Patent Application
20230050172
This disclosure relates to a technical field of a movable body control system, a control apparatus, a control method and a recording medium that are configured to control a movable body.
A control apparatus that is configured to control a movable body that is configured to autonomously move in a facility such as a plant is known. For example, a Patent Literature 1 discloses a control apparatus that is configured to change a guide command for a movable body by using condition data indicating a communication condition that is obtained by communicating a wireless access point.
Additionally, there is a Patent Literature 2 to a Patent Literature 5 as a background art document related to this disclosure.
When a plurality of movable bodies move in the facility, there is a possibility that the plurality of movable bodies interfere in a communication with each other. Specifically, an area in which a communication quality does not reach a desired quality due to an existence of each movable body is generated around each movable body. Therefore, when another movable body moves in an area in which the communication quality does not reach the desire level due to one movable body, there is a possibility that a communication between another movable body and the control apparatus is not stable. The apparatuses disclosed in the Patent Literatures 1 to 5 described above do not consider that the area in which the communication quality does not reach the desired quality due to each movable body is generated. Therefore, the apparatuses disclosed in the Patent Literatures 1 to 5 described above have such a technical problem that they are not capable of properly control the plurality of movable bodies.
It is an example object of this disclosure to provide a movable body control system, a control apparatus, a control method and a recording medium that are configured to solve the above described technical problem. As one example, it is an example object of this disclosure to provide a movable body control system, a control apparatus, a control method and a recording medium that are configured to properly control a plurality of movable bodies.
One example aspect of a movable body control system includes a first movable body that is movable in a predetermined area in which a wireless communication network is built; a second movable body that is movable in the predetermined are; and a control apparatus that is configured to control each of the first and second movable bodies through the wireless communication network, the control apparatus includes: a storage unit that is configured to store a first communication quality information that indicates a communication quality in the predetermined area when the first movable body exists in each of a plurality of different locations in the predetermined area; a generation unit that is configured to generate, based on the first communication quality information, a target moving route that allows the second movable body to move while avoiding a first low quality location at which the communication quality does not reach a desired quality due to the first movable body; and a control unit that is configured to control the second movable body so that the second movable body moves along the target moving route.
One example aspect of a control apparatus is a control apparatus that is configured to control, through a wireless communication network, a first movable body and a second movable body that are movable in a predetermined area in which the wireless communication network is built, the control apparatus includes: a storage unit that is configured to store a first communication quality information that indicates a communication quality in the predetermined area when the first movable body exists in each of a plurality of different locations in the predetermined area; a generation unit that is configured to generate, based on the first communication quality information, a target moving route that allows the second movable body to move while avoiding a first low quality location at which the communication quality does not reach a desired quality due to the first movable body; and a control unit that is configured to control the second movable body so that the second movable body moves along the target moving route.
One example aspect of a control method is a control method of controlling, through a wireless communication network, a first movable body and a second movable body that are movable in a predetermined area in which the wireless communication network is built, the control method includes: obtaining a fist communication quality information from a storage unit that is configured to store the first communication quality information that indicates a communication quality in the predetermined area when the first movable body exists in each of a plurality of different locations in the predetermined area; generating, based on the first communication quality information, a target moving route that allows the second movable body to move while avoiding a first low quality location at which the communication quality does not reach a desired quality due to the first movable body; and controlling the second movable body so that the second movable body moves along the target moving route.
One example aspect of a recording medium is a recording medium on which a computer program that allows a computer to execute a control method is recorded, wherein the control method is a control method of controlling, through a wireless communication network, a first movable body and a second movable body that are movable in a predetermined area in which the wireless communication network is built, and includes: obtaining a fist communication quality information from a storage unit that is configured to store the first communication quality information that indicates a communication quality in the predetermined area when the first movable body exists in each of a plurality of different locations in the predetermined area; generating, based on the first communication quality information, a target moving route that allows the second movable body to move while avoiding a first low quality location at which the communication quality does not reach a desired quality due to the first movable body; and controlling the second movable body so that the second movable body moves along the target moving route.
The movable body control system, the control apparatus, the control method and the recording medium described above are capable of properly control the plurality of movable bodies.
Each of
Next, an example embodiment of a movable body control system, a control apparatus, a control method and a recording medium will be described with reference to the drawings. In the below described description, the example embodiment of the movable body control system, the control apparatus, the control method and the recording medium will be described by using a movable body control system SYS that is configured to control movements of a plurality of movable bodies 1 that are movable in a transport area TA in a warehouse.
However, the movable body control system SYS may be configured to control any movable body 1 that is movable in any area. For example, the movable body control system SYS may be configured to control any movable body 1 that is movable in any area in at least one of a factory, a hospital, a station, an airport and a shopping mall.
Firstly, with reference to
As illustrated in
As illustrated in
Each movable body 1 is autonomously movable in the transport area TA under the control of the control server 3. Specifically, each movable body 1 is autonomously movable along a target moving route TGT generated by the control server 3 in the transport area TA. An Automated Guided Vehicle is one example of the movable body 1. In this case, the movable body 1 may move in the transport area TA to transport an item.
Each movable body 1 includes a CPU (Central Processing Unit) 11, a storage apparatus 12 and a communication apparatus 13, as illustrated in
The CPU 11 reads a computer program. For example, the CPU 11 may read a computer program stored in the storage apparatus 12. For example, the CPU 11 may read a computer program stored in a computer-readable recording medium, by using a not-illustrated recording medium reading apparatus. The CPU 11 may obtain (namely, download or read) a computer program from a not-illustrated apparatus placed outside the movable body 1 through the communication apparatus 13. The CPU 11 executes the read computer program. As a result, a logical functional block for autonomously moving under the control of the control server 3 is implemented in the CPU 11. Namely, the CPU 11 is configured to serve as a controller for implementing the logical block for autonomously moving under the control of the control server 3.
The storage apparatus 12 is configured to store desired data. For example, the storage apparatus 12 may temporarily store the computer program that is executed by the CPU 11. The storage apparatus 12 may temporarily store data temporarily used by the CPU 11 when the CPU 11 executes the computer program. The storage apparatus 12 may store data stored for a long term by the movable body 1. The storage apparatus 12 may include at least one of a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk apparatus, a magneto-optical disc, a SSD (Solid State Drive) and a disk array apparatus.
The communication apparatus 13 is configured to communicate with the control server 3 through a wireless communication network NW that is built by the plurality of wireless access points 2. Especially in the present example embodiment, the communication apparatus 13 is configured to receive a control information from the control server 3 (specifically, a command signal that is transmitted to the movable body 1 from the control server 3 to control the movable body 1) through the wireless communication network NW. The CPU 11 may control at least one of a driving unit (for example, a motor), a braking unit and a steering unit of the movable body 1 so that the movable body 1 autonomously moves based on the received control information.
Again in
The control server 3 performs a movable body control operation for controlling each movable body 1 so that each movable body 1 autonomously move in the transport area TA. The control server 3 includes a CPU 31, a storage apparatus 32 and a communication apparatus 33, as illustrated in
The CPU 31 reads a computer program. For example, the CPU 31 may read a computer program stored in the storage apparatus 32. For example, the CPU 31 may read a computer program stored in a computer-readable recording medium, by using a not-illustrated recording medium reading apparatus. The CPU 31 may obtain (namely, download or read) a computer program from a not-illustrated apparatus placed outside the control server 3 through the communication apparatus 33. The CPU 31 executes the read computer program. As a result, a logical functional block for performing the movable body control operation that should be performed by the control server 3 is implemented in the CPU 31. Namely, the CPU 31 is configured to serve as a controller for implementing the logical block for performing the movable body control operation.
In order to perform the movable body control operation, a route generation unit 311 that is one specific example of a “generation unit” and a movable body control unit 312 that is one specific example of a “control unit” are implemented in the CPU 31. Note that a detail of an operation of each of the route generation unit 311 and the movable body control unit 312 will be described later in detail with reference to
The storage apparatus 32 is configured to store desired data. For example, the storage apparatus 32 may temporarily store the computer program that is executed by the CPU 31. The storage apparatus 32 may temporarily store data temporarily used by the CPU 31 when the CPU 31 executes the computer program. The storage apparatus 32 may store data stored for a long term by the control server 3. Especially in the present example embodiment, the storage apparatus 32 store data used by the CPU 31 for performing the movable body control operation. Specifically, the storage apparatus 32 stores a grid map 321, a signal strength DB 322 and a moving route DB 323. The grid map 321 is map data that is used by the CPU 31 for generating the target moving route TGT by a unit of a plurality of grid areas that are obtained by dividing the transport area TA. The signal strength DB 322 is a database storing an signal strength information related to a level of a signal strength in the transport area TA when each movable body 1 exists in each of a plurality of different locations in the transport area TA. The signal strength DB 322 is mainly used to determine the above described low strength area DA_low. The moving route DB 323 stores a route information related to the target moving route TGT generated by the route generation unit 311. The storage apparatus 32 may include at least one of a RAM, a ROM, a hard disk apparatus, a magneto-optical disc, a SSD and a disk array apparatus.
The communication apparatus 33 is configured to communicate with each of the plurality of movable bodies 1 through the wireless communication network NW. Especially in the present example embodiment, the communication apparatus 33 is configured to transmit the control information for controlling the movable body 1 (specifically, the command signal that is transmitted to the movable body 1 from the control server 3 to control the movable body 1). Each movable body 1 autonomously moves based on the control information transmitted from the control server 3.
Next, with reference to
As described above, the control server 3 generates, as the target moving route TGT for one movable body 1, the route that allows the one movable body 1 to move while avoiding the low strength area DA_low that is generated in the transport area TA due to other movable body 1 of the plurality of movable bodies 1 other than the one movable body 1. In the below described description, a flow of the movable body control operation that is performed when the movable body control system SYS includes two movable bodies 1 (specifically, a movable body 1#1 and a movable body 1#2) will be described, for the purpose of simple description. Namely, in the below described description, the movable body control operation for generating, as the target moving route TGT for the movable body 1#2, the route that allows the movable body 1#2 to move while avoiding the low strength area DA_low that is generated in the transport area TA due to the movable body 1#1. In this case, the movable body 1#1 is one specific example of a “first movable body” and the movable body 1#2 is one specific example of a “second movable body”. However, even when the movable body control system SYS includes three or more movable bodies, a detail of the movable control operation is not changed except that there are a plurality of movable bodies 1#1.
As illustrated in
In the present example embodiment, the route generation unit 311 determines the position of the movable body 1#1 on the grid map 321. However, the route generation unit 311 may determine the position of the movable body 1#1 by using any method without using the grid map 321. One example of the grid map 321 is illustrated in
The route generation unit 311 may determine, as the position of the movable body 1#1, a position of the grid area DA in which the movable body 1 exists at each time during the movement period. In order to determine the position of the movable body 1#1, the route generation unit 311 may obtains a route information related to the target moving route TGT for the movable body 1#1 (hereinafter, the target moving route TGT for the movable body 1#1 is referred to as a “target moving route TGT#1”) that is stored in the moving route DB 323. Note that the route information is one specific example of a “location information”. Then, the route generation unit 311 determines the position of the movable body 1#1 at each time in the movement period based on the obtained route information related to the target moving route TGT#1. For example,
Incidentally, when the movable body control system SYS includes three or more movable bodies 1 (namely, includes two or more movable bodies 1#1), the route generation unit 311 may determine the position of each of the two or more movable bodies 1#1 at each time in the movement period at the step S11.
Then, the route generation unit 311 generates, based on the position of the movable body 1#1 determined at the step S11 and the signal strength information stored in the signal strength DB 322, a signal strength map MP that indicates a signal strength in the transport area TA at each time ti in the movement period on the grid map 321 (a step S12).
Specifically, the signal strength DB 322 stores a plurality of signal strength information that correspond to the plurality of movable bodies 1, respectively. The signal strength information corresponding to one movable body 1 of the plurality of movable bodies 1 obtains a signal strength information that indicates a magnitude of the signal strength in the transport area TA when the one movable body 1 exists in each of the plurality of grid areas DA that are obtained by segmentizing the transport area TA. In the example illustrated in
At the step S12, the route generation unit 311 obtains the signal strength information corresponding to the movable body 1#1 from the signal strength DB 322. Note that the signal strength information corresponding to the movable body 1#1 is one specific example of a “first communication quality information”. Then, the route generation unit 311 generates, based on the obtained signal strength information, the signal strength map MP that indicates the magnitude of the signal strength in the transport area TA on the grid map 321 when the movable body 1#1 exists at the position determined at the step S11. Specifically, the route generation unit 311 generates the signal strength map MP(t0) that indicates the magnitude of the signal strength in the transport area TA on the grid map 321 when the movable body 1#1 exists in the grid area DA at the coordinate (0, 4) at the time t0, the signal strength map MP(t1) that indicates the magnitude of the signal strength in the transport area TA on the grid map 321 when the movable body 1#1 exists in the grid area DA at the coordinate (1, 4) at the time t1, ..., and the signal strength map MP(t8) that indicates the magnitude of the signal strength in the transport area TA on the grid map 321 when the movable body 1#1 exists in the grid area DA at the coordinate (7, 4) at the time t8.
One example of the signal strength map MP is illustrated in
A communication quality in the wireless communication network NW that is built by the plurality of wireless access points 2 is better as the signal strength is higher. Namely, the communication quality in the grid area DA is better as the signal strength in this grid area DA is higher. Thus, it can be said that the signal strength information is one specific example of a communication quality information related to the communication quality in the wireless communication network NW in the transport area TA.
Incidentally, when the movable body control system SYS includes three or more movable bodies 1 (namely, includes two or more movable bodies 1#1), the route generation unit 311 may generate two or more signal strength maps MP that correspond to the two or more movable bodies 1#1, respectively, and then generate the signal strength map MP at each time ti by combining the two or more signal strength maps MP at the step S12.
Then, the route generation unit 311 generates, based on the signal strength map MP generated at the step S12, the target moving route TGT for the movable body 1#2 (hereinafter, the target moving route TGT for the movable body 1#2 is referred to as a “target moving route TGT#2”) (a step S13).
Specifically, the route generation unit 311 generates the target moving route TGT#2 that satisfies such a first route condition that the movable body 1#2 is movable while avoiding the low strength area DA_low1. Namely, the route generation unit 311 generates the target moving route TGT#2 that allows the movable body 1#2 to move while avoiding the low strength area DA_low1. Here, a state where “the movable body 1#2 is movable while avoiding the low strength area DA_low1” in the present example embodiment may mean a state where “the movable body 1#2 exists at each time ti in the grid area DA that is different from the low strength area DA_low1 generated at each time ti”. Namely, the state where “the movable body 1#2 is movable while avoiding the low strength area DA_low1” may mean a state where “the movable body 1#2 exists at the time t0 in the grid area DA that is different from the low strength area DA_low1 generated at each time t0, the movable body 1#2 exists at the time t1 in the grid area DA that is different from the low strength area DA_low1 generated at each time t1, ..., and the movable body 1#2 exists at the time ts in the grid area DA that is different from the low strength area DA_low1 generated at each time ts”. In this case, it can be said that the first route condition is such a condition that the movable body 1#2 exists at each time ti in the grid area DA that is different from the low strength area DA_low1 generated at each time ti. In other words, it can be said that the first route condition is such a condition that the movable body 1#2 does not exist at each time ti in the low strength area DA_low1 generated at each time ti.
In order to generate the target moving route TGT#2 satisfying the first route condition, the route generation unit 311 determines, based on the signal strength map MP generated at the step S12, the position of the low strength area DA_low1 generated at each time ti. Then, the route generation unit 311 generates the target moving route TGT#2 that allows the movable body 1#2 to move while avoiding the determined low strength area DA_low1. When the target moving route TGT#2 satisfying the first route condition is generated, there is a relatively low possibility that the communication between the movable body 1#2 and the control server 3 is unstable due to the low strength area DA_low1.
Incidentally, when the movable body control system SYS includes three or more movable bodies 1 (namely, includes two or more movable bodies 1#1), the first route condition may be such a condition that the movable body 1#2 is movable while avoiding a plurality of low strength areas DA_low1 that are generated due to the plurality of movable bodies 1#1, respectively.
On the other hand, the low strength area DA_low may be generated due to not only the movable body 1#1 but also the movable body 1#2. In the below described description, the low strength area DA_low generated due to the movable body 1#2 is referred to as a “low strength area DA_low2” to distinguish it from the low strength area DA_low1. There is a possibility that this low strength area DA_low2 moves along with the movement of the movable body 1#2. Thus, when the movable body 1#1 enters the low strength area DA_low2 moving along with the movement of the movable body 1#2, there is a possibility that the communication quality between the movable body 1#1 and the control server 3 is unstable due to the low strength area DA_low2. Thus, there is a possibility that the movable body 1#1 is not capable of properly moving in the transport area TA under the control of the control server 3. Thus, the route generation unit 311 may generate the target moving route TGT#2 that satisfies, in addition to the above described first route condition, such a second route condition that the movable body 1#1 does not exist in the low strength area DA_low2 generated due to the movable body 1#2 moving along the target moving route TGT#2. Here, a state where “the movable body 1#1 does not exist in the low strength area DA_low2” may mean a state where “the movable body 1#1 does not exist at each time ti in the low strength area DA_low2 generated at each time ti”. Namely, the state where “the movable body 1#1 does not exist in the low strength area DA_low2” may mean a state where “the movable body 1#1 does not exist at the time t0 in the low strength area DA_low2 generated at the time t0, the movable body 1#1 does not exist at the time t1 in the low strength area DA_low2 generated at the time t1, ... and the movable body 1#1 does not exist at the time t8 in the low strength area DA_low2 generated at the time t8”. In other words, the state where “the movable body 1#1 does not exist in the low strength area DA_low2” may mean a state where “the movable body 1#1 exists at the time t0 in the grid area DA that is different from the low strength area DA_low2 generated at the time t0, the movable body 1#1 exists at the time t1 in the grid area DA that is different from the low strength area DA_low2 generated at the time t1, ... and the movable body 1#1 exists at the time t8 in the grid area DA that is different from the low strength area DA_low2 generated at the time ts”. In this case, it can be said that the second route condition is such a condition that the movable body 1#1 exists at each time ti in the grid area DA that is different from the low strength area DA_low2 generated at each time ti. In other words, it can be said that the second route condition is such a condition that the movable body 1#1 does not exist at each time ti in the low strength area DA_low2 generated at each time ti.
In order to generate the target moving route TGT#2 satisfying the second route condition, the route generation unit 311 obtains the signal strength information corresponding to the movable body 1#2 from the signal strength DB 322, and determines, based on the obtained signal strength information, the position of the low strength area DA_low2 generated at each time ti. Then, the route generation unit 311 generates the target moving route TGT#2 that allows the movable body 1#1 not to exist the determined low strength area DA_low2. When the target moving route TGT#2 satisfying the second route condition is generated, there is a relatively low possibility that the communication between the movable body 1#1 and the control server 3 is unstable due to the low strength area DA_low2.
Incidentally, when the movable body control system SYS includes three or more movable bodies 1 (namely, includes two or more movable bodies 1#1), the first route condition may be such a condition that each of the plurality of movable bodies 1#1 does not exist in the low strength areas DA_low2.
The route generation unit 311 may generate the target moving route TGT#2 by using an existing route generation method. For example, the route generation unit 311 may generate the target moving route TGT#2 by using an existing route generation method based on an A* (A star) algorithm. In this case, in order to generate the target moving route TGT#2 satisfying the first route condition that allows the movable body 1#2 to move while avoiding the low strength area DA_low1, the route generation unit 311 may set a cost for the low strength area DA_low1 to be higher than a cost for the grid area DA other than the low strength area DA_low1. Then, the route generation unit 311 may generate the target moving route TGT#2 so that a total sum of the costs for the grid areas DA through which the target moving route TGT#2 passes is smaller (typically, is minimum). Moreover, in order to generate the target moving route TGT#2 satisfying the second route condition that allows the movable body 1#1 not to exist in the low strength area DA_low2, the route generation unit 311 may set a cost for the low strength area DA_low2 to be higher than a cost for the grid area DA other than the low strength area DA_low2, and generate the target moving route TGT#2 so that a total sum of the costs for the grid areas DA through which the target moving route TGT#1 for the movable body 1#1 passes is smaller (typically, is minimum).
After the target moving route TGT#2 is generated, the movable body control unit 312 controls the movable body 1#2 through the wireless communication network NW so that the movable body 1#2 moves along the target moving route TGT#2 generated at the step S13 (a step S14). As a result, the movable body 1#2 starts to move. Note that the target moving route TGT#2 generated at the step S13 may be stored in the moving route DB 323 stored in the storage apparatus 32.
Nex, with reference to
As illustrated in
Then, as illustrated in
Then, as illustrated in
Then, as illustrated in
Then, as illustrated in
Then, the same operation is repeated, and thus, a route from the coordinate (6, 3) to the coordinate (0, 3) through the coordinate (5, 3), the coordinate (4, 3), the coordinate (4, 2), the coordinate (3, 2), the coordinate (2, 2), the coordinate (1, 2) and the coordinate (0, 2) in this order is generated as the target moving route TGT#2.
In this manner, it can be said that the route generation unit 311 repeats, while changing the time ti, an operation for determining the position of the movable body 1#1 at the time ti, determining the position of the low strength area DA_low1 at the time ti based on the position of the movable body 1#1 at the time ti, and generating the route that allows the movable body 1#2 to move so that the movable body 1#2 exists at the time ti in the grid area DA other than the low strength area DA_low1 at the time ti in order to generate the target moving route TGT#2 satisfying the first route condition. Moreover, it can be said that the route generation unit 311 repeats, while changing the time ti, an operation for determining the position of the movable body 1#2 at the time ti, determining the position of the low strength area DA_low2 at the time ti based on the position of the movable body 1#2 at the time ti, and generating the route that allows the movable body 1#2 to move so that the movable body 1#1 exists at the time ti in the grid area DA other than the low strength area DA_low2 at the time ti, in order to generate the target moving route TGT#2 satisfying the second route condition.
As described above, the movable body control system SYS (especially, the control server 3) in the present example embodiment is capable of generating, based on the signal strength information stored in the signal strength DB 322, the target moving route TGT#2 satisfying the first condition that allows the movable body 1#2 to move while avoiding the low strength area DA_low1. Here, as described above, the signal strength information indicates the magnitude of the signal strength in the transport area TA when the movable body 1#1 exists in each of the plurality of grid areas DA. Thus, the movable body control system SYS is capable of generating the target moving route TGT#2 that allows the movable body 1#2 to move while avoiding the low strength area DA_low1 that moves along with the movement of the movable body 1#1. Therefore, even when the movable body 1#1 other than the movable body 1#2 exists in the transport area TA, there is a low possibility that the communication between the movable body 1#2 and the control server 3 is unstable due to the low strength area DA_low1 generated due to the movable body 1#1. Thus, the movable body 1#2 is capable of properly moving in the transport area TA under the control of the control server 3. Namely, the control server 3 is capable of properly controlling the plurality of movable bodies 1 even when the plurality of movable bodies 1 exist in the transport area TA.
Here, since the signal strength information is stored in the signal strength DB 322 in advance, the control server 3 is capable predicting the position of the low strength area DA_low1 generated in the transport area TA before the movable body 1#2 starts to move. Thus, there is a relatively low possibility that the movable body 1#2 passes through the low strength area DA_low1 after the movable body 1#2 starts to move. As a result, there is a relatively low possibility that it is necessary to generate the target moving route TGT#2 again because of the movable body 1#2 passing through the low strength area DA_low1. Considering this effect, it is preferable that the control server 3 perform the above described movable body control operation illustrated in
Furthermore, the movable body control system SYS (especially, the control server 3) is capable of generating the target moving route TGT#2 satisfying the second condition that allows the movable body 1#1 not to exist the low strength area DA_low2. Thus, the movable body control system SYS is capable of generating the target moving route TGT#2 for the movable body 1#2 so that the movable body 1#1 is capable of moving while avoiding the low strength area DA_low2 that moves along with the movement of the movable body 1#2. Therefore, even when the movable body 1#1 other than the movable body 1#2 exists in the transport area TA, there is a low possibility that the communication between the movable body 1#1 and the control server 3 is unstable due to the low strength area DA_low1 generated due to the movable body 1#2. Thus, not only the movable body 1#2 but also the movable body 1#1 are capable of properly moving in the transport area TA under the control of the control server 3. Namely, the control server 3 is capable of properly controlling the plurality of movable bodies 1 even when the plurality of movable bodies 1 exist in the transport area TA.
As described above, when the target moving route TGT#2 satisfying at least one of the first and second route conditions is generated, there is a lower possibility that the plurality of movable bodies 1 interfere with the communication between each other, compared to a case where the target moving route TGT#2 that does not satisfy both of the first and second route conditions is generated. Thus, the plurality of movable bodies 1 are capable of properly moving in the transport area TA even when the plurality of movable bodies 1 exist in the transport area TA. Namely, each movable body 1 is capable of properly moving in the transport area TA without being affected from the interference to the communication from other movable body 1.
In the above described description, the control server 3 generates the target moving route TGT by using the signal strength information stored in the signal strength DB 322. However, the control server 3 may generate the target moving route TGT by using any communication quality information related to a communication quality of the wireless communication network NW built by the plurality of wireless access points 2 in the transport area TA. An information related to a S/N ratio of the wireless signal is one example of any communication quality information. In this case, the control server 3 may generate the target moving route TGT#2 that allows the movable body 1#2 to move while avoiding a low quality area in which the communication quality does not reach a desired quality due to the movable body 1#1. The control server 3 may generate the target moving route TGT#2 for the movable body 1#2 so that the movable body 1#1 does not exist in a low quality area in which the communication quality does not reach the desired quality due to the movable body 1#2.
With respect to the example embodiments described above, the following Supplementary Notes will be further disclosed.
A movable body control system including:
The movable body control system according to Supplementary Note 1, wherein
the generation unit is configured to generate the target moving route before the second movable body starts to move.
The movable body control system according to Supplementary Note 1 or 2, wherein the generation unit is configured to:
The movable body control system according to Supplementary Note 3, wherein
the generation unit is configured to generate the target moving route by performing, while changing the one time, an operation for determining, based on the first communication quality information, the first low quality location that is generated at the one time, and generating a route that allows the second movable body to move so that the second movable body exists at the one time at the location that is different from the determined first low quality location.
The movable body control system according to Supplementary Note 3 or 4, wherein the generation unit is configured to:
The movable body control system according to any one of Supplementary Notes 1 to 5, wherein
The movable body control system according to Supplementary Note 6, wherein the generation unit is configured to:
The movable body control system according to Supplementary Note 7, wherein
the generation unit is configured to generate the target moving route by performing, while changing the one time, an operation for determining, based on the second communication quality information, the second low quality location that is generated at the one time, and generating a route that allows the second movable body to move so that the first movable body exists at the one time at the location that is different from the determined second low quality location.
A control apparatus that is configured to control, through a wireless communication network, a first movable body and a second movable body that are movable in a predetermined area in which the wireless communication network is built,
A control method of controlling, through a wireless communication network, a first movable body and a second movable body that are movable in a predetermined area in which the wireless communication network is built,
The control method according to Supplementary Note 10 including
A computer program that allows a computer to execute a control method is recorded, wherein
This disclosure is not limited to the above described example embodiment. This disclosure is allowed to be changed, if desired, without departing from the essence or spirit of the invention which can be read from the claims and the entire specification, and a movable body control system, a control apparatus, a control method and a computer program, which involve such changes, are also intended to be within the technical scope of this disclosure.
This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2020-041803, filed on Mar. 11, 2020, and incorporates all of its disclosure herein, if legally permitted. Moreover, this application incorporates all of the publications of application and articles, if legally permitted.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020-041803 | Mar 2020 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/004063 | 2/4/2021 | WO |
