受信した往路の保守ルートＲｏ又は復路の保守ルートＲｉを通行する異常車両２２ａの通行を妨げない作業ルートを通る搬送計画を策定する（ステップＳ４１）。次いで、搬送計画生成部１２は、ステップＳ４１で策定した搬送計画を、異常車両２２ａ以外の各車両２２に送信する（ステップＳ４２）。次いで、搬送計画生成部１２は、異常車両２２ａ以外の各車両２２に稼働開始を指示する（ステップＳ４３）。 On the other hand, if it is determined in step S40 that a maintenance route has been received (if determined as YES in step S40), the transport plan generator 12 generates an error message indicating that the received outbound maintenance route Ro or inbound maintenance route Ri is to be traveled. A transportation plan is formulated through a work route that does not interfere with the traffic of the vehicle 22a (step S41). Next, the transport plan generator 12 transmits the transport plan formulated in step S41 to each vehicle 22 other than the abnormal vehicle 22a (step S42). Next, the transportation plan generator 12 instructs each vehicle 22 other than the abnormal vehicle 22a to start operation (step S43).
　次いで、搬送計画生成部１２は、保守ルート生成部１１に作業ルート変更完了通知を送信する（ステップＳ４４）。次いで、搬送計画生成部１２は、保守ルート生成部１１から、対策完了通知を受信したか否かを判定する（ステップＳ４５）。ステップＳ４５で、対策完了通知は受信していないと判定された場合（ステップＳ４５がＮＯの場合）、搬送計画生成部１２はステップＳ４５の判定を繰り返す。 Next, the transportation plan generation unit 12 transmits a work route change completion notice to the maintenance route generation unit 11 (step S44). Next, the transportation plan generation unit 12 determines whether or not a countermeasure completion notification has been received from the maintenance route generation unit 11 (step S45). If it is determined in step S45 that the countermeasure completion notification has not been received (NO in step S45), the transportation plan generation unit 12 repeats the determination in step S45.
　一方、ステップＳ４５で、対策完了通知を受信したと判定された場合（ステップＳ４５がＹＥＳ判定の場合）、搬送計画生成部１２は、正常に稼働している車両２２の台数に基づいて、搬送計画を再策定する（ステップＳ４６）。対策によって異常車両２２ａの異常が解消して正常に稼働可能な車両２２となった場合、この車両２２も搬送計画に組み込まれる。 On the other hand, when it is determined in step S45 that the countermeasure completion notification has been received (when step S45 determines YES), the transportation plan generation unit 12 generates a transportation plan based on the number of vehicles 22 operating normally. is re-formulated (step S46). When the abnormality of the abnormal vehicle 22a is resolved by measures and the vehicle 22 can operate normally, this vehicle 22 is also included in the transportation plan.
　次いで、搬送計画生成部１２は、各車両２２に搬送計画を送信する（ステップＳ４７）。次いで、搬送計画生成部１２は、各車両２２に稼働開始を指示する（ステップＳ４８）。ステップＳ４８の処理後、又は、ステップＳ３９で異常車両２２ａに関する情報は受信していないと判定された場合（ステップＳ３９がＮＯ判定の場合）、搬送計画生成部１２は、車両２２による搬送が完了したか否かを判定する（ステップＳ４９）。 Next, the transportation plan generation unit 12 transmits the transportation plan to each vehicle 22 (step S47). Next, the transportation plan generator 12 instructs each vehicle 22 to start operation (step S48). After the process of step S48, or when it is determined in step S39 that the information regarding the abnormal vehicle 22a has not been received (NO determination in step S39), the transport plan generation unit 12 determines that the transport by the vehicle 22 has been completed. It is determined whether or not (step S49).
　ステップＳ４９で、搬送は完了していないと判定された場合（ステップＳ４９がＮＯ判定の場合）、搬送計画生成部１２は、図６のステップＳ３４に戻って判定を行う。すなわち、エラー情報受信部１０から異常車両２２ａの情報を受信したか否かを判定する。一方、ステップＳ４９で、車両２２による搬送は完了したと判定された場合（ステップＳ４９がＹＥＳ判定の場合）、搬送計画生成部１２による搬送計画生成処理は終了する。 If it is determined in step S49 that the transportation has not been completed (NO determination in step S49), the transportation plan generation unit 12 returns to step S34 of FIG. 6 to perform determination. That is, it is determined whether information about the abnormal vehicle 22a has been received from the error information receiving unit 10 or not. On the other hand, if it is determined in step S49 that the transport by the vehicle 22 has been completed (YES in step S49), the transport plan generating process by the transport plan generating unit 12 ends.
　上述した第１の実施形態では、自立移動体制御装置１は、車両２２から送信される異常信号に基づいて、車両２２における異常の発生を検知するエラー情報受信部１０と、保守ルート生成部１１と、を含む。保守ルート生成部１１は、エラー情報受信部１０による車両２２の異常の検知時に、異常車両２２ａの位置までの保守ルートの情報を生成して、保守員Ｍが所持する保守端末３の画面に表示させる。したがって、本実施形態によれば、異常車両位置Ｐａに保守員Ｍが迅速に到着できるようになる。 In the above-described first embodiment, the autonomous mobile body control device 1 includes an error information receiving unit 10 that detects the occurrence of an abnormality in the vehicle 22 based on an abnormality signal transmitted from the vehicle 22, and a maintenance route generation unit 11 and including. When the error information receiving unit 10 detects an abnormality in the vehicle 22, the maintenance route generating unit 11 generates information on the maintenance route to the position of the abnormal vehicle 22a, and displays the information on the screen of the maintenance terminal 3 possessed by the maintenance worker M. Let Therefore, according to the present embodiment, maintenance personnel M can quickly arrive at the abnormal vehicle position Pa.
　また、上述した実施形態では、保守ルート生成部１１は、異常発生自立移動体への対処が緊急性を要するものであるか否かの判定結果に基づいて、保守経路におけるルートを異ならせる。具体的には、保守ルート生成部１１は、異常車両２２ａへの対処が緊急性を要するものであると判定した場合、保守ルートとして、正常に稼働している他の車両２２の通行に影響を及ぼす可能性のあるルートを生成する。つまり、異常車両位置Ｐａに保守員Ｍが迅速に到着することを最優先とした保守ルートを生成する。そして、保守ルート生成部１１は、搬送計画生成部１２に対して、他の車両２２の作業ルートの、保守ルートを通過する保守員の移動を妨げないルートへの変更を依頼する。 In addition, in the above-described embodiment, the maintenance route generation unit 11 changes the route in the maintenance route based on the determination result of whether or not the response to the abnormal independent mobile unit requires urgency. Specifically, when the maintenance route generation unit 11 determines that the handling of the abnormal vehicle 22a requires urgency, the maintenance route generation unit 11 selects a maintenance route that does not affect the passage of other vehicles 22 that are operating normally. Generate routes that may affect In other words, a maintenance route is generated that prioritizes the rapid arrival of the maintenance worker M at the abnormal vehicle position Pa. Then, the maintenance route generation unit 11 requests the transportation plan generation unit 12 to change the work route of the other vehicle 22 to a route that does not hinder movement of maintenance personnel passing through the maintenance route.
　したがって、本実施形態によれば、異常車両２２ａに対する対処を緊急で行う必要がある場合に、保守員Ｍが異常車両位置Ｐａに迅速に到着できる。また、異常車両位置Ｐａまでの移動時に他の車両２２と行き会うこともなくなるため、異常車両位置Ｐａまでの移動時における保守員Ｍの安全も保障される。 Therefore, according to the present embodiment, maintenance personnel M can quickly arrive at the abnormal vehicle position Pa when it is necessary to urgently deal with the abnormal vehicle 22a. In addition, since the vehicle 22 is not encountered when moving to the abnormal vehicle position Pa, the safety of the maintenance worker M is also ensured when moving to the abnormal vehicle position Pa.
　また、保守ルート生成部１１は、異常車両２２ａへの対処が緊急性を要さないものであると判定した場合、保守ルートとして、正常に稼働している他の車両２２の通行に影響を及ぼさないルートを生成する。それゆえ、本実施形態によれば、異常車両位置Ｐａまでの移動時における保守員Ｍの安全の確保と、他の自動フォークリフト２２の稼働の維持とを、両立することができる。 Further, when the maintenance route generation unit 11 determines that the handling of the abnormal vehicle 22a does not require urgency, the maintenance route does not affect the traffic of other vehicles 22 that are operating normally. Generate no routes. Therefore, according to the present embodiment, it is possible to ensure the safety of maintenance personnel M during movement to the abnormal vehicle position Pa and to maintain the operation of other automatic forklift trucks 22 at the same time.
　また、上述した実施形態では、保守ルート生成部１１は、保守端末３の画面に、異常車両２２ａに発生した異常に関する情報（エラー情報）及び異常への対処方法、往路の保守ルートＲｏ又は復路の保守ルートＲｉ、並びに、保守員Ｍの現在位置Ｐｒの情報を表示させる。それゆえ、本実施形態によれば、保守員Ｍは、保守端末３の画面を見ながら、異常車両２２ａの異常に対する対策を適切にとることが可能となる。 In the above-described embodiment, the maintenance route generation unit 11 displays information (error information) regarding an abnormality that has occurred in the abnormal vehicle 22a, a method of coping with the abnormality, and an outbound maintenance route Ro or a return route on the screen of the maintenance terminal 3. Information on the maintenance route Ri and the current position Pr of the maintenance worker M is displayed. Therefore, according to the present embodiment, the maintenance worker M can appropriately take measures against the abnormality of the abnormal vehicle 22a while viewing the screen of the maintenance terminal 3. FIG.
＜第２の実施形態＞
［自立移動体制御システムの構成］
　次に、図８を参照して、本発明の第２の実施形態に係る自立移動体制御システムの構成について説明する。図８は、本発明の第２の実施形態に係る自立移動体制御システム１００Ａの概略構成を示すブロック図である。 <Second embodiment>
[Configuration of autonomous mobile control system]
Next, with reference to FIG. 8, the configuration of the autonomous mobile body control system according to the second embodiment of the present invention will be described. FIG. 8 is a block diagram showing a schematic configuration of an autonomous mobile body control system 100A according to the second embodiment of the present invention.
　図８に示すように、自立移動体制御システム１００Ａと、図１に示した第１の実施形態に係る自立移動体制御システム１００とが異なる点は、自立移動体制御装置１Ａにおいて、保守ルート生成部１１の代わりに安全作業ゾーン生成部１３が存在する点である。 As shown in FIG. 8, the autonomous mobile body control system 100A differs from the autonomous mobile body control system 100 according to the first embodiment shown in FIG. The point is that a safe work zone generating unit 13 exists instead of the unit 11 .
　安全作業ゾーン生成部１３（保守情報生成部の一例）は、安全作業ゾーンＺｍ（保守作業範囲の一例）を生成して、該安全作業ゾーンの情報を異常車両２２ａ以外の車両２２に送信する。安全作業ゾーンは、異常車両２２ａに対する対策を行う場合において保守員が安全に作業をすることを可能とするゾーンである。安全作業ゾーンは、例えば、ＩＳＯ３６９１－４（産業車両－安全要求事項及び検証－第４部：無人産業車両及びシステム）に記載されている「オペレーティングハザードゾーン」の定義に沿って生成することができる。 The safe work zone generation unit 13 (an example of a maintenance information generation unit) generates a safe work zone Zm (an example of a maintenance work range) and transmits information on the safe work zone to vehicles 22 other than the abnormal vehicle 22a. The safe work zone is a zone that enables maintenance personnel to work safely when taking measures against the abnormal vehicle 22a. A safe work zone can be generated, for example, according to the definition of "operating hazard zone" given in ISO 3691-4 (Industrial vehicles - Safety requirements and verification - Part 4: Unmanned industrial vehicles and systems). .
　「オペレーティングハザードゾーン」の定義においては、オペレーティングハザードゾーンの周囲への明示方法、オペレーティングハザードゾーン内で守られるべき規約等が規定されている。オペレーティングハザードゾーン内で守られるべき規約には、例えば、オペレーティングハザードゾーンを通行する場合における車両２２の走行速度（定格速度より低い制限速度）や、オペレーティングハザードゾーン内への車両２２の禁止などがある。 　The definition of the "operating hazard zone" stipulates the method of indicating the surroundings of the operating hazard zone, the rules that must be observed within the operating hazard zone, and so on. Regulations to be observed within the operating hazard zone include, for example, the traveling speed of the vehicle 22 (speed limit lower than the rated speed) when passing through the operating hazard zone, prohibition of the vehicle 22 into the operating hazard zone, and the like. .
　安全作業ゾーン生成部１３は、安全作業ゾーンの生成後、安全作業ゾーンで守られるべき規約の遵守を搬送計画生成部１２に依頼する。異常車両２２ａ以外の車両２２が、この依頼に基づいて稼働することにより、保守員Ｍの安全が守られるとともに、異常車両２２ａとの衝突等による他の車両２２の稼働効率の低下も防止できる。 After generating the safe work zone, the safe work zone generation unit 13 requests the transportation plan generation unit 12 to comply with the rules that should be observed in the safe work zone. By operating the vehicles 22 other than the abnormal vehicle 22a based on this request, it is possible to protect the safety of the maintenance personnel M and prevent the deterioration of the operating efficiency of the other vehicles 22 due to a collision with the abnormal vehicle 22a.
　図９は、保守端末３の表示部３０における安全作業ゾーンＺｍの表示例を示す図である。表示部３０の画面は、エラー情報表示部Ａｒ１、倉庫情報表示部Ａｒ２、開始ボタンＢｎ１及び完了ボタンＢｎ２を含む。エラー情報表示部Ａｒ１については、図３に示した例と同様であるため、ここではその説明は省略する。 FIG. 9 is a diagram showing a display example of the safe work zone Zm on the display unit 30 of the maintenance terminal 3. FIG. The screen of the display section 30 includes an error information display section Ar1, a warehouse information display section Ar2, a start button Bn1 and a finish button Bn2. Since the error information display area Ar1 is the same as the example shown in FIG. 3, its explanation is omitted here.
　倉庫情報表示部Ａｒ２には、正常に稼働している車両２２は白色の丸印で示され、異常車両２２ａは黒塗りの三角印で示される。また、保守員Ｍの現在位置も、図に示す人の形のように、わかりやすいシンボルによって示される。さらに、倉庫情報表示部Ａｒ２においては、車両２２が稼働する範囲を示す稼働ゾーンＺｏが破線の枠で示され、安全作業ゾーンＺｍは太字の破線で示されている。 In the warehouse information display area Ar2, normally operating vehicles 22 are indicated by white circles, and abnormal vehicles 22a are indicated by black triangles. The current position of maintenance worker M is also indicated by an easy-to-understand symbol such as the figure of a person shown in the figure. Furthermore, in the warehouse information display area Ar2, the operating zone Zo indicating the range in which the vehicle 22 operates is indicated by a dashed frame, and the safe work zone Zm is indicated by a bold dashed line.
　保守員Ｍは、図９に示す保守端末３の画面において安全作業ゾーンＺｍを確認することにより、安全作業ゾーンＺｍの位置及び範囲を把握することができる。保守員Ｍは、安全作業ゾーンＺｍへの移動を開始する際に、開始ボタンＢｎ１を押下する。この操作により、保守員Ｍによる安全作業ゾーンＺｍまでの移動の開始が、搬送計画生成部１２に伝えられる。 By checking the safe work zone Zm on the screen of the maintenance terminal 3 shown in FIG. 9, the maintenance worker M can grasp the position and range of the safe work zone Zm. The maintenance worker M presses the start button Bn1 when starting to move to the safe work zone Zm. By this operation, the start of movement to the safe work zone Zm by the maintenance worker M is notified to the transportation plan generation unit 12 .
　また、倉庫情報表示部Ａｒ２には、図３に示した例と同様に、保守員Ｍの現在位置Ｐｎの情報も表示され、現在位置Ｐｎの情報は随意更新して表示される。 In addition, in the warehouse information display section Ar2, as in the example shown in FIG. 3, information on the current position Pn of the maintenance worker M is also displayed, and the information on the current position Pn is updated and displayed at will.
　保守員Ｍは、安全作業ゾーンＺｍでの異常車両２２ａへの対策の完了時、又は、異常車両２２ａの帰着位置への帰還の完了時に、図９に示される完了ボタンＢｎ２を押下する。
この操作により、保守員Ｍによる異常車両２２ａへの対策の完了が搬送計画生成部１２に通知される。 The maintenance worker M presses the completion button Bn2 shown in FIG. 9 when the countermeasures against the abnormal vehicle 22a in the safe work zone Zm are completed, or when the abnormal vehicle 22a returns to the return position.
By this operation, the transportation plan generation unit 12 is notified that maintenance personnel M has completed the countermeasures against the abnormal vehicle 22a.
　また、不図示の制御部等によって、図９に示す画面より安全作業ゾーンＺｍの表示を消す処理も行われる。これにより、図９に示す画面には稼働ゾーンＺｏのみが表示される。
稼働ゾーンＺｏにおいては、車両２２は、定格の走行速度で走行することが可能である。 In addition, processing for erasing the display of the safe work zone Zm from the screen shown in FIG. 9 is also performed by a control unit or the like (not shown). As a result, only the operating zone Zo is displayed on the screen shown in FIG.
In the operating zone Zo, the vehicle 22 can run at the rated running speed.
［自立移動体制御システムによる自立移動体制御方法］
　次に、図１０及び図１１を参照して、第２の実施形態に係る自立移動体制御システム１００Ａによる自立移動体制御方法について説明する。 [Self-supporting mobile body control method by self-supporting mobile body control system]
Next, with reference to Drawing 10 and Drawing 11, a self-supporting mobile body control method by self-supporting mobile body control system 100A concerning a 2nd embodiment is explained.
　図１０及び図１１は、搬送計画生成部１２による搬送計画生成方法の手順の例を示すフローチャートである。図１０のステップＳ５１～ステップＳ５８の各処理は、図６のステップＳ３１～ステップＳ３８と同一であるため、ここではこれらの各処理についての説明は省略する。 FIGS. 10 and 11 are flowcharts showing an example of the procedure of the transportation plan generation method by the transportation plan generation unit 12. FIG. 10 are the same as those of steps S31 to S38 in FIG. 6, descriptions of these processes are omitted here.
　搬送計画生成部１２は、図１０のステップＳ５８において、各車両２２に稼働開始を指示した後、安全作業ゾーン生成部１３から安全作業ゾーンＺｍの情報を受信したか否かを判定する（ステップＳ５９）。安全作業ゾーンＺｍの情報には、例えば、安全作業ゾーンＺｍの位置や大きさ、安全作業ゾーンＺｍ内で守られるべき規約などの情報がある。 After instructing each vehicle 22 to start operation in step S58 of FIG. 10, the transportation plan generation unit 12 determines whether or not information on the safe work zone Zm has been received from the safe work zone generation unit 13 (step S59). ). The information on the safe work zone Zm includes, for example, information such as the position and size of the safe work zone Zm, rules to be observed within the safe work zone Zm, and the like.
　ステップＳ５９で、安全作業ゾーンＺｍの情報を受信したと判定された場合（ステップＳ５９がＹＥＳ判定の場合）、搬送計画生成部１２は、安全作業ゾーンＺｍの情報（位置及び大きさ等）を各車両２２に送信する（ステップＳ６０）。 When it is determined in step S59 that the information on the safe work zone Zm has been received (when the determination in step S59 is YES), the transportation plan generation unit 12 sends the information (position, size, etc.) on the safe work zone Zm to each It is transmitted to the vehicle 22 (step S60).
　次いで、搬送計画生成部１２は、各車両２２に、例えば安全作業ゾーンＺｍ内での走行速度等の、安全作業ゾーンＺｍで守られるべき規約への対応を依頼する（ステップＳ６１）。次いで、搬送計画生成部１２は、各車両２２に対して稼働開始を指示する（ステップＳ６２）。次いで、搬送計画生成部１２は、安全作業ゾーン生成部１３に対して、ゾーン対応完了通知を送信する（ステップＳ６３）。 Next, the transport plan generation unit 12 requests each vehicle 22 to comply with the rules to be observed in the safe work zone Zm, such as the traveling speed within the safe work zone Zm (step S61). Next, the transportation plan generator 12 instructs each vehicle 22 to start operation (step S62). Next, the transportation plan generation unit 12 transmits a zone support completion notification to the safe work zone generation unit 13 (step S63).
　次いで、搬送計画生成部１２は、安全作業ゾーン生成部１３から対策完了通知を受信したか否かを判定する（ステップＳ６４）。ステップＳ６４で、対策完了通知は受信していないと判定された場合（ステップＳ６４がＮＯ判定の場合）、搬送計画生成部１２は、ステップＳ６４の判定を繰り返す。 Next, the transportation plan generation unit 12 determines whether or not it has received a countermeasure completion notification from the safe work zone generation unit 13 (step S64). If it is determined in step S64 that the countermeasure completion notification has not been received (NO determination in step S64), the transportation plan generation unit 12 repeats the determination in step S64.
　一方、ステップＳ６４で、対策完了通知を受信したと判定された場合（ステップＳ６４がＹＥＳ判定の場合）、搬送計画生成部１２は、正常に稼働している車両２２の台数に基づいて、搬送計画を再策定する（ステップＳ６５）。対策によって異常車両２２ａの異常が解消して正常に稼働可能な車両２２となった場合、この車両２２も搬送計画に組み込まれる。 On the other hand, if it is determined in step S64 that the countermeasure completion notification has been received (if determined as YES in step S64), the transport plan generation unit 12 generates a transport plan based on the number of vehicles 22 that are operating normally. is re-formulated (step S65). When the abnormality of the abnormal vehicle 22a is resolved by measures and the vehicle 22 can operate normally, this vehicle 22 is also included in the transportation plan.
　次いで、搬送計画生成部１２は、各車両２２に搬送計画を送信する（ステップＳ６６）。次いで、搬送計画生成部１２は、各車両２２に稼働開始を指示する（ステップＳ６７）。ステップＳ６７の処理後、又は、ステップＳ５９で安全作業ゾーンＺｍに関する情報は受信していないと判定された場合（ステップＳ５９がＮＯ判定の場合）、搬送計画生成部１２は、車両２２による搬送が完了したか否かを判定する（ステップＳ６８）。 Next, the transportation plan generation unit 12 transmits the transportation plan to each vehicle 22 (step S66). Next, the transport plan generator 12 instructs each vehicle 22 to start operation (step S67). After the processing of step S67, or when it is determined in step S59 that the information regarding the safe work zone Zm has not been received (NO determination in step S59), the transportation plan generation unit 12 completes the transportation by the vehicle 22. It is determined whether or not (step S68).
　ステップＳ６８で、搬送は完了していないと判定された場合（ステップＳ６８がＮＯ判定の場合）、搬送計画生成部１２は、図１０のステップＳ５４に戻って判定を行う。すなわち、エラー情報受信部１０から異常車両２２ａの情報を受信したか否かを判定する。一方、ステップＳ６８で、車両２２による搬送は完了したと判定された場合（ステップＳ６８がＹＥＳ判定の場合）、搬送計画生成部１２による搬送計画生成処理は終了する。 If it is determined in step S68 that the transport has not been completed (NO determination in step S68), the transport plan generation unit 12 returns to step S54 of FIG. 10 to perform determination. That is, it is determined whether information about the abnormal vehicle 22a has been received from the error information receiving unit 10 or not. On the other hand, if it is determined in step S68 that the transport by the vehicle 22 has been completed (YES in step S68), the transport plan generating process by the transport plan generating unit 12 ends.
　上述した第２の実施形態では、安全作業ゾーン生成部１３は、エラー情報受信部１０による車両２２の異常の検知時に、異常車両２２ａへの対策を行う場合における作業空間の範囲を示す安全作業ゾーンＺｍの情報を生成して、安全作業ゾーンＺｍを保守員Ｍが所持する保守端末３の画面に表示させる。それゆえ、本実施形態によれば、保守員Ｍは、異常車両２２ａに対策を行う安全作業ゾーンＺｍの位置に保守員Ｍが迅速に到着することができる。 In the above-described second embodiment, when the error information receiving unit 10 detects an abnormality in the vehicle 22, the safe work zone generation unit 13 creates a safe work zone indicating the range of the work space when taking measures against the abnormal vehicle 22a. Information on Zm is generated and the safe work zone Zm is displayed on the screen of the maintenance terminal 3 possessed by maintenance personnel M. Therefore, according to the present embodiment, the maintenance staff M can quickly arrive at the position of the safe work zone Zm to take measures against the abnormal vehicle 22a.
　なお、上述した第２の実施形態において、安全作業ゾーン生成部１３は、異常車両２２ａへの対処が緊急性を要するものであるか否かの判定結果に基づいて、安全作業ゾーンＺｍを発生させる時間帯を異ならせてもよい。 In the above-described second embodiment, the safe work zone generation unit 13 generates the safe work zone Zm based on the determination result of whether or not the response to the abnormal vehicle 22a requires urgency. Different time zones may be used.
　例えば、安全作業ゾーン生成部１３は、異常車両２２ａへの対処が緊急性を要するものであると判定した場合、正常に稼働している他の車両２２の作業計画に影響を及ぼす可能性のある時間帯に、安全作業ゾーンＺｍを発生させることができる。これにより、保守員Ｍは、異常車両２２ａに対策を行う安全作業ゾーンＺｍの位置に保守員Ｍが迅速に到着することができる。また、安全作業ゾーン生成部１３は、異常車両２２ａへの対処が緊急性を要さないものであると判定した場合、正常に稼働している他の車両２２の作業計画に影響を及ぼす可能性がない時間帯に、安全作業ゾーンＺｍを発生させる。これにより、安全作業ゾーンＺｍまでの移動時における保守員Ｍの安全の確保と、他の自動フォークリフト２２の稼働の維持とを、両立することができる。 For example, when the safe work zone generation unit 13 determines that the response to the abnormal vehicle 22a requires urgency, it may affect the work plans of the other vehicles 22 that are operating normally. A safe working zone Zm can be generated during the time period. As a result, the maintenance worker M can quickly arrive at the position of the safe work zone Zm to take measures against the abnormal vehicle 22a. In addition, when the safe work zone generation unit 13 determines that the response to the abnormal vehicle 22a does not require urgency, there is a possibility that the work plans of the other vehicles 22 that are operating normally will be affected. A safe work zone Zm is generated in the time period when there is no As a result, it is possible to ensure the safety of the maintenance worker M when moving to the safe work zone Zm and to maintain the operation of the other automatic forklift trucks 22 at the same time.
　また、上述した第２の実施形態において、安全作業ゾーン生成部１３は、安全作業ゾーンＺｍの位置又は大きさ等を、安全作業ゾーンＺｍ内の異常車両２２ａの位置又は保守員Ｍの位置の移動に伴って移動させてもよい。 Further, in the above-described second embodiment, the safe work zone generation unit 13 determines the position or size of the safe work zone Zm by changing the position of the abnormal vehicle 22a or the position of the maintenance worker M within the safe work zone Zm. may be moved along with
　また、上述した第２の実施形態において、保守端末３の画面に、安全作業ゾーンＺｍとともに、安全作業ゾーンＺｍへのルートも示されてもよい。 In addition, in the second embodiment described above, the screen of the maintenance terminal 3 may show the route to the safe work zone Zm together with the safe work zone Zm.
　さらに、本発明は上述した各実施形態例に限られるものではなく、請求の範囲に記載した本発明の要旨を逸脱しない限りにおいて、その他種々の応用例、変形例を取り得ることは勿論である。 Furthermore, the present invention is not limited to the above-described embodiments, and it goes without saying that various other applications and modifications can be made without departing from the gist of the present invention described in the claims. .
　例えば、上述した各実施形態は本発明を分かりやすく説明するために装置（自立移動体制御装置）及びシステム（自立移動体制御システム）の構成を詳細且つ具体的に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施形態例の構成の一部を他の実施形態例の構成に置き換えることは可能である。
また、ある実施形態例の構成に他の実施形態例の構成を加えることも可能である。また、各実施形態例の構成の一部について、他の構成の追加、削除、置換をすることも可能である。 For example, each of the above-described embodiments is a detailed and specific description of the configuration of the device (autonomous mobile body control device) and system (autonomous mobile body control system) in order to explain the present invention in an easy-to-understand manner. It is not limited to those having all the configurations described above. It is also possible to replace part of the configuration of one embodiment with the configuration of another embodiment.
It is also possible to add the configuration of another embodiment to the configuration of one embodiment. Moreover, it is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.
　また、図１、図８に矢印で示した制御線又は情報線は説明上必要と考えられるものを示しており、製品上必ずしも全ての制御線や情報線を示しているとは限らない。実際には殆ど全ての構成が相互に接続されていると考えてもよい。 In addition, the control lines or information lines indicated by arrows in FIGS. 1 and 8 indicate those that are considered necessary for explanation, and do not necessarily indicate all the control lines and information lines on the product. In practice, it may be considered that almost all configurations are interconnected.
　また、本明細書において、時系列的な処理を記述する処理ステップは、記載された順序に沿って時系列的に行われる処理はもちろん、必ずしも時系列的に処理されなくとも、並列的あるいは個別に実行される処理（例えば、並列処理あるいはオブジェクトによる処理）をも含むものである。 In addition, in this specification, processing steps describing time-series processing refer to processing performed in time-series according to the described order, as well as processing performed in parallel or individually, even if processing is not necessarily performed in time-series. It also includes processing (eg, parallel processing or processing by objects) that is executed in parallel.
　また、上述した本開示の各実施形態にかかる自立移動体制御装置の各構成要素は、それぞれのハードウェアがネットワークを介して互いに情報を送受信できるならば、いずれのハードウェアに実装されてもよい。また、ある処理部により実施される処理が、１つのハードウェアにより実現されてもよいし、複数のハードウェアによる分散処理により実現されてもよい。 In addition, each component of the autonomous mobile body control device according to each embodiment of the present disclosure described above may be implemented in any hardware as long as each hardware can transmit and receive information to and from each other via a network. . Also, a process performed by a certain processing unit may be implemented by one piece of hardware, or may be implemented by distributed processing by a plurality of pieces of hardware.
　１…自立移動体制御装置、３…保守端末、１０…エラー情報受信部、１１…保守ルート生成部、１２…搬送計画生成部、１３…安全作業ゾーン生成部、２２…自動フォークリフト（車両）、２２ａ…異常車両、１００…自立移動体制御システム、１００Ａ…自立移動体制御システム
  DESCRIPTION OF SYMBOLS 1... Independent mobile body control apparatus 3... Maintenance terminal 10... Error information receiving part 11... Maintenance route generation part 12... Transportation plan generation part 13... Safe work zone generation part 22... Automatic forklift (vehicle), 22a...Abnormal vehicle, 100...Autonomous mobile body control system, 100A...Autonomous mobile body control system

Claims (8)

  1. 　作業場において所定の作業を行う複数の自立移動体の動作の制御を行う自立移動体制御装置であって、
    　前記自立移動体から送信される異常信号に基づいて、前記自立移動体における異常の発生を検知する異常検知部と、
    　前記異常検知部による前記自立移動体の異常の検知時に、異常が発生している前記自立移動体である異常発生自立移動体の位置までの保守経路の情報、又は、保守員が前記異常発生自立移動体への対策を行う場合における作業空間の範囲を示す保守作業範囲の情報を生成して、前記保守経路又は前記保守作業範囲を前記保守員が所持する保守端末の画面に表示させる保守情報生成部と、を備える
    　自立移動体制御装置。     A self-supporting mobile body control device for controlling the operation of a plurality of self-supporting mobile bodies that perform predetermined work in a workplace,
    an abnormality detection unit that detects the occurrence of an abnormality in the autonomous mobile body based on an abnormality signal transmitted from the autonomous mobile body;
    When the abnormality detection unit detects an abnormality of the self-supporting mobile body, information on a maintenance route to the position of the self-supporting mobile body that is the self-supporting mobile body in which an abnormality has occurred, or maintenance personnel Maintenance information generation for generating maintenance work range information indicating a work space range when taking measures against a moving body, and displaying the maintenance route or the maintenance work range on a screen of a maintenance terminal possessed by the maintenance staff. and a self-supporting mobile body control device.
  2. 　前記保守情報生成部は、前記異常発生自立移動体への対処が緊急性を要するものであるか否かの判定結果に基づいて、前記保守経路におけるルートを異ならせる
    　請求項１に記載の自立移動体制御装置。     The autonomous movement according to claim 1, wherein the maintenance information generation unit changes the route in the maintenance route based on the determination result of whether or not the response to the abnormal independent mobile object requires urgency. body control device.
  3. 　前記所定の作業の実行時における前記自立移動体の作業経路の情報を含む作業計画を策定して、前記作業計画を前記自立移動体に送信する作業計画生成部をさらに備え、
    　前記保守情報生成部は、前記異常発生自立移動体への対処が緊急性を要するものであると判定した場合、前記保守経路として、正常に稼働している他の前記自立移動体の通行に影響を及ぼす可能性のあるルートを生成するとともに、前記作業計画生成部に対して、他の前記自立移動体の作業経路の、前記保守経路を通過する前記保守員の通行を妨げない経路への変更を依頼し、前記異常発生自立移動体への対処が緊急性を要さないものであると判定した場合、前記保守経路として、正常に稼働している他の前記自立移動体の通行に影響を及ぼさないルートを生成する
    　請求項２に記載の自立移動体制御装置。     Further comprising a work plan generation unit for formulating a work plan including information on the work route of the autonomous mobile body when executing the predetermined work, and transmitting the work plan to the autonomous mobile body,
    When the maintenance information generation unit determines that the handling of the abnormal autonomous mobile body requires urgency, the maintenance route affects the passage of other normally operating autonomous mobile bodies. and change the work route of the other self-supporting mobile body to a route that does not interfere with the maintenance personnel passing through the maintenance route. , and if it is determined that the handling of the abnormal autonomous mobile body does not require urgency, the maintenance route will affect the passage of the other autonomous mobile bodies that are operating normally. The autonomous mobile body control device according to claim 2, which generates a route that does not affect.
  4. 　前記所定の作業の実行時における自立移動体の作業経路の情報を含む作業計画を策定して、前記作業計画を前記自立移動体に送信する作業計画生成部をさらに備え、
    　前記保守情報生成部は、前記異常検知部による前記自立移動体の異常の検知時に、前記作業計画生成部に対して、正常に稼働している他の前記自立移動体による前記保守作業範囲への侵入の禁止、又は、前記保守作業範囲における他の前記自立移動体による走行制限速度の遵守を依頼する
    　請求項２に記載の自立移動体制御装置。     Further comprising a work plan generation unit that formulates a work plan including information on the work route of the autonomous mobile body at the time of execution of the predetermined work, and transmits the work plan to the autonomous mobile body,
    When the abnormality detection unit detects an abnormality of the autonomous mobile body, the maintenance information generation unit instructs the work plan generation unit to indicate to the maintenance work range by another autonomous mobile body that is operating normally. The autonomous mobile body control device according to claim 2, wherein prohibition of intrusion or observance of the traveling speed limit by the other autonomous mobile bodies in the maintenance work range is requested.
  5. 　前記保守情報生成部は、前記異常発生自立移動体への対処が緊急性を要するものであるか否かの判定結果に基づいて、前記保守作業範囲を発生させる時間帯を異ならせる
    　請求項４に記載の自立移動体制御装置。     5. According to claim 4, the maintenance information generation unit varies the time zone for generating the maintenance work range based on the determination result of whether or not the handling of the abnormal self-supporting mobile unit requires urgency. The autonomous mobile body control device described.
  6. 　前記保守情報生成部は、前記異常発生自立移動体への対処が緊急性を要するものであると判定した場合、正常に稼働している他の前記自立移動体の作業計画に影響を及ぼす可能性のある時間帯に前記保守作業範囲を発生させ、前記異常発生自立移動体への対処が緊急性を要さないものであると判定した場合、正常に稼働している他の前記自立移動体の作業計画に影響を及ぼす可能性がない時間帯に前記保守作業範囲を発生させる
    　請求項５に記載の自立移動体制御装置。     When the maintenance information generation unit determines that the response to the abnormal autonomous mobile body requires urgency, there is a possibility that the work plan of the other autonomous mobile bodies that are operating normally will be affected. When the maintenance work range is generated in a certain time zone and it is determined that the response to the abnormal autonomous mobile body does not require urgency, other autonomous mobile bodies that are operating normally The self-supporting mobile body control device according to claim 5, wherein the maintenance work range is generated in a time period in which there is no possibility of affecting the work plan.
  7. 　前記保守情報生成部は、前記保守端末の画面に、前記異常発生自立移動体に発生した異常に関する情報及び前記異常への対処方法、前記保守経路又は前記保守作業範囲、及び、
    前記保守員の現在位置の情報を表示させる
    　請求項１～６のいずれか一項に記載の自立移動体制御装置。     The maintenance information generation unit displays on the screen of the maintenance terminal information about an abnormality that has occurred in the abnormality-occurring independent mobile body, a method of coping with the abnormality, the maintenance route or the maintenance work range, and
    The autonomous mobile body control device according to any one of claims 1 to 6, wherein information on the current location of said maintenance personnel is displayed.
  8. 　作業場において所定の作業を行う複数の自立移動体の動作の制御を行う自立移動体制御装置による自立移動体制御方法であって、
    　前記自立移動体から送信される異常信号に基づいて、前記自立移動体における異常の発生を検知する手順と、
    　前記自立移動体の異常の検知時に、異常が発生している前記自立移動体である異常発生自立移動体の位置までの保守経路の情報、又は、保守員が前記異常発生自立移動体への対策を行う場合における作業空間の範囲を示す保守作業範囲の情報を生成して、前記保守員が所持する保守端末の画面に表示させる手順と、を含む
    　自立移動体制御方法。
          A self-supporting mobile body control method by a self-supporting mobile body control device that controls the operation of a plurality of self-supporting mobile bodies that perform predetermined work in a workplace,
    A procedure for detecting the occurrence of an abnormality in the autonomous mobile body based on an abnormality signal transmitted from the autonomous mobile body;
    When the abnormality of the autonomous mobile body is detected, information on the maintenance route to the position of the abnormal autonomous mobile body, which is the autonomous mobile body in which the abnormality is occurring, or the maintenance staff takes measures against the abnormal autonomous mobile body a procedure for generating maintenance work range information indicating the range of the work space in the case of performing maintenance work, and displaying the information on the screen of the maintenance terminal possessed by the maintenance worker.
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