JP-7857209-B2 - Mobile vehicle operation management device, mobile vehicle operation management system, and mobile vehicle operation management method

Inventors

• 八木沢 賢一
• 高橋 利光
• 松信 公一

Assignees

• 株式会社日立ビルシステム

Dates

Publication Date

20260512

Application Date

20221109

Claims (8)

1. A mobile vehicle operation management device for managing the operation of a mobile vehicle, The mobile object operation management device includes a range information management unit that generates movement permission range information, which defines the movement permission range in which the movement of the mobile object is permitted, based on environmental information acquired from an environmental sensor that detects information about the surroundings of the mobile object. The system includes a transmission control unit that controls the transmission of the movement permission range information to the moving object, The range information management unit sets the permitted movement range to a range that does not overlap with the permitted movement range granted to other moving objects . The system further includes a movement route management unit that generates a movement route for the moving object based on the aforementioned environmental information. The permitted movement area is set around the movement route, The range information management unit sets the permitted movement range to a range in which the output from the distance measuring sensor of the moving object does not interfere with the output from the distance measuring sensor of other moving objects .
2. The mobile vehicle operation management device according to claim 1 , wherein the transmission control unit issues a token containing the movement permission range information and transmits the token to the mobile vehicle.
3. The mobile vehicle operation management device according to claim 2 , wherein the range information management unit expands or reduces the permitted movement range based on the content of the environmental information.
4. The mobile vehicle operation management device according to claim 3, wherein if the mobile vehicle route management unit determines that it is not possible to secure the space necessary for passing other mobile vehicles even when the permitted movement range is reduced, it recalculates a movement route with the waiting area of the mobile vehicle as the destination and outputs the calculated movement route information to the range information management unit.
5. The system further comprises a priority management table that stores correspondence information between the mobile body and priority information set according to the content of the services provided by the mobile body, The mobile vehicle operation management device according to any one of claims 1 to 4 , wherein the mobile vehicle route management unit calculates the mobile vehicle route based on the priority information defined in the priority management table.
6. The mobile vehicle operation management device according to claim 1, wherein, if the mobility performance of the mobile vehicle meets a predetermined standard, the range information management unit sets a prohibited movement range in place of the permitted movement range, and transmits prohibited movement range information indicating the prohibited movement range to the mobile vehicle.
7. A mobile vehicle operation management system having a mobile vehicle and a mobile vehicle operation management device for managing the operation of the mobile vehicle, The mobile object operation management device includes a range information management unit that generates movement permission range information, which defines the movement permission range in which the movement of the mobile object is permitted, based on environmental information acquired from an environmental sensor that detects information about the surroundings of the mobile object. The system includes a transmission control unit that controls the transmission of the movement permission range information to the moving object, The mobile body includes a control unit that controls its movement within the permitted movement range defined in the permitted movement range information transmitted from the mobile body operation management device, The range information management unit sets the permitted movement range to a range that does not overlap with the permitted movement range granted to other moving objects . The mobile vehicle operation management device further comprises a mobile route management unit that generates a mobile vehicle's travel route based on the environmental information, The permitted movement area is set around the movement route, The range information management unit sets the permitted movement range to a range in which the output from the distance measuring sensor of the moving object does not interfere with the output from the distance measuring sensor of other moving objects. Mobile vehicle operation management system.
8. A method for managing the operation of a mobile object using a mobile object operation management device, A procedure for the range information management unit to generate movement permission range information that defines the movement permission range in which the movement of the moving object is permitted, based on environmental information obtained from an environmental sensor that detects information about the surroundings of the moving object, The procedure includes a transmission control unit performing control to transmit the aforementioned movement permission range information to the moving object, The aforementioned permitted movement range is set to a range that does not overlap with the permitted movement range granted to other moving objects . The mobile vehicle operation management device further comprises a mobile route management unit that generates a mobile vehicle's travel route based on the environmental information, The permitted movement area is set around the movement route, The range information management unit sets the permitted movement range to a range in which the output from the distance measuring sensor of the moving object does not interfere with the output from the distance measuring sensor of other moving objects. Mobile vehicle operation management method.

Description

This invention relates to a mobile vehicle operation management device, a mobile vehicle operation management system, and a mobile vehicle operation management method. Conventionally, autonomous robots that move based on detection information from various sensors mounted on themselves are known. When such an autonomous robot encounters a person or another robot, it avoids collisions by temporarily stopping based on the detection information from its sensors, or by calculating a collision-free movement route and moving along that route. As a method for smoothly facilitating robot passing, for example, the method disclosed in Patent Document 1 is known. Patent Document 1 discloses a mobile object control device comprising: position prediction means for predicting the relative position of the object to be passed after a predetermined time with respect to the predicted position of the mobile object after a predetermined time; target position calculation means for calculating the target position of the mobile object based on the relative position predicted by the position prediction means and the destination of the mobile object; and control means for moving the mobile object to the target position. Patent No. 6299957 This is a block diagram showing an example configuration of the control system for a robot operation management system according to one embodiment of the present invention.This figure shows an example configuration of a robot management table according to one embodiment of the present invention.This figure shows an example configuration of a robot position information management table according to one embodiment of the present invention.This figure shows an example configuration of a token management table related to one embodiment of the present invention.This figure shows an example of setting the range of movement permission according to one embodiment of the present invention.This figure shows an example configuration of a priority management table according to one embodiment of the present invention.This flowchart shows an example of a procedure for a robot operation management method using a robot operation management system according to one embodiment of the present invention.This flowchart shows an example of a procedure for a robot operation management method using a robot operation management system according to one embodiment of the present invention.This is a block diagram showing an example of the configuration of the control system for a robot operation management system according to a modified example 2 of the present invention. The following describes examples of embodiments for carrying out the present invention (hereinafter referred to as "embodiments") with reference to the accompanying drawings. The present invention is not limited to these embodiments, and various numerical values in the embodiments are illustrative. Furthermore, in this specification and drawings, the same reference numerals are used for identical components or components having substantially the same function, and redundant explanations are omitted. <Outline of the robot operation management system> First, with reference to Figure 1, the configuration of a robot operation management system 100 according to one embodiment of the present invention will be described. Figure 1 is a block diagram showing an example of the configuration of the control system of the robot operation management system 100. As shown in Figure 1, the robot operation management system 100 (an example of a mobile operation management system) includes an operation management server 1 (an example of a mobile operation management device) that manages the operation of an autonomously moving robot 2 (an example of a mobile object), the robot 2, and an environmental sensor 3 that detects information about the robot 2's surroundings. Although only one robot 2 is shown in Figure 1, it is assumed that multiple robots 2 are arranged within the building. The operation management server 1, robot 2, and environmental sensor 3 are connected via network 4. Network 4 consists of, for example, a mobile phone network, the internet network, a short-range wireless communication network such as a wireless LAN (Local Area Network), or a combination of these. In this embodiment, the robot 2 communicates with the operation management server 1 via the network 4 to move within the building (not shown) where it is located, and transmits information about its destination to the operation management server 1. Upon receiving the destination information transmitted from the robot 2, the operation management server 1 calculates a travel route (an example of a travel route) that allows the robot 2 to smoothly pass other robots and people, based on the environmental information detected by the environmental sensor 3. The operation management server 1 then sets a movement permission area around the calculated travel route. The movement permission area is defined as a range