JP2023010776A - Moving body control device and facility coordination control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving body control device allowing a moving body being a control object to easily use a traffic facility even when there is another moving body.

SOLUTION: A control device 4 of a moving body A includes: a first state determination unit 4a for determining a state of a traffic facility 1; a second state determination unit 4b for determining a state of another moving body; a third state determination unit 4c for determining a state of the moving body A being a control object; and a control unit 4d. A transition allowed state of the moving body A being a control object is defined by a state machine. The control unit 4d makes the state of the moving body A being a control object transit along the state machine on the basis of determination results of the first state determination unit 4a, the second state determination unit 4b, and the third state determination unit 4c.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present disclosure relates to a mobile body control device and a facility cooperation control system.

Patent Literature 1 discloses a moving system for a moving body using an elevator. According to the movement system, it is possible to allow the moving body to use the elevator as a traffic facility.

Japanese Patent No. 5302584

However, in the mobile system described in Patent Literature 1, when other mobile objects such as people are present, the mobile object to be controlled may not be appropriately controlled. For this reason, the mobile object to be controlled may not be able to appropriately use the traffic facilities.

The present disclosure has been made to solve the above problems. An object of the present disclosure is to provide a moving body control device and a facility cooperation control system that allow a moving body to be controlled to easily use passage facilities even if other moving bodies are present.

A control device for a moving body according to the present disclosure is provided for a moving body to be controlled that uses a facility composed of a plurality of closed spaces and traffic facilities having a function of temporarily and partially connecting adjacent spaces. be provided. Passage facilities are equipped with doors that connect multiple spaces by opening a certain range for a certain period of time to multiple spaces adjacent to each other through itself. A facility space is provided in which up to a certain number of moving bodies can be arranged in the space. When the mobile object to be controlled exists in one of a plurality of spaces partitioned by the traffic facilities, the control device for the mobile body controls the movement of the mobile object through the space in which the mobile object to be controlled exists and the traffic facility. a first state determination unit that determines the state of a passage facility that connects adjacent spaces with each other; a second state determination unit that determines the state of another moving body existing in either the space where the moving body is located or the space adjacent via the traffic facility; a third state determination unit that determines the state of the moving object to be controlled when it exists in the space; and a control unit. A state machine defines the transitionable states of the controlled vehicle. Based on the determination results of the first state determination unit, the second state determination unit, and the third state determination unit, when the moving object to be controlled exists in one of the plurality of spaces, the control unit , transitions the state of the controlled vehicle along the state machine.

A facility cooperation control system according to the present disclosure includes a mobile object to be controlled having the above-described control device, and a facility cooperation device. The facility linking device has a function of acquiring information related to the state of the traffic facility from the facility control device that controls the traffic facility, a function of giving instructions to transition the state of the traffic facility, and information related to the state of the moving body from the moving body. and a function of giving an instruction to transition the state of the moving body from the moving body.

A facility cooperation control system according to the present disclosure includes a plurality of closed spaces, and a moving object to be controlled that uses a facility composed of a passage facility that has a function of temporarily and partially connecting adjacent spaces, and a facility cooperation device having a control device that controls a mobile object to be controlled. Passage facilities are equipped with doors that connect multiple spaces by opening a certain range for a certain period of time to multiple spaces adjacent to each other through itself. A facility space is provided in which up to a certain number of moving bodies can be arranged in the space. When a moving object to be controlled exists in one of a plurality of spaces separated by traffic facilities, the control device controls the space adjacent to the space in which the moving object to be controlled exists via the traffic facility. and a first state determination unit that determines the state of the passage facility that connects the space and the space in which the moving object to be controlled exists when the moving object to be controlled exists in one of the plurality of spaces A second state determination unit that determines the state of another moving object that exists in one of the spaces adjacent to the facility, and a moving object to be controlled exists in one of the plurality of spaces. a third state determination unit that determines the state of the moving body to be controlled when the moving object is to be controlled; and a control unit. A state machine defines the transitionable states of the controlled vehicle. Based on the determination results of the first state determination unit, the second state determination unit, and the third state determination unit, when the moving object to be controlled exists in one of the plurality of spaces, the control unit , performs control to transition the state of the mobile object to be controlled along the state machine.

According to the present disclosure, the control target moving body has its state controlled based on the state of the traffic facilities, the state of the other moving body, and its own state. Therefore, even if there are other moving bodies, it is possible to allow the moving bodies to be controlled to easily use the passage facilities.

1 is a configuration diagram of a facility cooperation control system according to Embodiment 1. FIG. FIG. 4 is a diagram showing a first example of an overview of state transitions related to traffic facilities in the facility cooperation control system according to Embodiment 1; FIG. 10 is a diagram showing a second example of an overview of state transitions related to traffic facilities in the facility cooperation control system according to Embodiment 1; FIG. 10 is a diagram showing a first example of details of state transitions related to traffic facilities in the facility cooperation control system according to Embodiment 1; FIG. 10 is a diagram showing a second example of details of state transitions related to traffic facilities in the facility cooperation control system according to Embodiment 1; FIG. 10 is a diagram for explaining the operation when another moving body gets off the car in the facility cooperation control system according to Embodiment 1; FIG. 4 is a diagram for explaining the operation when another moving object gets on the car in the facility cooperation control system according to Embodiment 1; FIG. 4 is a diagram for explaining an operation when a moving object to be controlled gets off the car in the facility-coordinated control system according to Embodiment 1; 4 is a sequence diagram for explaining the operation of the facility cooperation control system according to Embodiment 1. FIG. 2 is a hardware configuration diagram of a control device of the facility cooperation control system according to Embodiment 1. FIG. FIG. 11 is a plan view of the surroundings of traffic facilities of the facility cooperation control system according to Embodiment 2; FIG. 11 is a sequence diagram for explaining the operation of the facility cooperation control system according to Embodiment 2; FIG. 11 is a plan view of the surroundings of traffic facilities of the facility cooperation control system according to Embodiment 3; FIG. 11 is a plan view of the surroundings of traffic facilities of the facility cooperation control system according to Embodiment 3; FIG. 12 is a sequence diagram for explaining a first example of operation of the facility cooperation control system according to Embodiment 3; FIG. 12 is a sequence diagram for explaining a second example of the operation of the facility cooperation control system according to Embodiment 3;

Embodiments will be described with reference to the accompanying drawings. In addition, the same code|symbol is attached|subjected to the part which is the same or corresponds in each figure. Redundant description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a configuration diagram of a facility cooperation control system according to Embodiment 1. As shown in FIG.

As shown in FIG. 1 , the facility cooperation control system includes a traffic facility 1 , a facility control device 2 , a moving object A to be controlled, and a facility cooperation device 3 .

A passage facility 1 is provided so as to partition a plurality of spaces. The passage facility 1 is an elevator door. In this case, one of the plurality of spaces is the elevator hall space. The other of the spaces is another landing space of the elevator. The traffic facility 1 includes a facility space and an elevator door. The equipment space can arrange a moving body inside. The facility space has restrictions on the number of moving bodies that can be placed at the same time. Elevator doors connect space and facility space. Elevator doors limit the number of moving objects that can pass through them at the same time.

The equipment control device 2 is provided so as to control the operation of the traffic equipment 1 and the like. Specifically, the equipment control device 2 is provided so as to control opening and closing of the traffic equipment 1 . The traffic facility 1 is normally closed and opened for a certain period of time by the facility control device 2 . The equipment control device 2 may automatically close the traffic equipment 1 after a certain period of time has elapsed for safety.

For example, the moving body A to be controlled is a robot. A mobile object A to be controlled includes a control device 4 . The control device 4 includes a first state determination section 4a, a second state determination section 4b, a third state determination section 4c, and a control section 4d.

For example, the other moving body B does not communicate with the equipment cooperation device 3 . For example, another mobile B is a person. For example, another moving object B is a robot.

In the control device 4 for the moving body A to be controlled, the first state determination unit 4a determines that, when the moving body A to be controlled exists in any one of a plurality of spaces partitioned by the traffic facility 1, The state of the traffic facility 1 is determined. When the moving body A to be controlled exists in one of the plurality of spaces, the second state determination unit 4b determines whether another moving body existing in one of the plurality of spaces Determine the state of B. The third state determination unit 4c determines the state of the moving body A to be controlled when the moving body A to be controlled exists in one of the plurality of spaces. The control unit 4d controls the first state determination unit 4a, the second state determination unit 4b, and the third state determination unit 4c when the moving object A to be controlled exists in one of the plurality of spaces. The state of the moving body A to be controlled is controlled according to the determination result of .

Next, with reference to FIG. 2, a first example of an outline of state transition regarding the traffic facility 1 will be described.
FIG. 2 is a diagram showing a first example of an overview of state transitions regarding traffic facilities in the facility cooperation control system according to the first embodiment.

As shown in FIG. 2, the state of the passage facility 1 transitions between the "door closed" state and the "door open" state.

When the moving object A to be controlled moves from the space of the hall to the space inside the car, the state of the moving object A to be controlled changes from the state of existing in the "closed space A" as the space of the hall to the state of "entering the door". ” state. After that, the state of the moving body A to be controlled transitions from the state of "entering the door" to the state of existing in the "equipment space" as the space inside the car.

In the "facility space", the state of the mobile object A to be controlled transitions between the "standby" state and the "moving" state based on the content detected by the mobile object or information from the facility cooperation device 3. do.

When the moving object A to be controlled moves from the space inside the car to the space of the hall of the destination floor, the state of the moving object A to be controlled changes from the state of "waiting" in the "facility space" to the state of "door exit". state. After that, the state of the moving body A to be controlled transitions from the state of "exiting the door" to the state of existing in the "closed space B" as the landing floor of the destination floor.

When the moving object A to be controlled temporarily moves to the space of the landing on the floor on the way to the space of the landing on the target floor, the state of the moving object A to be controlled is the state of "waiting" in the "facility space". to the state of "door entry". After that, the state of the mobile object A to be controlled transitions from the state of "entering the door" to the state of existing in the "closed space C" as the space of the landing on the middle floor.

When steady operation is performed in a state in which the mobile body A to be controlled exists in the "closed space C", the state of the mobile body A to be controlled changes from the state in the "closed space C" to the state of "door exit ” state. After that, the state of the moving body A to be controlled transitions from the state of "exiting the door" to the state of existing in the "facility space".

When unsteady operation is performed in a state in which the mobile body A to be controlled exists in the "closed space C", the state of the mobile body A to be controlled is changed from the "closed space C" to the "closed space A" or It transitions to the state reassigned as "closed space B".

When a robot as another moving body B moves from the space of the landing to the space inside the car, the state of the other moving body B is divided into a state of existing in a "closed space A'" as the space of the landing and a state of " Entering judgment” state. After that, the state of the other moving object B changes from the state of "entering determination" to the state of "entering the door". After that, the state of the other moving body B transitions from the state of "entering the door" to the state of existing in the "equipment space" as the space inside the car.

When a robot as another mobile body B moves from the space inside the car to the space of the boarding point of the destination floor, the status of the other mobile body B is the state of existing in the "facility space" and the state of "exit determination". to transition between After that, the state of the other moving object B changes from the state of "judgment to leave" to the state of "door leaving". After that, the state of the other moving body B transitions from the state of "exiting the door" to the state of existing in the "closed space B'" as the space of the hall of the destination floor.

Next, with reference to FIG. 3, a second example of the overview of the state transition regarding the traffic facility 1 will be described.
FIG. 3 is a diagram showing a second example of an overview of state transitions regarding traffic facilities in the facility cooperation control system according to the first embodiment.

As shown in FIG. 3, when a person as another moving body B moves from the space of the landing to the space inside the car, the state of the other moving body B is the "closed space A" as the space of the landing. ” and the state of “entering judgment”.

When it is determined that it is possible to enter, the state of the other moving body B transitions from the state of "determination of entry" to the state of "entering door".

When it is determined that it cannot enter, the state of the other moving body B changes from the state of "determination of entry" to the state of "declaration of intention". If the situation does not allow entry, the state of the other moving body B transitions from the state of "declaration of intention" to the state of existing in "closed space A". When it becomes possible to enter, the state of the other moving body B transitions from the state of "declaration of intention" to the state of "entering the door".

After that, the state of the other moving body B transitions from the state of "entering the door" to the state of existing in the "equipment space" as the space inside the car.

When a robot as another moving body B moves from the space inside the car to the space of the landing on the middle floor of the destination floor, the state of the other moving body B is divided into the state of existing in the "facility space" and the state of "exiting". Transition to and from the "judgment" state.

When it is determined that it is possible to leave, the state of the other moving body B changes from the state of "determination of leaving" to the state of "door leaving".

When it is determined that it is not possible to leave, the state of the other moving body B changes from the state of "judgment to leave" to the state of "presentation of intention". Thereafter, the state of the other moving body B transitions from the state of "expressing intention" to the state of "exiting the door".

After that, the state of the other moving body B transitions from the state of "exiting the door" to the state of existing in the "closed space C" as the space of the landing on the middle floor.

When the state of the other moving body B is the state of "expressing intention", the state of the moving body A to be controlled transitions between the state of "standby" in the "facility space" and the state of "door exit". do.

Next, with reference to FIG. 4, a first example of details of the state transition regarding the traffic facility 1 will be described.
FIG. 4 is a diagram showing a first example of details of state transition regarding traffic facilities of the facility cooperation control system according to the first embodiment.

As shown in (a) of FIG. 4, a moving body A to be controlled is permitted to enter the facility space from the facility cooperation device 3 while the traffic facility 1 is open, and another moving body B is permitted to enter the facility space. When not existing in the equipment space, the moving object A to be controlled passes through the traffic equipment 1 from the closed space A and enters the equipment space.

As shown in (b) of FIG. 4 , while the traffic facility 1 is open, the mobile body A to be controlled is permitted to enter the facility space from the facility cooperation device 3, and another mobile body B When a person exists in the equipment space, the moving object A to be controlled stops entering the equipment space from the closed space A through the traffic equipment 1 . For example, the moving body A to be controlled waits until a boarding area is secured in the facility space. For example, the mobile object A to be controlled notifies that a boarding area is secured in the facility space.

As shown in (c) of FIG. 4, when a moving body A to be controlled and a person as another moving body B exist in the equipment space when the traffic facility 1 is closed, Mobile body A changes the sensor settings to a special specification. For example, the moving body A to be controlled moves so as to open the place to contact.

As shown in (d) of FIG. 4 , when the moving object A to be controlled exists in the facility space while the traffic facility 1 is open, the moving object A to be controlled exists in the closed space C. When pressure is received from a person as another moving body B, it moves so as to vacate the place.

As shown in (e) of FIG. 4 , while the traffic facility 1 is open, the moving object A to be controlled is permitted to leave the closed space B from the facility cooperation device 3 . When a person as the moving object B exists closer to the traffic facility 1 than the moving object A to be controlled, the moving object A to be controlled notifies the other moving object B to leave a place. .

As shown in (f) of FIG. 4 , a moving body A to be controlled exists in the facility space with the traffic facility 1 open, and the moving body A to be controlled exists as another moving body B. When receiving pressure from behind by a person, the mobile body A to be controlled moves to the closed space C after notifying the equipment cooperation device 3 that it will move to the closed space C.

Next, with reference to FIG. 5, a second example of details of the state transition regarding the traffic facility 1 will be described.
FIG. 5 is a diagram showing a second example of details of state transition regarding traffic facilities in the facility cooperation control system according to the first embodiment.

As shown in (a) of FIG. 5 , a moving body A to be controlled is permitted to enter the facility space from the facility cooperation device 3 while the traffic facility 1 is open, and another moving body B is permitted to enter the facility space. When not existing in the equipment space, the moving object A to be controlled passes through the traffic equipment 1 from the closed space A and enters the equipment space.

As shown in (b) of FIG. 5, the moving object A to be controlled is permitted to enter the equipment space from the equipment cooperation device 3 while the traffic equipment 1 is open, and the robot exists in the equipment space. If so, the moving object A to be controlled stops entering the facility space from the closed space A through the traffic facility 1 . For example, the moving body A to be controlled waits until a boarding area is secured in the equipment space. For example, the mobile object A to be controlled notifies that a boarding area is secured in the equipment space.

As shown in (c) of FIG. 5, when the moving body A to be controlled and the robot exist in the facility space with the traffic facility 1 closed, the moving body A to be controlled and the robot: They are centrally controlled by the facility linking device 3, and coordinated in an independent and decentralized manner.

As shown in (d) of FIG. 5 , when the moving object A to be controlled exists in the equipment space while the traffic facility 1 is open, the moving object A to be controlled exists in the closed space C. When pressure is received from the robot, it moves to vacate the place.

As shown in (e) of FIG. 5 , the moving object A to be controlled is permitted to leave the closed space B from the facility cooperation device 3 while the traffic facility 1 is open. When the robot exists closer to the traffic facility 1 than the moving body A to be controlled, the robot moves from the facility space to the closed space B through the traffic facility 1 .

As shown in (e) of FIG. 5 , the robot is permitted to exit from the facility linking device 3 while the passage facility 1 is open. 1 side, the moving object A to be controlled moves from the facility space to the closed space C through the traffic facility 1 .

Next, with reference to FIG. 6, the operation when another moving body B gets off the car will be described.
FIG. 6 is a diagram for explaining the operation when another moving body gets off the car in the facility cooperation control system according to Embodiment 1. FIG.

A moving body A to be controlled performs door open detection and moving body detection. At this time, the moving body A to be controlled performs moving body detection based on information from image sensors, proximity sensors, contact sensors, and the like on the sides and back.

After that, the moving body A to be controlled gives a temporary leaving notice. At this time, the moving body A to be controlled requests the facility control device 2 to extend the door opening.

After that, the moving body A to be controlled exits the door. At this time, the moving object A to be controlled uses a timer to notify the facility control device 2 of information indicating whether or not it has left the closed space C within a preset time.

After that, the moving body A to be controlled reverses. After that, the moving body A to be controlled performs door open detection and moving body detection. When another mobile body B is detected, the mobile body A to be controlled performs re-entry notification so that an area for entry is secured.

After that, the moving body A to be controlled enters the door. After that, the moving object A to be controlled issues a temporary entry completion notification.

After notification of re-entry, if re-entry is not possible, mobile object A to be controlled issues a temporary entry failure notification. In this case, the mobile object A to be controlled repeats the operation of the approach sequence.

After the temporary entry completion notification or the temporary entry failure notification, the passage facility 1 is closed.

Next, with reference to FIG. 7, the operation when another moving body B gets on the car will be described.
FIG. 7 is a diagram for explaining the operation when another moving object gets on the car in the equipment cooperation control system according to Embodiment 1. FIG.

A moving body A to be controlled performs door open detection and moving body detection. At this time, the moving object A to be controlled investigates whether or not it is necessary to transition to the synergistic sequence because the traffic facility 1 is in front of it.

After that, the moving object A to be controlled moves within the facility space. At this time, the moving body A to be controlled moves backward in order to secure an area for another moving body B to enter the equipment space.

After that, the moving body A to be controlled performs moving body detection. After that, the moving body A to be controlled gives a full occupancy notification. At this time, the moving object A to be controlled stops moving and returns to its original position.

When the mobile body A to be controlled has completed its movement in movement within the facility space, or when another mobile body B is a robot after the notification of fullness, the mobile body A to be controlled notifies of the completion of movement within the facility space. .

When the door closing process is performed after another mobile body B enters the traffic facility 1, the traffic facility 1 is closed.

Next, with reference to FIG. 8, the operation when the moving body A to be controlled gets out of the car will be described.
FIG. 8 is a diagram for explaining an operation when a moving object to be controlled gets out of a car in the equipment cooperation control system according to Embodiment 1. FIG.

A moving body A to be controlled performs door open detection and moving body detection. At this time, the moving object A to be controlled investigates whether or not the traffic facility 1 is in front and the traffic facility 1 is closed. At this time, if the mobile body A to be controlled has a point-symmetrical shape that moves on an omniwheel, the sensor on the side may be used.

After that, the moving object A to be controlled moves within the facility space. At this time, the moving body A to be controlled slightly moves in the direction opposite to the direction in which the other moving body B is detected while emitting simple vibration, sound, and light so that the moving direction can be known.

After that, the moving body A to be controlled performs moving body detection. After that, the moving object A to be controlled stops. At this time, the mobile object A to be controlled may return to its original position.

When the moving body is not detected after moving within the equipment space or after stopping, the moving body A to be controlled performs door opening detection and moving body detection. If the other mobile body B is a robot, the mobile body A to be controlled notifies the equipment control device 2 of this fact.

After that, the mobile object A to be controlled gives an exit notification. After that, the moving body A to be controlled exits the door. After that, the moving body A to be controlled sends a leaving completion notification. At this time, the moving body A to be controlled returns the settings of various sensors to normal settings.

After the exit completion notification, the traffic facility 1 is closed.

Next, the operation of the equipment cooperation control system will be described with reference to FIG.
FIG. 9 is a sequence diagram for explaining the operation of the equipment cooperation control system according to Embodiment 1. FIG.

As shown in FIG. 9 , the moving object A to be controlled applies to the equipment cooperation device 3 for passage. After that, the facility cooperation device 3 issues a passage permission to the moving object A to be controlled. The equipment linking device 3 issues a door opening instruction to the traffic equipment 1 .

After that, when the passage facility 1 opens, the moving body A to be controlled detects that the passage facility 1 has opened. After that, the controlled object enters the traffic facility 1 . After that, the moving object A to be controlled issues a traffic completion notification to the facility cooperation device 3 . After that, the equipment cooperation device 3 issues a door closing instruction to the traffic equipment 1 . After that, the traffic facility 1 is closed.

When the car arrives at the floor where the other moving body B gets off, the equipment cooperation device 3 issues a door opening instruction to the traffic equipment 1. - 特許庁After that, when the passage facility 1 opens, the moving body A to be controlled detects that the passage facility 1 has opened.

When the car arrives at the floor where another mobile body B gets off, the other mobile body B checks for an obstacle in front of the traffic facility 1. - 特許庁After that, the other mobile body B notifies the mobile body A to be controlled of its intention to get off.

When the traffic facility 1 is open and another mobile body B intends to get off, the mobile body A to be controlled issues an evacuation notice to the facility cooperation device 3 . After that, the moving body A to be controlled leaves the traffic facility 1 .

When the moving body A to be controlled leaves the passage facility 1, another moving body B confirms that the door is open. After that, another moving object B leaves the traffic facility 1 .

When another moving body B leaves the traffic facility 1 , the controlled moving body A enters the traffic facility 1 . After that, the moving object A to be controlled issues an evacuation completion notification to the equipment cooperation device 3 . After that, the equipment cooperation device 3 issues a door closing instruction to the traffic equipment 1 . After that, the traffic facility 1 is closed.

According to the first embodiment described above, the mobile body A to be controlled is controlled based on the status of the traffic facility 1, the status of the other mobile body B, and its own status. At this time, it is not necessary to add a new function to move the state transition. Therefore, the moving body A to be controlled can easily and inexpensively use the traffic facility 1 even if another moving body B exists.

In this case, the capabilities of mobile A defined in the state machine reveal the movements mobile A can make. Therefore, the facility manager can set safety standards based on the performance of the moving body A. As a result, it is possible to reduce the overall cost of procuring the mobile unit A by procuring the mobile unit A with different performance for each usage method.

Further, in a state where another moving body B exists behind the door than the moving body A to be controlled in the space inside the car, when detecting a state in which the other moving body B indicates an intention to pass through the door, control is performed. The target moving body A is in a state of being separated from the front of the door. Therefore, the other moving body B can easily get off the car.

In addition, when it is detected that another moving body B indicates an intention to pass through the door in the space of the landing while the moving body A to be controlled exists in front of the door in the space inside the car, the movement of the controlled body Body A is in a state away from the front of the door. Therefore, the other moving body B can easily get on the car. As a result, the number of passengers in the car can be increased.

Further, when another moving body B detects that the moving body A to be controlled is in contact with or approaching the moving body A in the space inside the car, the moving body A to be controlled is released from the movement restriction function. . Therefore, even if a person comes into contact with the moving body A to be controlled while the car is moving up and down, it is possible to prevent the car from making an emergency stop.

In addition, when the moving body A to be controlled passes through the door in a state where the moving body A to be controlled is located behind the door than the other moving body B inside the car, the moving body A to be controlled passes through the door. Information is generated prompting you to leave. For example, if the other moving object B is a person, it is possible to display voice notification, images, and characters in the elevator based on the information. In this case, the moving object A to be controlled can easily get out of the car.

Next, an example of the control device 4 will be described with reference to FIG.
FIG. 10 is a hardware configuration diagram of a control device of the equipment cooperation control system according to the first embodiment.

Each function of the control device 4 can be implemented by a processing circuit. For example, the processing circuitry comprises at least one processor 100a and at least one memory 100b. For example, the processing circuitry comprises at least one piece of dedicated hardware 200 .

When the processing circuitry comprises at least one processor 100a and at least one memory 100b, each function of the control device 4 is implemented in software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. At least one of software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the control device 4 by reading and executing a program stored in at least one memory 100b. The at least one processor 100a is also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP. For example, the at least one memory 100b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.

Where the processing circuitry comprises at least one piece of dedicated hardware 200, the processing circuitry may be implemented, for example, in single circuits, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof. be. For example, each function of the control device 4 is implemented by a processing circuit. For example, each function of the control device 4 is collectively realized by a processing circuit.

A part of each function of the control device 4 may be realized by dedicated hardware 200 and the other part may be realized by software or firmware. For example, the functions of the control unit 4d are realized by a processing circuit as dedicated hardware 200, and the functions other than the functions of the control unit 4d are read by at least one processor 100a reading a program stored in at least one memory 100b. It may be realized by executing

Thus, the processing circuitry implements each function of controller 4 in hardware 200, software, firmware, or a combination thereof.

Although not shown, each function of the equipment control device 2 is also implemented by a processing circuit equivalent to the processing circuit that implements each function of the control device 4 . Each function of the equipment cooperation device 3 is also implemented by a processing circuit equivalent to the processing circuit that implements each function of the control device 4 .

Embodiment 2.
FIG. 11 is a plan view of the vicinity of traffic facilities of the facility cooperation control system according to Embodiment 2. FIG. The same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.

In Embodiment 2, the passage facility 1 is an automatic door. In this case, the "closed space A" is defined as the room before the moving body A to be controlled moves. The “closed space B” is defined as a destination room when the moving object A to be controlled has successfully passed through the traffic facility 1 . The “closed space C” is defined as the room before movement when the moving object A to be controlled fails to pass through the traffic facility 1 . The “equipment space” of the traffic facility 1 is defined as a space that can communicate with the facility cooperation device 3 .

In the equipment cooperation control system, door entry from "closed space A" to "equipment space" and door exit from "equipment space" to "closed space C" are performed by communication with equipment cooperation device 3 and movement of the control target. Defined in the internal processing of body A. These state transitions do not involve movement of the mobile object.

For example, even if the control target moving body A is permitted to pass through, if the door is closed, the control target moving body A changes from the state existing in the "facility space" to the state existing in the "closed space C". transition to a state that exists in In this case, even if the moving body A to be controlled does not pass through the door, it is processed as exiting the door by communication of the equipment cooperation device 3 .

"Closed space C" is a state that transitions to "closed space A" by unsteady processing. Therefore, the moving object A to be controlled performs the process of obtaining the passage permission again.

Next, the operation of the equipment cooperation control system will be described with reference to FIG.
FIG. 12 is a sequence diagram for explaining the operation of the equipment cooperation control system according to the second embodiment.

As shown in FIG. 12, the moving body A to be controlled makes a passage judgment as to whether or not it can pass through the automatic door. When it is determined that the automatic door can be passed through, the moving object A to be controlled applies to the equipment cooperation device 3 for passage. After that, the equipment cooperation device 3 unlocks the traffic equipment 1 . The equipment linking device 3 issues a passage permission to the moving body A to be controlled.

When the passage permission is issued, the moving object A to be controlled moves in front of the door. Specifically, the moving body A to be controlled moves to a position facing the automatic door.

The passage facility 1 opens the door when it is unlocked. At this time, when moving body A to be controlled moves to a position facing the automatic door, it can observe "closed space B". Here, when there is no other moving body B in the "closed space B", the moving body A to be controlled is able to enter the "closed space B" by detecting the door opening. Exit the door to "closed space B".

On the other hand, when another moving body B exists in the "closed space B", the moving body A to be controlled detects the moving body. At this time, when the other moving body B exits from the "closed space B" to the "closed space A", the other moving body B exits from the "closed space B" to the "closed space A" via the facility space. do. A moving body A to be controlled moves or waits in the "facility space" so as not to prevent another moving body B from exiting the door. By not detecting another moving object B from the "closed space B" or "facility space", the moving object moves to the front of the door again. After that, moving body A to be controlled recognizes that "closed space B" can be entered by door open detection, and exits the door from "equipment space" to "closed space B".

After that, the moving object A to be controlled notifies the facility cooperation device 3 of passage completion. Specifically, the moving object A to be controlled notifies the facility cooperation device 3 of information about whether or not it is possible to pass. Depending on the type of equipment cooperation device 3, the passage completion notification may be omitted.

The door of the passage facility 1 may be automatically closed over time. While the moving body A to be controlled is in the "facility space", it notifies the facility cooperation device 3 of a request to extend the door opening, and the facility cooperation device 3 instructs the facility control device 2 to extend the unlocking time. may be given.

According to the second embodiment described above, therefore, even if the passage facility 1 is an automatic door, the moving body A to be controlled can easily use the passage facility 1 even if another moving body B exists. can.

Embodiment 3.
13 and 14 are plan views of the vicinity of traffic facilities of the facility cooperation control system according to Embodiment 3. FIG. The same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.

In Embodiment 3, the passage facility 1 is a security gate. In this case, the "closed space A" is defined as the section before the moving object A to be controlled moves. The “closed space B” is defined as a section to which the moving object A to be controlled has successfully passed through the traffic facility 1 . The “closed space C” is defined as a section before movement when the moving body A to be controlled fails to pass through the traffic facility 1 . "Equipment space" is the space near the security gate.

As shown in FIG. 13, the direction of travel is defined at the security gate. As a result, reverse run prevention is realized. The mobile object A to be controlled cannot determine by itself whether the door is open/closed in the forward direction or in the reverse direction. Therefore, the moving body A to be controlled determines whether it is forward running or reverse running based on the notification from the equipment cooperation device 3 .

For example, when the door is opened and the passage is blocked by another moving body B, the other moving body B has decided to enter the security gate.

As shown in FIG. 14, at the security gate, there are cases where the application is discarded and cases where the application is saved.

If the application is discarded, "closed space C" is reassigned to "closed space A" and a new application is required. Depending on the specification, it is required to be a certain distance away from the security gate.

If the application is saved, the state of the mobile unit A to be controlled may return to the state of existing in the "equipment space". Further, the equipment cooperation device 3 may control the state of the mobile object A to be controlled to transition between the state of existing in the "closed space C" and the state of existing in the "equipment space".

Next, using FIG. 15, a first example of the operation of the equipment cooperation control system will be described.
FIG. 15 is a sequence diagram for explaining a first example of the operation of the equipment cooperation control system according to the third embodiment.

As shown in FIG. 15, the moving object A to be controlled makes a passage judgment as to whether or not it is possible to pass through the security gate. When it is determined that the security gate can be passed through, the moving object A to be controlled applies to the facility cooperation device 3 for passage. After that, the equipment cooperation device 3 submits an application to the traffic equipment 1 . The equipment linking device 3 issues a passage permission to the moving body A to be controlled.

The traffic facility 1 issues permission to the facility linking device 3 . The traffic facility 1 opens the security gate.

When the passage permission is issued, the moving object A to be controlled moves in front of the door. Specifically, the moving object A to be controlled moves to a position facing the security gate. After that, the moving body A to be controlled obtains a forward running permission from the equipment cooperation device 3 . After that, the moving body A to be controlled detects that the door is open.

On the other hand, another moving object B makes an entry decision. At this time, the moving body A to be controlled performs moving body detection. After that, the moving object A to be controlled issues a reverse-travel notification to the equipment cooperation device 3 . After that, the equipment linking device 3 issues a warning to the other moving body B. After that, the state of the other moving body B becomes a state of existing in the "closed space A".

After that, the moving body A to be controlled confirms that the front of the door is open. After that, the moving body A to be controlled exits the door. After that, the moving body A to be controlled sends a passage completion notification. Depending on the type of equipment cooperation device 3, the passage completion notification may be omitted.

Next, using FIG. 16, a second example of the operation of the equipment cooperation control system will be described.
FIG. 16 is a sequence diagram for explaining a second example of the operation of the equipment cooperation control system according to the third embodiment.

As shown in FIG. 16, the moving object A to be controlled makes a passage judgment as to whether or not it is possible to pass through the security gate. On the other hand, another moving object B makes a decision to leave.

When it is determined that the security gate can be passed through, the moving object A to be controlled applies to the facility cooperation device 3 for passage. After that, the moving body A to be controlled moves in front of the door. Specifically, the moving object A to be controlled moves to a position facing the security gate.

The equipment linking device 3 issues an application to the traffic equipment 1 . The traffic facility 1 issues a disapproval to the facility linking device 3 . After that, the traffic facility 1 opens the security gate.

The moving object A to be controlled receives a reverse run instruction from the equipment cooperation device 3 . After that, the moving body A to be controlled detects that the door is open. After that, the moving body A to be controlled confirms the evacuation direction. After that, the moving body A to be controlled retreats. After that, the moving body A to be controlled confirms that the front of the door is open.

After that, another moving body B exits the door.

According to the third embodiment described above, even if the passage facility 1 is a security gate, the moving body A to be controlled can easily use the passage facility 1 even if another moving body B exists.

In addition, the functions of the control device 4 according to the first to third embodiments may be provided in the equipment cooperation device 3 . In this case as well, the moving object A to be controlled can easily use the traffic facility 1 even if another moving object B exists.

1 traffic facility 2 facility control device 3 facility cooperation device 4 control device 4a first state determination unit 4b second state determination unit 4c third state determination unit 4d control unit 100a processor 100b memory 200 hardware

Claims (9)

A control device for a moving body provided in a moving body to be controlled using a facility composed of a plurality of closed spaces and traffic facilities having a function of temporarily and partially connecting adjacent spaces, ,
The passage facility has a door that connects the plurality of spaces by opening a certain range for a certain period of time with respect to the plurality of spaces adjacent through itself, and is inside itself or in the vicinity of the door. Equipped with a facility space in which up to a certain number of moving bodies can be placed in the partial space of
When the moving body to be controlled exists in one of the plurality of spaces separated by the traffic facility, the space in which the moving body to be controlled exists and the space adjacent to each other via the traffic facility. A first state determination unit that determines the state of the traffic facility that connects the
When the moving object to be controlled exists in any one of the plurality of spaces, any one of the space in which the moving object to be controlled exists and a space adjacent to the space via the traffic facility a second state determination unit that determines the state of another mobile object existing in the
a third state determining unit that determines a state of the moving object to be controlled when the moving object to be controlled is present in one of the plurality of spaces;
a control unit;
with
A state machine defines transitionable states of the mobile object to be controlled,
The control unit controls the first state determination unit, the second state determination unit, and the third state determination unit when the moving object to be controlled exists in one of the plurality of spaces. A control device for a moving body that performs control to transition the state of the moving body to be controlled along the state machine based on the determination result of the above. 2. The mobile body control device according to claim 1, wherein the first state determination unit determines whether the door is opened or closed. The control unit
The traffic facility is an elevator, one of the plurality of spaces is a hall space of the elevator, the equipment space is a space inside a car, and the other moving body is in the space inside the car When detecting a state in which the other moving body indicates an intention to pass through the door in a state in which the moving body to be controlled is behind the door, and detecting that the door is opened, the control target 2. The moving body according to claim 1, wherein the moving body is changed from being in the space inside the car to being in the space of the hall, and then being changed from being in the space of the hall to being in the car. controller. The control unit is configured such that the traffic facility is an elevator door, one of the plurality of spaces is a hall space of the elevator, the facility space is a space inside the elevator car, and the inside of the car movement of the controlled object when it is detected that the moving object to be controlled is present in front of the door in the space of 4. The mobile body control device according to claim 3, wherein the body is kept away from the front of the door. The control unit is configured such that the traffic facility is an elevator door, one of the plurality of spaces is a hall space of the elevator, the facility space is a space inside the elevator car, and the inside of the car 4. The function of restricting the movement of the controlled moving body is released when the other moving body detects a contact or approaching state of the controlled moving body in the space of mobile body control device. The control unit is configured such that the traffic facility is an elevator door, one of the plurality of spaces is a hall space of the elevator, the facility space is a space inside the elevator car, and the inside of the car in a state in which the moving body to be controlled is located behind the door relative to the other moving body, and when the moving body to be controlled is caused to pass through the door, the moving body to be controlled passes through the door from the door to the other moving body 4. The mobile body control device according to claim 3, which generates information prompting to leave. The traffic facility is a security gate,
The equipment space is a space in the vicinity of the security gate,
The control unit
When the mobile object to be controlled applies for passage to the passage facility, and if the application for passage is permitted, information is generated to prompt the other mobile object to leave the door, and the door is closed. causing the controlled moving body to pass through the door after confirming the previous opening;
4. The mobile body control device according to claim 3, wherein the mobile body to be controlled is moved away from the front of the door when the passage application is not permitted. A moving body to be controlled, which has the control device according to any one of claims 1 to 7;
a facility linking device;
with
The facility cooperation device is
a function of acquiring information related to the state of the traffic facility from a facility control device that controls the traffic facility;
A function of giving an instruction to transition the state of the traffic facility;
a function of acquiring information related to the state of the mobile object from the mobile object;
a function of giving an instruction to transition the state of the moving body from the moving body;
equipment linkage control system. A moving object to be controlled that uses a facility composed of a plurality of closed spaces and traffic facilities that have the function of temporarily and partially connecting adjacent spaces;
a facility cooperation device having a control device that controls the moving body to be controlled;
with
The passage facility has a door that connects the plurality of spaces by opening a certain range for a certain period of time with respect to the plurality of spaces adjacent through itself, and is inside itself or in the vicinity of the door. Equipped with a facility space in which up to a certain number of moving bodies can be placed in the partial space of
The control device is
When the moving body to be controlled exists in one of the plurality of spaces separated by the traffic facility, the space in which the moving body to be controlled exists and the space adjacent to each other via the traffic facility. A first state determination unit that determines the state of the traffic facility that connects the
When the moving object to be controlled exists in any one of the plurality of spaces, any one of the space in which the moving object to be controlled exists and a space adjacent to the space via the traffic facility a second state determination unit that determines the state of another mobile object existing in the
a third state determining unit that determines a state of the moving object to be controlled when the moving object to be controlled is present in one of the plurality of spaces;
a control unit;
with
A state machine defines transitionable states of the mobile object to be controlled,
The control unit controls the first state determination unit, the second state determination unit, and the third state determination unit when the moving object to be controlled exists in one of the plurality of spaces. A facility cooperation control system that performs control to transition the state of the mobile object to be controlled along the state machine based on the determination result of the above.

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