JP-7856322-B2 - Movement control system, movement control device, and movement control method

Inventors

• 熊谷 太一

Assignees

• 日本電気株式会社

Dates

Publication Date

20260511

Application Date

20210217

Claims (7)

1. A path generation means generates a path for a moving object to move through a moving area based on moving area information relating to the moving area of at least one moving object received from a sensor via a network, The system includes a mobile body control means for controlling the movement of the mobile body based on the aforementioned path, The path generation means generates an avoidance path that avoids a second region which includes a first region representing the position of an object in the movement region and a region surrounding the first region. The moving body control means controls the moving body based on the avoidance path, The aforementioned mobile area information includes transported object information relating to the transported object supported and transported by the mobile body, The transported object information includes information regarding the current position of the transported object, the target position of the transported object, and the size of the transported object. The path generation means identifies the second region based on the current position, the target position, and the size. Mobile control device.
2. The aforementioned mobile body transports the transported object, The moving body is equipped with a prediction means for predicting the movement trajectory when it moves along the avoidance path while transporting an object. The path generation means generates a new avoidance path that avoids the second region based on the movement trajectory predicted by the prediction means. The motion control device according to claim 1.
3. The aforementioned mobile body includes a plurality of mobile bodies that perform coordinated transport in which they cooperate with each other to transport the transported object. The aforementioned route generation means is As the aforementioned path, a cooperative transport path is generated in which the plurality of moving bodies transport the transported object by the cooperative transport. The motion control device according to claim 1 or 2.
4. The moving region includes a passage through which the moving body moves. The aforementioned route generation means is The second region is identified by expanding the first region along the direction in which the passage extends. A mobile control device according to any one of claims 1 to 3.
5. The aforementioned route generation means is Based on the aforementioned movement region information, a group of path points is generated that indicates a first path that avoids the second region, and the avoidance path is generated by selecting multiple path points from the group of path points. A mobile control device according to any one of claims 1 to 4.
6. Transmitting movement area information relating to the movement area of at least one moving object, Based on the moving area information received via the network, the system generates a path for the moving object to travel through the moving area. The system includes controlling the movement of the mobile body based on the aforementioned path, When generating the aforementioned path, an avoidance path is generated that avoids a second region which includes a first region representing the position of an object in the movement region and a region surrounding the first region. When controlling the movement of the moving body, the moving body is controlled based on the avoidance path, The aforementioned mobile area information includes transported object information relating to the transported object supported and transported by the mobile body, The transported object information includes information regarding the current position of the transported object, the target position of the transported object, and the size of the transported object. When generating the aforementioned path, the second region is identified based on the current position, the target position, and the size. A method for controlling movement.
7. At least one mobile body, A sensor that transmits movement area information relating to the movement area of the moving object, A path generation means that generates a path for the moving object to move through the moving area based on the moving area information received via the network, The system includes a mobile body control means for controlling the movement of the mobile body based on the aforementioned path, The path generation means generates an avoidance path that avoids a second region which includes a first region representing the position of an object in the movement region and a region surrounding the first region. The moving body control means controls the moving body based on the avoidance path, The aforementioned mobile area information includes transported object information relating to the transported object supported and transported by the mobile body, The transported object information includes information regarding the current position of the transported object, the target position of the transported object, and the size of the transported object. The path generation means identifies the second region based on the current position, the target position, and the size. A mobile control system.

Description

The present invention relates to a mobility control system, a mobility control device, and a mobility control method. Conventionally, robots (mobile units) have been used in logistics warehouses, factories, and other facilities to transport parts and materials. For example, Patent Document 1 discloses a technology that moves a robot by detecting obstacles around it using sensors mounted on the robot and generating a movement path that avoids the detected obstacles. Patent Document 2 also discloses a technology that moves a robot along a movement path by controlling the robot's posture based on the distance between the robot and obstacles detected by sensors. Japanese Patent Publication No. 2020-004095Japanese Patent Publication No. 2010-055415 This is a diagram illustrating the overview of the transport system according to the first embodiment.This figure shows the hardware configuration of the information processing device according to the first embodiment.This is an external perspective view showing the schematic configuration of a transport robot according to the first embodiment.This is a top view illustrating the operation of the rotation mechanism, restoration mechanism, and guide mechanism of the transport robot according to the first embodiment.This is a functional block diagram showing the functional configuration of a transport robot according to the first embodiment.This is a schematic diagram showing an example of a path taken by a transport robot according to the first embodiment.This is an explanatory diagram illustrating the control of a transport robot according to the first embodiment.This is a block diagram illustrating a schematic configuration of the motion control system according to the first embodiment.This is a functional block diagram illustrating the schematic configuration of a motion control device according to the first embodiment.This is a sequence diagram showing the flow of controlling the movement of a moving object using the movement control system according to the first embodiment.This flowchart shows the flow of controlling the movement of a moving object using the movement control method according to the first embodiment.This is an explanatory diagram of the first and second regions according to the first embodiment.This figure shows the operating configuration of the transport system according to the second embodiment.This is a sequence diagram showing the flow for controlling the movement of a transport robot in a transport system according to the second embodiment.This diagram shows the operation of the transport system according to the third embodiment.This is an explanatory diagram of the avoidance route according to the third embodiment.This is a sequence diagram showing the flow for controlling the movement of a transport robot in a transport system according to the third embodiment.This is an explanatory diagram of location information according to the third embodiment.This diagram illustrates the information structure of location information according to the third embodiment.This figure illustrates the information structure of mobile body information relating to a mobile body according to the third embodiment.This diagram illustrates the information structure of conveyed object information related to the conveyed object according to the third embodiment.This figure shows the operational configuration of the transport system according to the fourth embodiment.This is a sequence diagram showing the flow for controlling the movement of a transport robot in the transport system according to the fourth embodiment.This is a schematic plan view showing an example of cooperative transport according to the fourth embodiment.This is a schematic side view showing an example of cooperative transport according to the fourth embodiment.This is an explanatory diagram of the avoidance route according to the fourth embodiment.This is an overall view of the moving region according to the fourth embodiment. Embodiments of the present invention will be described in detail below with reference to the attached drawings. In this specification and in the drawings, elements that can be similarly described are denoted by the same reference numerals, and redundant explanations can be omitted. The embodiments described below are merely examples of configurations that can realize the present invention. Each of the embodiments below can be modified or changed as appropriate depending on the configuration of the apparatus to which the present invention is applied and various conditions. Not all combinations of elements included in each of the embodiments below are necessarily essential for realizing the present invention, and some elements can be omitted as appropriate. Therefore, the scope of the present invention is not limited to the configurations described in each of the embodiments below. Configurations combining multiple configurations described in the embodiments can also be adopted,