The present invention relates to a route search support apparatus and a route search support method for supporting the route search of a moving object that moves independently, and further relates to a computer-readable medium that includes recorded thereon a program for realizing the route search support apparatus and the route search support method.
Conventionally, automatic guided vehicles (AGVs) have been introduced in various factories in order to improve work efficiency and production efficiency. In addition, automatic guided vehicles have been introduced at distribution bases in order to realize quick delivery.
In general, the number of automatic guided vehicles operating in factories, distribution bases, etc. is not one but a plurality. Therefore, when operating multiple automatic guided vehicles, in order to prevent collisions as much as possible, an automated guided vehicle without luggage (hereinafter referred to as “vacant vehicle”) stands by at an escape point. (see Patent Document 1)
Specifically, Patent Document 1 discloses an operation system for a plurality of automatic guided vehicles. The operation system disclosed in Patent Document 1 first executes detection of vacant traveling vehicles, and if vacant traveling vehicles can be detected, sets the same number of escape points as the detected number.
Next, the operation system disclosed in Patent Document 1 searches for a route from the set escape point to the detected vacant vehicle. Then, the operation system gives an instruction to the vacant vehicle for which the route has been searched to move along the searched route when another vacant vehicle does not exist in the searched route. On the other hand, if there is another vacant vehicle in the searched route, the operation system instructs the other vacant vehicle to move along the searched route.
As described above, according to the operation system disclosed in Patent Document 1, all the vacant traveling vehicles are evacuated at the escape point.
As a result, the occurrence of collisions between automatic guided vehicles is suppressed.
Patent Document 1: JP2016-81378A
The system disclosed in Patent Document 1 set the escape points by selecting the escape points as many as the number of vacant vehicles according to a certain rule from among escape point candidates preset by humans. For this reason, the manager of the operation system needs to set a new escape point candidate each time the layout of the factory or the like changes. And, the layout may be changed frequently, and the setting of the escape point candidate may be a burden for the manager.
An example of an object of the present invention is a route search support apparatus and a route search support method and a computer-readable recording medium that solve the above-problems and make it possible to set an escape point necessary for the route search of a moving object that moves independently without relying on manual settings.
In order to achieve the above-described object, a route search support apparatus according to an example aspect of the invention is an apparatus for supporting a search for a route of multiple moving objects that move independently in a specific area, and includes:
an information acquisition unit configured to acquire a map information of the specific area and a task point information that specifies a task point at which the moving object executes a task in the specific area; and an escape point setting unit configured to set an escape point at which the moving object escape based on the map information and the task point information, so that the escape point does not exist on the route between task points in the specific area.
In addition, in order to achieve the above-described object, a route search support method according to an example aspect of the invention is a method for supporting a search for a route of multiple moving objects that move independently in a specific area, and includes:
(a) a step of acquiring a map information of the specific area and a task point information that specifies a task point at which the moving object executes a task in the specific area; and
(b) a step of setting an escape point at which the moving object escape based on the map information and the task point information, so that the escape point does not exist on the route between task points in the specific area.
Furthermore, in order to achieve the above-described object, a computer readable recording medium according to an example aspect of the invention is a computer readable recording medium that includes recorded thereon a program for supporting a search for a route of multiple moving objects that move independently in a specific area by means of a computer, the program including instruction that cause the computer to carry out:
(a) a step of acquiring a map information of the specific area and a task point information that specifies a task point at which the moving object executes a task in the specific area; and
(b) a step of setting an escape point at which the moving object escape based on the map information and the task point information, so that the escape point does not exist on the route between task points in the specific area.
As described above, according to the invention, it is possible to set an escape point necessary for the route search of a moving object that moves independently without relying on manual settings.
In the following, a route search support apparatus, route search support method, and a program in first example embodiment of the present invention will be described with reference to
[Apparatus Configuration]
First, a schematic configuration of the route search support apparatus in the first example embodiment will be described with reference to
A route search support apparatus 10 according to the first example embodiment shown in
Further, as shown in
As described above, in the first example embodiment, the escape point of the moving object is automatically set by using the map information of the specific area and the task point information. That is, according to the first example embodiment, it is possible to set an escape point necessary for the route search of the moving object that moves independently without relying on manual settings.
Here, the configuration and function of the route search support apparatus 10 according to the first example embodiment will be described more specifically with reference to
As shown in
When the route search support apparatus 10 sets the escape point, the route search support apparatus 10 notifies the moving object management apparatus 20 of the set escape point. Upon receiving the notification of the escape point, the moving object management apparatus 20 notifies each moving object 21 of the route and the escape point.
Further, as shown in
In the first example embodiment, as shown in
In the first example embodiment, the task point information is information for specifying the position (coordinates, serial number, etc.) of the grid corresponding to the actual task point. In the first example embodiment, the escape point setting unit 12 sets the escape point by selecting a grid to be the escape point.
Further, in the first example embodiment, the escape point setting unit 12 sets the escape point by using the minimum Steiner tree algorithm. That is, the escape point setting unit 12 specifies a route that connects all the task points and minimizes a number of the grids included and selects the grid to be the escape point from grids other than the grid on the specified route. The Steiner tree algorithm in the first example embodiment is an example and is an approximation algorithm. In the first example embodiment, another Steiner tree algorithm may be used.
The setting process of the escape point by the escape point setting unit 12 in the first example embodiment will be specifically described with reference to
First, it is assumed that the area 30 shown in
Then, it is assumed that the escape point setting unit 12 searches for a route connecting all the task points by the moving object 21. In this case, the escape point setting unit 12 searches for a route of B->A->C and a route of B->C->A.
Subsequently, the escape point setting unit 12 specifies a route that minimizes the number of included grids, but in the first example embodiment, the route is specified by approximating the “number of included grids” with the route length. Therefore, since the route length of the former is 7 (=3+4) and the route length of the latter is 9 (=5+4), the refuge point setting unit 12 specified the route B->A->C as the route that minimizes the number of grids included. As a result, the route B->C is not adopted, and the escape point setting unit 12 selects the grid 31 at a location indicated by the frame line in
[Apparatus Operations]
Next, the operations of the route search support apparatus 10 in the first example embodiment will be described with reference to
First, as shown in
Next, the escape point setting unit 12 searches for a route connecting all the task points based on the map information and the task point information (step A2). Then, the escape point setting unit 12 specifies a route that minimizes the number of grids included, for example, a route that minimizes a route length, among the searched routes (step A3).
Next, the escape point setting unit 12 selects a grid that is not on the route specified in step A3 as an escape point (step A4). After that, the escape point setting unit 12 notifies the moving object management apparatus 20 of the grid selected as the escape point (step A5).
In this way, when steps A1 to A5 are executed, an escape point at which the moving object can be shunted is set so as not to exist on the route between the task points in the specific area 30. According to the first example embodiment, it is possible to set an escape point necessary for route search of a moving object 21 that moves independently without relying on manual settings.
[Program]
It is sufficient for the program according to the first example embodiment to be a program that causes a computer to execute steps A1 to A5 shown in
Furthermore, the program according to the first example embodiment may be executed by a computer system constructed with a plurality of computers. In this case, for example, each computer may function as one of the information acquisition unit 11 and the escape point setting unit 12.
Next, a route search support apparatus, route search support method, and a program in second example embodiment of the present invention will be described with reference to
The route search support apparatus according to the second example embodiment has the same configuration as the route search support apparatus 10 according to the first example embodiment shown in
In the second example embodiment, the escape point setting unit 12 selects a grid to be an escape point by using the minimum connected dominating set. That is, the escape point setting unit 12 sets a set of grids including and connected to two or more task points and selects the grid to be the escape point from grids other than the set of grids.
The setting process of the escape point by the escape point setting unit 12 in the second example embodiment will be specifically described with reference to
First, it is assumed that the area 30 shown in
Then, as shown in
Then, as shown in
The grid set is not particularly limited as long as it includes all the task points, and each grid is connected. Therefore, in the example of
Further, as shown in
[Apparatus Operations]
Next, the operations of the route search support apparatus in the second example embodiment will be described with reference to
First, as shown in
Next, the escape point setting unit 12 specifies a set of grids (grid set) that includes and connects two or more task points among the plurality of grids 31, (Step B2).
Next, the escape point setting unit selects a grid other than the specified grid set as the escape point (Step B3). After that, the escape point setting unit 12 notifies the moving object management apparatus 20 of the grid as the escape point (step B4).
In this even when steps B1 to B4 are executed, an escape point is set in the specific area 30. Also, in the case of the second example embodiment, it is possible to set an escape point necessary for route search of the moving object 21 that moves independently without relying on manual settings.
[Program]
It is sufficient for the program according to the second example embodiment to be a program that causes a computer to execute steps B1 to B4 shown in
Furthermore, the program according to the second example embodiment may be executed by a computer system constructed with a plurality of computers. In this case, for example, each computer may function as one of the information acquisition unit 11 and the escape point setting unit 12.
(Physical Configuration)
Using
As shown in
The CPU 111 carries out various types of calculation by deploying the program (codes) according to the present example embodiment stored in the storage device 113 to the main memory 112, and executing the codes in a predetermined order. The main memory 112 is typically a volatile storage device, such as a DRAM (dynamic random-access memory). Also, the program according to the present example embodiment is provided in a state where it is stored in a computer-readable recording medium 120. Note that the program according to the present example embodiment may be distributed over the Internet connected via the communication interface 117.
Also, specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device, such as a flash memory. The input interface 114 mediates data transmission between the CPU 111 and an input apparatus 118, such as a keyboard and a mouse. The display controller 115 is connected to a display apparatus 119, and controls display on the display apparatus 119.
The data reader/writer 116 mediates data transmission between the CPU 111 and the recording medium 120, reads out the program from the recording medium 120, and writes the result of processing in the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and another computer.
Specific examples of the recording medium 120 include: a general-purpose semiconductor storage device, such as CF (CompactFlash®) and SD (Secure Digital); a magnetic recording medium, such as a flexible disk; and an optical recording medium, such as a CD-ROM (Compact Disk Read Only Memory).
Note that the route search support apparatus according to the first and second example embodiment can also be realized by using items of hardware that respectively correspond to the components, rather than the computer in which the program is installed. Furthermore, a part of the route search support apparatus may be realized by the program, and the remaining part of the route search support apparatus may be realized by hardware.
A part or an entirety of the above-described example embodiment can be represented by (Supplementary Note 1) to (Supplementary Note 12) described below but is not limited to the description below.
(Supplementary Note 1)
A route search support apparatus for supporting a search for a route of multiple moving objects that move independently in a specific area, including:
an information acquisition unit configured to acquire a map information of the specific area and a task point information that specifies a task point at which the moving object executes a task in the specific area; and
an escape point setting unit configured to set an escape point at which the moving object escape based on the map information and the task point information, so that the escape point does not exist on the route between task points in the specific area.
(Supplementary Note 2)
The route search support apparatus according to Supplementary Note 1, wherein
the map information is composed of an information for each of a plurality of grids obtained by dividing the specific area in a grid pattern,
the task point information specifies a location of the grid corresponding to the task point,
the escape point setting unit sets the escape point by selecting the grid to be the escape point.
(Supplementary Note 3)
The route search support apparatus according to Supplementary Note 1, wherein the escape point setting unit specifies a route that connects all the task points and minimizes a number of the grids included and selects the grid to be the escape point from grids other than the grid on the specified route.
(Supplementary Note 4)
The route search support apparatus according to Supplementary Note 2, wherein the escape point setting unit sets a set of grids including and connected to all the tasks point and selects the grid to be the escape point from grids other than the set of grids.
(Supplementary Note 5)
A route search support method for supporting a search for a route of multiple moving objects that move independently in a specific area, comprising:
(a) a step of acquiring a map information of the specific area and a task point information that specifies a task point at which the moving object executes a task in the specific area; and
(b) a step of setting an escape point at which the moving object escape based on the map information and the task point information, so that the escape point does not exist on the route between task points in the specific area.
(Supplementary Note 6)
The route search support method according to Supplementary Note 5, wherein
the map information is composed of an information for each of a plurality of grids obtained by dividing the specific area in a grid pattern,
the task point information specifies a location of the grid corresponding to the task point,
in the (b) step, the escape point is set by selecting the grid to be the escape point.
(Supplementary Note 7)
The route search support method according to Supplementary Note 6, wherein
in the (b) step, a route that connects all the task points and minimizes a number of the grids included is specified and the grid to be the escape point is selected from grids other than the grid on the specified route.
(Supplementary Note 8)
The route search support method according to Supplementary Note 6, wherein
in the (b) step, a set of grids including and connected to all the tasks point is set and the grid to be the escape point is selected from grids other than the set of grids.
(Supplementary Note 9)
A computer-readable medium that includes recorded thereon a program for supporting a search for a route of multiple moving objects that move independently in a specific area by means of a computer,
the program including instruction that cause the computer to carry out:
(a) a step of acquiring a map information of the specific area and a task point information that specifies a task point at which the moving object executes a task in the specific area; and
(b) a step of setting an escape point at which the moving object escape based on the map information and the task point information, so that the escape point does not exist on the route between task points in the specific area.
(Supplementary Note 10)
The computer-readable medium according to Supplementary Note 9, wherein
the map information is composed of an information for each of a plurality of grids obtained by dividing the specific area in a grid pattern,
the task point information specifies a location of the grid corresponding to the task point,
in the (b) step, the escape point is set by selecting the grid to be the escape point.
(Supplementary Note 11)
The computer-readable medium according to Supplementary Note 10, wherein in the (b) step, a route that connects all the task points and minimizes a number of the grids included is specified and the grid to be the escape point is selected from grids other than the grid on the specified route.
(Supplementary Note 12)
The computer-readable medium according to Supplementary Note 10, wherein
in the (b) step, a set of grids including and connected to all the tasks point is set and the grid to be the escape point is selected from grids other than the set of grids.
Although the invention of the present application has been described above with reference to the example embodiment, the invention of the present application is not limited to the above-described example embodiment. Various changes that can be understood by a person skilled in the art within the scope of the invention of the present application can be made to the configuration and the details of the invention of the present application.
As described above, according to the invention, it is possible to set an escape point necessary for the route search of a moving object that moves independently without relying on manual settings. The present invention is useful, for example, in a management system of an automated guided vehicle.
Filing Document | Filing Date | Country | Kind |
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PCT/JP2018/044073 | 11/29/2018 | WO | 00 |