WO2002023297A1 - Mobile body movement control system - Google Patents

Abstract

A mobile body movement control system capable of controlling the movements of a plurality of mobile bodies smoothly without enormous amounts of computation. A plurality of free-to-move autonomous robots (2021, ....,202N) run on the floor of a space (201) such as a room, and a plurality of TV cameras (2031-203M) are attached to the ceiling, with desks (207) and chairs (218) as mobile objects located in the space. An environment computer (205) processes the images on respective TV cameras (203), and identifies robot ID marks (212) attached to respective autonomous robots (202) and object ID marks (213) to thereby specify them and recognize their positions. It also sets the running routes of respective autonomous robots, and repeats controls of resetting routes after each specified-distance running to avoid collisions and deadlocks. Additionally, various traffic controls are in effect to ensure smooth running.

Description

 Description Mobile object movement control system

Technical field

 The present invention relates to a moving body movement control system for moving a moving body such as a robot to a desired point, and particularly to a moving body movement control system that enables a plurality of moving bodies to move smoothly to a desired point. About the system. Background art

 Various moving bodies such as robots that move autonomously in a predetermined space such as a room have been proposed. Among these, there are mobile objects that have been commercialized as relatively stable technical results, called Helpmates. The helpmate is a mobile robot equipped with wheels and traveling using it, and has an electronic map showing the location of obstacles and the like in the space. The robot is equipped with a robot-mounted sensor that detects obstacles during the progress of the mouth pot, and can reach the destination (goal) while detecting obstacles and avoiding them.

 Such moving objects are designed to detect obstacles using electronic maps and sensors, and to set a route to avoid them, and move to the goal. In addition, in order to avoid collisions when a human crosses just before the moving object, when the sensor detects such an obstacle on the route, the sensor reflexively stops the movement. When the sensor detects that the obstacle has disappeared after a lapse of a predetermined time, the movement is resumed at that point.

By the way, robots evolve and perform fixed work at fixed positions like industrial robots, and also move around a predetermined space such as a room and clean, carry documents, or provide care for the sick. Various proposals have been made. If the latter proposal becomes more concrete, a relationship may arise in which multiple moving objects (hereafter simply referred to as autonomous robots) co-exist in one space. For example, in a certain space, other than carrying food to the sick near the autonomous robot that is cleaning An example is the case where two autonomous robots pass each other. In such a case, if an attempt is made to avoid collision when the autonomous robots move, one or both autonomous robots may stop traveling.

 Figure 29 illustrates this phenomenon. It is assumed that the first autonomous robot 101 has a plan to travel in a predetermined space on a route 102 shown by a solid line, and the second autonomous robot 103 is shown by a broken line. It is assumed that the person has a plan to travel in the same space on route 104 of. It is assumed that both routes 102 and 104 intersect at a first point 105 and a second point 106, for example. In such a case, for example, it is assumed that the first autonomous robot 101 arrives at the point 105 in advance. At this point, if the second autonomous robot 103 attempts to start traveling, it recognizes that an obstacle exists in a form blocking the route 104.

 For this reason, the second autonomous robot 103 at the starting point cannot depart from the starting point as long as it is going to run on the route 104. Whether a moving object, such as the first autonomous robot 101, happens to be at the first point 105, or whether there is a permanent obstacle at this position. This is because the determination cannot be made from the second autonomous robot 103 side. A similar problem occurs at the second location 106. That is, when one of the first or second autonomous robots 101 and 1◦3 arrives at the second point 106 first, the other autonomous robot 1 As long as 01 and 103 are blocking the passage, movement cannot be started and the vehicle will be stopped.

That is, in the case of a human or other animal, the movement state of the other party's autonomous robot is predicted, and if the other party is on the route 102 or 104 on which the other party is traveling, the first or second case is determined. Proceed to the vicinity of the second point 105, 106 and wait until the fault condition is cleared. If the autonomous robot that caused the failure state deviates from the route 102 or 104 on which it travels while performing such an operation, it is necessary to stop traveling somehow. And efficient movement is possible. However, it is difficult for the autonomous mouth pots 101 and 103 to make such predictions. Therefore, if there is another obstacle on the route 102, 104 as the route once set, if such a situation occurs, the obstacle is removed, Unless the obstacle autonomously moves to another location, it cannot move at all.

 As described above, the case where two autonomous robots 101 and 103 exist in the same space and the routes 102 and 104 intersect at the two points 105 and 106 has been described. In some cases, a complicated route is taken in one space like a cleaning pot. In such a case, there may be many intersections with other autonomous robots. Also, as the number of autonomous mouth pots increases, the chances of these routes intersecting naturally increase. Then, if a state where even one of the autonomous robots stops operating at these intersections is generated, other autonomous robots that intersect with the route of this autonomous robot will remain in this autonomous robot's route until the stopped state is released. Lopot can no longer move. When a plurality of autonomous robots whose movements are stopped in such a relatively dense space occur, many autonomous robots are forced to stand still by triggering them.

 Of course, the individual autonomous robots determine whether the objects existing on their routes are obstacles fixed in place as described above or obstacles that may move, and It is not impossible at all to grasp past movement conditions and predict future courses. However, making these judgments for an unspecified number of autonomous robots in a relatively large space is actually difficult due to the relationship between the computational processing speed of each autonomous mouth pot and the required huge amount of computation. Is impossible, i.e. each autonomous mouth pot identifies other robots or obstacles and, if necessary, tracks their movements with advanced image recognition technology and prediction on the autonomous robot side Control is required. Furthermore, FIG. 29 shows a case where only one of the two autonomous mouth pots temporarily stops, but if both of them are in this state at the same time, the stop state cannot be released.

Figure 30 shows an example in which a deadlock phenomenon occurs in which both autonomous robots cannot move. In a space with obstacles 1 1 1 and 1 1 2, it is assumed that the first autonomous robot 113 moves toward its goal 114 on a route avoiding them. Let 1 1 5 also proceed towards its goal 1 1 6 avoiding the obstacles 1 1 1. 1 1 2. Both autonomous It is assumed that Lopots 1 13 and 1 15 stop at the positions shown in the figure to recognize the other on their route and avoid collision. In this case, the deadlock is not released because the positional relationship between the two autonomous robots 113 and 115 remains fixed over time. The problem of deadlock as a permanent stop occurs in a situation where there are multiple autonomous robots.

 Conventionally, various proposals have been made for movement control technology relating to the movement of one autonomous robot in one space.However, in order to avoid a deadlock situation, multiple autonomous robots or No practical proposals have been made on movement control technology in which the body moves in a mixed state, and this is an unsolved area. However, as described above, the autonomous mouth pot is playing an active role in a wide variety of situations, and in a situation where multiple autonomous pots or moving objects coexist in the same space and they can move smoothly. Achieving this is an essential issue.

 Therefore, an object of the present invention is to provide a moving body movement control system that can smoothly control the movement of a plurality of moving bodies without performing enormous operations that hinder the movement control. . Disclosure of the invention

According to the first aspect of the present invention, (a) a part or the whole of a space in which a plurality of moving bodies move is covered, and the moving body moving by itself in the space and other objects existing on the passage are identified. Environment-side imaging means comprising one or a plurality of image-capturing cameras for imaging; and (mouth) a target specification for specifying each moving object and other objects present on a passage from image data taken by the environment-side imaging means. Means; (c) position specifying means for specifying the position of another object existing on the moving object passage from the image data picked up by the environment-side image pickup means; and (2) movement specified by the object specifying means. (E) route setting means for setting a route for traveling from the current position specified by the position specifying means for each body to each of these goal positions; Predetermined unit from the current position in the moving path does not collide with other objects present in have been each mobile each of other mobile Oyo Pi passage on the moving body along a path A traveling control means for each moving object for performing traveling control toward the goal at a time, and (f) for traveling from a current position to a goal position for each moving object until the plurality of moving objects reach each goal. The moving body movement control system further includes a traveling control means for setting a route again by the route setting means and repeating the traveling control toward the goal by the moving body-specific traveling control means.

 That is, in the invention according to claim 1, one or a plurality of imaging cameras that respectively cover a part or the whole of a space in which a plurality of moving bodies move are prepared, and the image data captured by the environment-side imaging unit is prepared. Identify other objects existing on the passage of each moving object by the target identification means, and identify the position of the moving object and other objects existing on the passage from the image data captured by the environmental imaging means. I try to do it. Then, a route for traveling from the current position specified by the position specifying means to each of the goal positions is set by the path setting means for each moving object specified by the target specifying means. Then, the traveling control unit controls the traveling of the moving body toward the goal by a predetermined unit from the current position by the moving body-specific traveling control means along the set route. Here, the predetermined unit means that the traveling control may be performed in a predetermined time unit or the traveling control may be performed in a predetermined amount. The traveling control means sets a traveling route from the current position to the goal position for each moving object again by the route setting means until the plurality of moving objects reach the respective goals, and travels by moving object. The traveling control toward the goal is repeated by the control means. As a result, each moving object may be temporarily stopped by the movement of another moving object, but can reach each goal in a finite time except in special cases.

According to the second aspect of the present invention, (a) a part or the whole of a space in which a plurality of moving bodies move is individually subjected to force, and a moving body moving by itself in the space and a force applied from another body. An environment-side image pickup means comprising one or more image pickup cameras for picking up marks attached to necessary ones of movable movable objects; and (mouth) a mark for each mark picked up by the environment-side image pickup means. (C) from the position of the mark imaged by the environment-side imaging means to the position of the moving object and the movable object with the mark attached in space from the position of the mark captured by the environmental imaging means; (2) a position specifying means for each moving object specified by the target specifying means; Route setting means for setting a route for traveling from the current position specified by the setting means to the respective positions serving as these goals; and (e) each mobile unit set by the route setting means. Moving control means for performing moving control for moving the moving body toward the goal by a predetermined unit from the current position within a moving range in which the moving body does not collide with an obstacle such as another moving body along each route; Until one of the moving objects reaches each goal, the route for traveling from the current position to the goal position is set again by the route setting means for each moving object, and the traveling control means for each moving object sets the route to the goal. A traveling control means for repeating traveling control is provided in the moving object movement control system.

In other words, in the invention described in claim 2, a part or the whole of the space in which the plurality of moving bodies move is individually subjected to power, and the moving body that moves by itself in this space can move with the force applied from others. One or a plurality of imaging power lenses that image the marks attached to the necessary movable objects in advance are prepared, and each moving object is extracted from the unique pattern for each mark imaged by the environmental imaging means. And the movable object are specified by the target specifying means, and the position of the moving object and the movable object with the mark in the space is specified by the position specifying means from the position of the mark imaged by the environment-side imaging means. . Then, a route for traveling from the current position specified by the position specifying means to each of the goal positions is set by the path setting means for each moving object specified by the target specifying means. Then, the traveling control for moving the mobile unit toward the goal from the current position to the goal by a predetermined unit is performed by the traveling control unit for each mobile unit along the set route. Here, the predetermined unit means that the travel control may be performed in a predetermined time unit or the travel control may be performed in a predetermined amount. The traveling control means sets a route for traveling from the current position to the goal position for each moving object again by the route setting means until the plurality of moving objects reach the respective goals, and separates each moving object. The traveling control toward the goal is repeated by the traveling control means. As a result, each moving object can temporarily stop due to the movement of another moving object, but can reach each goal in a finite time except in special cases. According to the third aspect of the present invention, in the moving object movement control system according to the first or second aspect, the route setting means includes a predetermined setting in which routes of a plurality of moving objects may intersect or closely parallel. It is characterized by restricting the running order for these mobiles to travel without collision at the place where the moving bodies collide, or placing a restricting passage that regulates the traveling direction with respect to each other.

 In other words, according to the third aspect of the present invention, the route setting means is configured such that the plurality of moving bodies travel at predetermined positions where the paths of the plurality of moving bodies may intersect or are close to and parallel to each other without collision. A restriction path is provided to regulate the traveling order of the vehicles or to regulate the traveling direction with respect to each other. As a result, it is possible to move on each route in a traffic-controlled state without collision between moving objects. According to the fourth aspect of the present invention, in the moving body movement control system according to the first or second aspect, the route setting means may include a predetermined path in which the paths of the plurality of moving bodies may intersect or closely parallel. At a location near these locations that are not on the path of these moving objects, at least one of the potentially colliding moving objects should be temporarily retracted to avoid collision with other moving objects. And a temporary evacuation point setting means for setting a route.

 In other words, in the invention according to claim 4, the route setting means is configured to determine at least one of the moving objects that may collide when there is a possibility that a route that may cause a collision between the moving objects is set. The temporary evacuation point is set by the temporary evacuation point setting means so that the evacuation point is temporarily evacuated to avoid collision with other moving objects to avoid collision.

 According to a fifth aspect of the present invention, in the moving body movement control system according to the first or second aspect, the route setting means divides a space in which a plurality of moving bodies can travel simultaneously into a plurality of spaces. A check point for moving objects that moves from one small area to the other small area is placed at the point where the small areas are connected, and the traveling control means for each moving object Until it passes, it is characterized by running control without considering obstacles in the small area after passing.

In other words, according to the fifth aspect of the present invention, the route setting means divides a space in which a plurality of mobiles can run at the same time into a plurality of spaces and connects the divided small regions to a plurality of spaces. By placing a checkpoint that checks for moving objects from one small area to the other small area, consideration should be given to the travel control that would occur after passing through the checkpoint before passing through this checkpoint. Cruise control can be performed without any problems.

 According to a sixth aspect of the present invention, in the moving body movement control system according to the second aspect, the mark emits infrared light, and the environment-side imaging unit is responsive to the infrared light.

 That is, the invention according to claim 6 is characterized in that the mark emits infrared light, and the environment-side imaging means is a means responsive to the infrared light. Thus, the movement of the moving object can be controlled using the mark that does not obstruct human eyes. According to a seventh aspect of the present invention, in the moving body movement control system according to the third aspect, the restriction path is provided such that the moving bodies of the plurality of moving bodies are not in contact with each other at least within a range of an area where the moving paths of the plurality of moving bodies can be regarded as common. The passage is characterized by being moved at a constant speed in a predetermined common direction at a constant speed.

 That is, the invention described in claim 7 deals with one mode of the restriction passage described in claim 3. The restricting passage is a passage that moves a plurality of moving bodies at a predetermined interval that does not contact each other at a constant speed in a predetermined common direction. As a result, each moving body can be moved without stopping as in the case of riding on an escalator.

 According to an eighth aspect of the present invention, in the moving body movement control system according to the third aspect, there is provided moving body rotating means for switching each moving body that has moved to the intersection of the moving paths of the plurality of moving bodies to a desired moving direction. It is characterized by doing.

That is, the invention described in claim 8 deals with another aspect of the restriction passage described in claim 3. In the restriction passage, a common intersection is provided for a plurality of moving bodies, and the moving direction is switched so that each moving body that has moved so far can move in a desired moving direction. If the intersection is composed of a ring-shaped passage and a plurality of radial passages connected to it, even if a plurality of moving objects use the intersection, these moving objects can be moved efficiently through the ring-shaped passage. One of a plurality of radial passages can be used to deliver the desired direction. According to a ninth aspect of the present invention, in the moving body movement control system according to the first or second aspect, the space in which the moving body moves is mapped or mapped to the layout space, and the layout space is further divided into cells of a predetermined unit. It is characterized in that the route setting means sets a route in units of cells.

 In other words, according to the ninth aspect of the present invention, the route planning is facilitated by setting the route of the moving object in cell units. Of course, if the path initially set for each cell does not form a smooth curve or straight line, it is possible to correct this to a smooth path.

 According to the tenth aspect of the present invention, in the moving body movement control system according to the first or second aspect, the moving body includes a mounted sensor for detecting a surrounding obstacle, and the mounted sensor sets a route. It is characterized by further comprising correction path setting means for independently setting a correction path for avoiding an obstacle when an obstacle that can be avoided on the path set by the means is detected.

 In other words, according to the tenth aspect of the present invention, the moving object itself has an on-board sensor for detecting a surrounding obstacle, and runs on a route set by imaging by the environment-side imaging means. Sometimes, when there is an obstacle that should not exist on this route, a correction route can be set up independently to minimize this. Even when a person suddenly appears on the set route, collision can be avoided by setting the corrected route by the corrected route setting means.

 The invention according to claim 11 is the mobile object movement control system according to claim 10, wherein when the correction route setting means sets a correction route, the correction result of the route is notified to the route setting means. I have.

 In other words, in the invention according to claim 11, when the corrected route setting means on the moving body side sets the corrected route, the correction result of the route is notified to the route setting means, so that the future route of the moving body can be created. Not only can this be used as a reference, but it can also be used as a reference for setting the travel route of another moving object when traveling using this corrected route.

According to the invention described in claim 12, in the moving object movement control system according to claim 1 or 2, when the route setting means cannot set a route to the goal for the specific moving object, another moving operation is performed. Routes can be set by erasing the body and other objects in order It is characterized in that it is provided with an obstacle specifying means for specifying an obstacle which is an obstacle to movement by determining whether there is an obstacle.

 That is, in the invention according to claim 12, when the route setting means cannot set the route to the goal for the specific moving object, the other moving objects and other objects are sequentially erased to set the route. By determining whether the setting is possible, an obstacle that hinders movement is specified.

 In the invention according to claim 13, in the moving object movement control system according to claim 12, when the obstacle specified by the obstacle specifying means is immovable for at least a predetermined time, a specific obstacle instructing removal of the obstacle is specified. It is characterized by having an object removal instruction means. In other words, in the invention according to claim 13, even if another moving object temporarily exists on the route, the moving object eventually moves, so that at least a certain period of time cannot be moved. When an object is present, it is first instructed to remove it by the specific obstacle removal instruction means.

 In the invention according to claim 14, in the moving object movement control system according to claim 2, part or all of the environment-side imaging means outputs stereo image data capable of measuring a three-dimensional position of each mark. It is characterized by being imaging means.

 That is, the invention according to claim 14 indicates that if part or all of the environment-side imaging means is stereo imaging means, it is possible to grasp the three-dimensional position of each mark.

 According to the invention described in claim 15, in the moving object movement control system according to claim 1 or claim 2, the other moving objects are mutually present on the path of the plurality of moving objects, so that these moving objects are mutually connected. It is characterized by having deadlock detecting means for detecting that a deadlock state that cannot be moved to another is detected by erasing each other's moving objects on the route to determine whether or not it is possible to move. .

That is, the invention of claim 15 shows that the deadlock detecting means detects whether or not it is possible to move by erasing the moving objects on the route. The invention according to claim 16 is the moving object movement control system according to claim 2, wherein the environment-side imaging means detects the rotation angle of the moving object based on the directionality of the pattern forming the mark. .

 That is, the invention according to claim 16 indicates that the environment-side imaging means can detect not only the position of the mark but also the rotation angle of the moving body. .

 In the invention according to claim 17, in the moving body movement control system according to claim 1 or claim 2, the traveling control means for each moving body is provided based on the position of each object specified by the position specifying means. It is characterized in that commands for controlling the movement of the moving object are issued one after another, and the moving object controls its own movement using the received commands. That is, in the invention according to claim 17, the traveling control means for each moving body sequentially issues a command for controlling the movement of each moving body based on the position of each object specified by the position specifying means on the environment side. As a result, each mobile unit can receive these commands and use its own drive mechanism to perform control for movement, thereby relieving complicated control for movement.

 According to the invention described in claim 18, (a) Part or all of the space in which the specific moving body moves is subjected to power, and the moving body that moves by itself in this space and other moving objects that exist on the passageway. Environment-side imaging means comprising one or a plurality of imaging power lenses for imaging an object,

(Mouth) a target specifying means for specifying a specific moving object and other objects existing on a passage from the image data captured by the environment-side image capturing means; Position specifying means for specifying the position of the specified moving object and other objects existing on the passage; and (2) path setting for setting a path on which the specific moving object can move in space. (E) movement instruction means for giving an instruction relating to movement for each of the destinations on which the specific moving object moves one after another on the route set by the route setting means; When a specific moving body moves, the moving body moves between the movement specified by the position specifying means or the position after the movement and the feed pack control means that feeds the position specified by the movement instructing means. It is provided to the control system.

That is, in the invention according to claim 18, a route that allows a specific moving body to move in the space is set by the route setting means, and the specific direction is set by the movement instruction means along this route. Instructions regarding movement are given to each of the moving destinations where the moving body moves one after another. At this time, by using the environment-side imaging means, object specifying means, and position specifying means existing on the environment side, the position of the specific moving body during or after movement can be grasped. The position during or after the movement can be fed-packed to the instruction content of the movement instruction means. Therefore, a more accurate movement can be easily realized as compared with a case where the moving body itself moves along the route set by the route setting means while capturing the image by the imaging means on its own side. easy explanation

 FIG. 1 is a schematic configuration diagram showing an outline of a mobile object movement control system according to an embodiment of the present invention.

 FIG. 2 is an explanatory diagram showing an example of an arrangement pattern of the first to third light emitting elements in the present embodiment.

 FIG. 3 is a plan view showing a first example of a total surface pattern that can be obtained when it is assumed that three set patterns are arranged on one surface of the object.

 FIG. 4 is a plan view showing a second example of a possible overall surface pattern when it is assumed that three set patterns are arranged on one surface of the object.

 FIG. 5 is a plan view showing a third example of a possible overall surface pattern when it is assumed that three set patterns are arranged on one surface of the object.

 FIG. 6 is a plan view showing a fourth example of a possible overall surface pattern when it is assumed that three set patterns are arranged on one surface of the object.

 FIG. 7 is a plan view showing a fifth example of a total surface pattern that can be taken on the assumption that three set patterns are arranged on one surface of the object.

 FIG. 8 is a plan view showing a sixth example of a total surface pattern that can be obtained on the assumption that three set patterns are arranged on one surface of the object.

 FIG. 9 is a plan view showing a case where one light emitting element is configured as a set of a plurality of light emitting diodes.

FIG. 10 is a perspective view showing an example of the autonomous robot used in the present embodiment. FIG. 11 is a perspective view showing a container attachment as another example of the attachment attached to the robot body.

 FIG. 12 is an explanatory diagram showing a method of generating a route without causing an autonomous robot to collide with an obstacle.

 Fig. 13 is an explanatory diagram showing the layout space when the space shown in Fig. 12 is divided into cells, and the cells hanging on the C obstacle are regarded as a part of the C obstacle. , FIG. 14 is a flowchart showing a flow of a route generation process for a plurality of autonomous robots.

 FIG. 15 is an explanatory diagram showing a state in which deadlock occurs without using a save point.

 FIG. 16 is an explanatory diagram showing a state where the first autonomous robot has retreated to the evacuation point and the deadlock has been resolved.

 FIG. 17 is a plan view illustrating an example of a closed state of a route due to a moving obstacle. FIG. 18 is an explanatory diagram showing the first stage of obstacle avoidance in which a route is changed by an obstacle that cannot be detected by the global information sensing system.

 FIG. 19 is an explanatory diagram showing a second stage of the obstacle avoidance in the example shown in FIG. FIG. 20 is an explanatory diagram showing a third stage of the failure avoidance in the example shown in FIG. FIG. 21 is an explanatory diagram showing a concept of a relay point as a first concept for quickly driving.

 FIG. 22 is an explanatory diagram showing the concept of direction regulation as a second concept for quickly driving.

 FIG. 23 is an explanatory diagram showing the concept of a rotary as a third concept for speeding up traveling.

 FIG. 24 is an explanatory diagram showing a concept of a checkpoint as a fourth concept for speeding up traveling.

 FIG. 25 is a plan view showing an actual arrangement example of the space.

 FIG. 26 is a perspective view showing an example of an arrangement of a checkpoint in a three-dimensional space.

FIG. 27 is a flowchart showing the basics of the movement control of the autonomous robot of the present embodiment. FIG. 28 is a characteristic diagram showing a result of moving the autonomous robot along the L-shaped trajectory by the control shown in FIG.

 FIG. 29 is an explanatory diagram showing an example where one of the conventional autonomous robots cannot move temporarily.

 FIG. 30 is an explanatory diagram showing an example in which both autonomous robots in the related art cause a deadlock.

 FIG. 31 is an explanatory diagram for explaining a modification of the present embodiment, and is a diagram illustrating grouping of autonomous lopots.

 FIG. 32 is an explanatory diagram for explaining a modified example of the present embodiment, and is a diagram showing a moving state of the grouped autonomous robots. Figures (a) to (c) show how the robot position changes over time.

 FIG. 33 is an explanatory diagram for describing a modification of the present embodiment, and is a diagram illustrating a moving state of an ungrouped autonomous mouth pot that is not grouped. Figures (a) to (c) show changes in the robot position over time. BEST MODE FOR CARRYING OUT THE INVENTION

 Hereinafter, the present invention will be described in detail based on examples.

FIG. 1 shows an outline of a mobile object movement control system according to an embodiment of the present invention. A plurality of autonomous robot 2 0 2i at a predetermined space 20 of the internal of a room or the like. · · · · · ·, 202 _N are arranged movably. In this figure, the first and Nth autonomous robots 202 ぃ 202 _N exist in this space 201 內, but other autonomous robots enter this space 201 over time. It is possible that they may come in or out of this space 201.

A plurality of TV cameras 203 i to 203 _M are mounted on the ceiling of the space 201. These TV cameras 203 i to 203 _M are connected to a common image transmission cable 204, and each image data is input to the environment-side computer 205. Television camera 203i~ 20 3 _M of multiple, each autonomous robot 202 have ...... in space 20 within 1, the moving state of 20 2 _N, each in charge within the area partially overlap each other, regarded as an image What is provided for It is. Therefore, a small space and relatively prospects good space can reduce the number of these television camera 2 0 3 ~2 0 3 _M appropriately, in an extreme case can also be used one Te Rebikamera It is. However, although simply showing in this figure, a predetermined space 2 0 desk 2 0 7 in 1 i to 2 0 7 ₃ or chair 2 1 8 2 1 8 ₂ various disorders such as such as inside a room Things exist. Therefore, it is preferable that the autonomous robot 2 0 2 I ......, 2 0 2 _N TV camera 2 0 3 to avoid the situation is not recognized turned these shadows are installed a plurality. In some cases, it is also preferable to arrange a television camera 203 (not shown) at a relatively low position so as to avoid blind spots.

In this embodiment, a plurality of television cameras 20? Each of the 0 3 _M is provided with an infrared transmission filter 2 11, so that only an image that emits infrared light is captured. In correspondence thereto, a plurality of autonomous robot 2 0 2 I ......, 2 0 2 _N (mobile) and desk 2 0 7, Ropotto the chair 2 1 8 (movable object) given obstacles such as identification Separate mark 2 1 2 or object identification mark 2 1 3 is attached. For simplicity, this figure shows an example in which the robot weaving mark 2 12 and the object identification mark 2 13 are attached to the autonomous robot 202 and other objects 207 and 208, respectively. Although it is shown, it is free to arrange a plurality of each. The object identification mark 2 13 attached to the desk 207 and the chair 218 is a fixed object because they may move in the space 201 artificially as movable objects. This is because more reliable information on the position of obstacles can be obtained than when control is performed based only on the map.

 The robot identification mark 2 12 and the object identification mark 2 13 are formed of a light-emitting diode array irradiating plate or an infrared reflecting plate that generates a temporally changing or temporally constant infrared pattern. Here, the light emitting diode array irradiation plate is a plate in which a plurality of light emitting diodes emitting infrared rays are arranged in a line at a predetermined interval as described later, and the infrared reflecting plate absorbs visible light and has a predetermined pattern, for example. A plate that emits infrared light.

It is generally difficult to recognize various objects with high accuracy in the environment as it _is.c Therefore, the construction of a general-purpose recognition system with reliability and real-time performance is currently underway. It is also impossible in terms of cost. Therefore, in this embodiment, special recognition marks such as the Lopot identification mark 2 12 and the object identification mark 2 13 are attached to an object to facilitate their recognition, and furthermore, the infrared camera is used to detect the TV camera. eliminating the difficulty of processing by the visible light of noise in the 2 0 3 i~ 2 0 3 _M side to ensure the speed and reliability of the image processing. In addition, even when a person is present in the space 201, the use of infrared rays can make the robot identification mark 2 12 and the object identification mark 2 13 unobtrusive.

The environment-side computer 205 is a robot identification mark 211 and an object identification mark captured by a TV camera 203 i to 203 _M ? The image data of 13 is processed to determine the coordinates (hereinafter, referred to as world coordinates) indicating these positions in the space 201 and the posture. Here, the determination of the posture refers to, for example, determining in which direction the autonomous robot 202 faces in a plane based on its rotation angle. In addition to such a posture in a two-dimensional plane, if the processing of the system is possible, a change in three-dimensional position, such as a tilted arm of the mouth pot, may be determined as a change in posture. .

The environment-side computer 205 has an antenna 216 for outputting the processing result via a wireless LAN (local area network). Each autonomous Ropo' preparative 2 0 2 There ......, 2 0 2 _N be the antenna 2 1 7 have ...... for a wireless LAN, includes a 2 1 7 _N, various objects, such as coordinate data of their position It is possible to receive coordinate data on the position of. Such coordinate data may be represented by environmental side coordinates, or converted into individual autonomous mouth pots 202, ..., _202N side coordinates (hereinafter referred to as local coordinates). It may be the data after performing. In this embodiment, in order to allow the autonomous robots 202,..., 202 _N to easily perform control without being aware of the environment-side coordinates, the environment-side computers 205 are controlled independently of each other. These local coordinates are sent to the type robot 202 2..., 202 _N.

These autonomous robots 2 0 2 I ..., 2 0 2 _N, in order to reduce the processing load of the computer (not shown) provided similarly to the respective body side, the antenna 2 1 7 There ..., 2 1 7 _{Use N} to communicate with the environment-side computer 205 The processing is entrusted to the environment-side computer 205, and information about the route on which the autonomous robot 202 other than the user travels is acquired as necessary. In this embodiment, a normal personal computer (for example, 700 M (mega) Hertz of Pentium III of Intel Corporation) is used as the environment side computer 205, and the working memory is 128 M. Byte size). For image processing, an image processing board (GPB-K) manufactured by Sharp Corporation is used.

The predetermined desk 2 0 7 ₂ personal combi-menu data 2 2 1 as a user I interface terminal is installed. This personal computer 222 also has an antenna 222 for configuring a wireless LAN, and is connected to the Internet by a predetermined cable 222. The user (not shown) sits on a chair 2 1 8, via the browser of the I Internet, it gives instructions to the mobile motion control system, each of the autonomous port pot 2 0 2 There ......, 2 0 2 _N by various Control is performed.

FIG. 2 shows the basic configuration of the robot identification mark used in the present embodiment. The robot identification mark 2 12 uses the first light emitting element 2 3 1 as the origin of the local coordinates of the autonomous robot 200 2 side, and the first light emitting element 2 3 1 to the second light emitting element 2 3 2. The connected line segment 233 is defined as the X axis, and the line segment 235 connecting the first light emitting element 231 to the third light emitting element 234 is defined as the Y axis. That is, the first to third light-emitting elements 2 3 1, 2 3 2, and 2 3 4 are placed on the surface of the autonomous mouth pot 20 2 so that the intersection of the two line segments 2 3 3 and 2 3 5 is always at a right angle. In a predetermined area. The length of the X-axis component 2 33 is a known fixed length, and the length L _{2 of the} Y-axis component 2 35 is the light emitting element 2 3 1, 2 3 2, 2 3 The length is unique to the combination of 4 For example, length 1 ^ is always 2 cm, but length L ₂ is 1 cm, 2 cm, or 3 cm The lengths are different.

For this reason, if the object moves while the surface on which the first to third light emitting elements 2 3 1, 2 3 2, and 2 3 4 are arranged is kept parallel to the X and Y axis planes, television camera 2 0 3 were placed in the light-emitting element 2 3 1, 2 3 2, 2 3 4 from the ratio of the length 1 ^ and L ₂ The type of the surface or the object itself can be specified. Also, from the rotation direction on the plane determined by the X-axis component 2 33 and the Y-axis component 2 35, it is possible to determine the state of rotation in the reference world coordinate system.

 In addition, a plurality of sets of the first to third light emitting elements 2 3 1, 2 3 2 and 2 3 4 are arranged at different places of one autonomous robot 202 and these are placed on the environment side computer 2. By performing the analysis at 05, it is possible to determine the movement in the Z-axis direction or the change in the posture of the autonomous robot 202.

 In the above description, the case where one autonomous robot 202 exists in the predetermined room 201 shown in FIG. When a plurality of autonomous robots 202 exist at the same time, or when they appear one after another in the same room 201, the first to third light-emitting elements 2 31 1 It is not necessary to make all combinations of 2 3 2 and 2 3 4 different. This will be described below.

Figs. 3 to 8 show the case where three patterns (hereinafter, referred to as a set pattern) in which the first to third light emitting elements are arranged one by one on one surface of the object are arranged respectively. Here are some examples of the comprehensive patterns that can be taken (hereinafter referred to as “surface comprehensive patterns”). First, in FIG. 3, three sets of patterns A, B, and C are arranged on a given surface 2 41 in the positional relationship shown in this figure. As an example, the length L ₂ is 1 cm in A pattern, in pattern B in length L ₂ is 2 cm - the C pattern is the length L ₂ is 3 cm.

On the other hand, in FIG. 4, three sets of patterns A, B, and D are arranged on the surface 242 in the positional relationship shown in this figure. As an example, D pattern is the length L ₂ is 4 cm. As described above, although the paired patterns A and B are common to the surface 241 and the surface 242, the total surface pattern differs depending on the paired patterns C and D which are not common to each other. That is, individual identification of these objects becomes possible.

On the surface 243 shown in FIG. 5, although the surface 241 and the pair patterns A, B, and C are all common, the locations where these pair patterns are arranged are switched. Therefore, the overall surface pattern is different. The position where the set pattern is arranged is different on the surface 244 shown in FIG. The same applies to the surface 245 shown in FIG. In the case of surface 246 shown in Fig. 8, the number of pattern A increases from one to more. To make the overall surface pattern different. Thus, by arranging a plurality of group patterns on one surface, it is possible to make the overall surface patterns different from each other without making these group patterns all different.

FIG. 9 shows an example of the configuration of one light emitting element when each light emitting element is configured as a set of a plurality of light emitting diodes. FIGS. 2 to 8 show the first to third light emitting elements 2 31, 2 32, and 2 34, each of which is described as being composed of one light emitting diode. However, being installed in a relatively high position the television camera 2 0 3 i to 2 0 3 _M as the Toka when space 2 0 1 is relatively wide as shown, a large entertainment for venues 1 In this case, when each of the light-emitting elements 2 3 1, 2 3 2, and 2 3 4 is constituted by one light-emitting diode, the light emission amount may be insufficient. In such a case, it is effective to configure each of the light emitting elements 2 31, 2 32, and 2 34 as a set of a plurality of light emitting diodes 2 51.

 FIG. 10 shows an example of the autonomous robot used in the present embodiment. The autonomous robot 220 used in this embodiment has a cylindrical body portion 261, which has a cylindrical shape as a whole, and an omnidirectional moving platform 2663 using a plurality of wheels 262 underneath. Is arranged. As a result, any translation with two degrees of freedom and rotation with one degree of freedom are possible.

Eight PSD (Position Sensitive Device) sensors 265 j to 265 _{8 are} mounted on the top of the robot main body 261 at equal intervals along the circumference. These PSD sensor 2 6 5 i to 2 6 5 ₈ is a sensor for detecting the presence of obstacles in the vicinity of the mouth pot body portion 2 6 1. Autonomous robot 2 0 2 By inputting the outputs of these PSD sensors 2 6 5 ₂₁ to 6 5 ₈ built Personal ^^ computer (not shown), while avoiding the individual obstacle present in these neighboring Control to move is performed. As described above, the movement path of the autonomous mouth pot 202 is set based on the position obtained by recognizing the robot identification mark 2 12 by the TV camera 203 ₁ to 203 _M shown in FIG. This is performed based on coordinates. Movement control to avoid obstacles is performed by modifying the indicated route. A relatively large hollow part 267 is arranged in the robot body part 261. Various attachments can be attached to this hollow part 267, and by changing the attachments to be attached, robots for various purposes can be realized. FIG. 10 shows an example in which the cleaning attachment 268 is attached to the hollow portion 267 and used as a cleaning robot. A battery (not shown) is stored in the robot body 261, and supplies power required by the attachment as well as the body. Although the autonomous robot 202 is assisted by the environment-side computer 205 for its control, this battery secures energy independence. The battery can be charged by the robot itself at a charging station (not shown) in the space 201. When the attachment is replaced, the function of the autonomous robot 202 is different.Therefore, when the attachment is replaced, the autonomous mouth pot 20 determines this, and the mouth pot identification mark 2 1 2 corresponds to the change in the function. It is preferable to control the robot so that part or all of the control is changed. For example, the individual identification pattern corresponding to the individual identification information of the autonomous robot 202 itself may be left as it is, and the pattern for each functional wall representing functions such as the cleaning robot and the nursing care robot may be changed.

 Fig. 11 shows a container attachment as another example of the attachment. The container attachment 2 7 1 is composed of a container body 2 7 3 with a lid that can hold various articles 2 7 2 and a container body push-out mechanism (not shown). By accommodating and attaching the container attachment 271 to the hollow part 267 shown in FIG. 10, it becomes possible to deliver these articles 272 as a container robot. For delivery, not only can the container attachment 271 be pushed out of the hollow part 267 at the goal destination, but also partly extruded from the hollow part 267, so that the user can take out the necessary items. It is also possible to adopt a mode in which the 271 itself is completely pushed out of the hollow part 267 and placed on the goal. _

By changing the attachments variously, for example, a guidance robot 備 え equipped with a speaker (not shown) and a display for display, security equipped with a special camera, etc. Various robots, such as a robot, a human-carrying mouth pot with a stool attachment, a garbage collection port bot, and an AGV (Automatically Guided Vehicle) robot, can be realized.

In mobile movement control system of the present embodiment, to realize a single space 2 0 1 (FIG. 1) a plurality of autonomous robot 2 0 2 I ...... in, 2 0 2 _N can move in parallel controlled environment . For this reason, the autonomous robots 202 do not move at once to the target point, but move to the point (subgoal) on the way to the final point to check the situation of the surrounding obstacles. Judgment is made, and the control is repeated as it proceeds to the next subgoal. Such control is achieved by executing a control program stored in a storage medium (not shown) in the CPU (central processing unit) 1S in the environment-side computer 205 shown in FIG. That is, each autonomous robot 202,..., _202N also has a built-in personal computer, but for movement control, it sequentially receives movement control data calculated by the environment-side computer 205. According to the instruction (command), the omni-directional movement platform 263 shown in FIG. 10 is driven and controlled, thereby being free from complicated movement control.

Figure 12 illustrates how an autonomous robot generates a route without colliding with an obstacle. Here, in order to make the explanation easy to understand, it is assumed that the autonomous robot 202 has a slightly thick L-shaped shape. Introducing autonomous port Bot 2 0 coordinate system fixed to the autonomous Ropotto 2 0 2 2 position and orientation for the purpose of clearly defined C _K (not shown). Coordinate system C _R - origin O _r (not shown) to match the representative point as a center of control. At this time, autonomous position of the robot 2 0 2 of the origin O _r viewed from the world coordinate system C _XY (not shown) X, Te cowpea the Y-coordinate, orientation is not C _XY (shown in the world coordinate system ) And the coordinate system C _R (not shown).

In the configuration space method (also referred to as an arrangement space method) used in this embodiment, the arrangement (configuration) is represented by the x, y coordinates and the rotation angle _Κ of the representative point の_の of the autonomous robot 202. In the case of 0 1 2, it is assumed that the autonomous robot 2 2 has made a round while approaching the obstacle 3 2 1 while keeping the rotation angle Θ constant. 3 2 2 is shown. The closed space (the inner space indicated by hatching) formed by the trajectory 3 222 is an obstacle region in which the representative point of the autonomous mouth pot 202 cannot enter. This obstacle area will be referred to as C obstacle 3 2 3.

 By extending the 配置 axis perpendicular to the X and Y axes and describing the C obstacle 3 2 3 in the XY plane at each rotation angle, a complete three-dimensional configuration space is constructed. By using such a three-dimensional layout space, the path search problem for robots having various shapes in the real space can be replaced with the path search problem for points in the configuration space. Fig. 13 shows the layout space when the space shown in Fig. 12 is divided into cells, and the cells hanging on the C obstacle are regarded as one sound of the C obstacle. Each cell 331 on the locus 322 indicating the boundary of the C obstacle 3233 shown in FIG. 12 is a portion considered as a part of the C obstacle. The path search of the autonomous robot 202 is performed by forming one cell at a time from the cell at the departure position (hereinafter referred to as “departure cell”) to the goal senole (hereinafter referred to as “goal cell”). This means searching for a road, and finding a column of cells that do not belong to the cell 331 which is regarded as a part of the C obstacle 3232.

In this embodiment, a horizontal search in which the search range is expanded concentrically from the departure cell is used as the route search in the cell-shaped arrangement space. In the case of horizontal search, the search time is roughly proportional to the number of cells that make up the placement space. When 3D division number of each axis direction of the cells in the configuration space respectively and K, the total number of cells in the arrangement space becomes K ^3.

Next, the speciality in the case where a plurality of autonomous robots 202 move will be considered. The layout space for describing the layout of _N autonomous robots 2 0 2 ぃ 2 0 2 _N is 3 N-dimensional. By deciding one point in the placement space, the coordinates (X, Υ, Θ) of each autonomous mouth pot 2 0 2 ぃ 2, 2 0 2 _N are determined arbitrarily, and vice versa. The description of the C obstacle in the layout space at this time is performed as follows. The placement space is divided into cells, and it is checked whether the placement corresponding to each cell can be taken in the real space. N autonomous robots 20 2 ぃ ……, take the placement corresponding to 202 _N If at least one of them interferes with an obstacle or another autonomous robot 202, the cell is regarded as the above-mentioned C obstacle. All the checks When this is done for an object, it is possible to describe C obstacles in the entire placement space. Next, consider a horizontal search in this placement space. The horizontal search time is proportional to the total number of cells as the total number of cells, and the total number of cells is K ^3N where K is the number of divisions in each axis direction. Assuming that the number of divisions K is "100", when the number N of the autonomous robots 202 is "1", this is 1,000,000, and when the number N is "2", it is 1,000,000 X 1 Processing of the order of 100,000 is required. For this reason, if this method is adopted, the calculation cannot be practically performed when the number N of the autonomous robots 202 is "2" or more.

Therefore, in the present embodiment, in the operation control of the autonomous robot 202, as described above, the path plan of each robot is created by regarding other robots as obstacles, and along the path generated by one path plan. The approach is to take a short distance and then re-recognize the overall situation and plan the route. Thus, even in a situation where there are a large number of moving obstacles and autonomous robots 202, it is possible to independently perform route planning for each autonomous robot 202 ... _N. . An example of specific operation control is shown below.

Figure 14 shows the flow of route generation processing for multiple autonomous robots. The processing of N autonomous robots 202 2..., 202 _N is sequentially performed one by one. The autonomous robot 202 on which the processing is performed is defined as an i-th mouth pot. Therefore, first, the variable i is set to "1" (step S401). Next, an arrangement space for the i-th mouth pot is created. At this time, all robots other than the i-th robot among the autonomous mouth pots 202 2..., 202 _N are treated as obstacles (step S402). Sweep areas (cells) due to the movement of the autonomous robot 202 whose path planning has already been completed are also treated as obstacles.

 In the next step S403, the layout space for the i-th robot is searched to generate a route to the goal cell (step S403). Then, the current travel route is defined as a route from the current position to a position advanced by a predetermined distance along this route (step S404).

After the above processing is completed, the variable i is incremented by "1" (step S405) _{t. If} the value of the variable i after the addition is not larger than "N" (N), the variable i is still autonomous Type robot 2 0 2 ぃ ……, the same processing is not performed among 202 _N There are things. Therefore, in this case, the process returns to step S402 and the same processing is repeated (steps S402 to S406).

In this way, when a path of a predetermined length is generated for each of the autonomous robots 202 ぃ and 202 _N (step S406: Y), all of these autonomous robots 202 ぃ…, Check the power 'to see if the 202 _N route has reached the goal cell (step S407). If it has not reached (N), the process returns to step S401 to initialize the variable i to "1" again and to sequentially generate the remaining routes (steps S401 to S407). ).

 By executing the processing of FIG. 14 as described above, each autonomous robot 202 2…

20 2 _N can reach the goal cell without colliding with obstacles or other autonomous robots 202. By setting the distance to be moved at one time or the interval of the control time for movement to be short, reflexive control of avoiding an oncoming moving obstacle becomes possible. Since horizontal search using this method requires only NXK ³ order processing, there is no particular problem in execution.

With the above-described route setting, all the autonomous robots 202 2..., 202 _N can reach their respective goal cells in a finite time 內 except for the special cases described below. However, in the present embodiment, the following measures are taken to ensure that the autonomous mouth pots 202 2..., 202 _N can travel more reliably and quickly. The concept for that will be described below.

 As described with reference to FIG. 30, if there is a moving obstacle on the moving route, deadlock may occur even in the autonomous robot 202 of the present embodiment. Referring to FIG. 30, while the autonomous robot 1 15 and the autonomous robot 1 13 are moving in a situation where they pass each other, a distant movable obstacle 1 11

There are 30 situations, and it is impossible to pass each other. The occurrence of such deadlocks is caused by one autonomous robot when planning a route.

If it is confirmed that the other autonomous mouth pot 1 1 5 (1 1 3) becomes movable when 1 1 3 (1 1 5) is erased, it can be detected. Eliminating deadlocks is generally considered a difficult task. FIG. 15 shows a method of introducing a save point as one method that can eliminate deadlock in the present invention. It is assumed that, for example, two obstacles 341 and 342 such as main stands are arranged at predetermined intervals in the space 201, and a narrow passage 343 is formed therebetween. In this case for example the first autonomous robot 2 0 2 j is the aim of Goruseru 3 4 4 planning a route through the passage 3 4 3, second autonomous port pot 2 0 2 ₂ Goruseru 3 Suppose that a route was planned to pass through this passage 3 4 3 in the opposite direction, aiming at 4 5.

In the present embodiment, a retreat point 347 is set in advance relatively near the passage 343. If the possibility of deadlock is detected in the path planning of the bi-autonomous robot 200 2 ₁ 2 0 2 ₂ , which of the bi-autonomous robots 2 0 2 ぃ 2 0 2 ₂ is the evacuation point 3 4 7 To determine if it is located near. Then, the route is changed so that the closer mouth pot, in this case, the first autonomous robot 202 i is once evacuated to the evacuation point 347.

Figure 16 shows a state where the first autonomous robot has retreated to the evacuation point and the deadlock has been resolved. Once the first autonomous robot 202 retreats to the evacuation point 3 4 7, the autonomous robot 2 0 2 ぃ 2 0 2 ₂ passing through the passage 3 4 3 no longer touches each other. Goal cells 3 4 4 and 3 4 5 can be reached.

 Figure 17 shows the path being closed by a moving obstacle. An obstacle such as a desk may move its position by human operation or the like. If such a moving obstacle 35 1 is placed in the vicinity of a narrow passage 3 5 4 connecting two rooms 3 5 2 and 3 5 3, one room 3 5 3 will move to the other room 3 5 2 The autonomous robot 202 trying to advance to the goal cell 3 5 5 in is closed on its path.

The plurality of television cameras 2 0 S i S 0 3 global information sensing system described above according to _M shown in FIG. 1 in the present embodiment, the progression of the path when demarcating a path autonomous Ropotto 2 0 2 Total Impossible obstacles can be identified. If the moving obstacle 3 51 is not a mobile robot such as the autonomous robot 202, change the route and secure each other's course as described in Fig. 15 and Fig. 16 I can't say. Therefore, in such a case, for example, The data 205 informs the system administrator to have the moving obstacle 351 removed from the route.

 FIG. 18 to FIG. 20 illustrate how a route once set is changed by an obstacle that cannot be detected by the global information sensing system. Figure 18 shows the first stage of obstacle avoidance. The autonomous robot 202 sets the subgoal 3 74 as the destination of the first stage, as a short distance along the path 3 72 toward the goal cell 3 71 while avoiding the obstacle 3 73. The first path 375 is set as the path up to that point.

Figure 19 shows the second stage of obstacle avoidance. While the autonomous robot 202 is moving to the subgoal 37 4, the moving obstacle 3 81 that was not detected by the global information sensing system is replaced by the sensor 26 S i S 6 shown in FIG. in the detection operation of 5 ₈ and is detected on the first path 7 5. For example, a human can be considered as the moving obstacle 3 8 1. An autonomous Ropotto 2 0 2 by this detection operation is determined impossible to travel the first path 7 5, obstacle avoidance movement control mode based on the detection of the sensor 2 6 5 i to 2 6 5 ₈ The switch to is performed. Then, a second path 382 that avoids the moving obstacle 381 is set between the subgoal 374.

At this time, the autonomous Ropotto 2 0 2 sensor 2 6丄~ 6 5 ₈ detection by moving obstacle 3 8 1 antenna 2 1 7 that was information and the second pass 3 8 2 settings for Sent to environmental computer 205. The environment-side computer 205 obtains the information not detected by the TV cameras 203 i to 203 _M to determine the final path to the goal cell 371 of the autonomous robot 202. This can be useful for

FIG. 20 shows the third stage of the obstacle avoidance in this example. When the autonomous robot 202 detects another obstacle 3 84 by a human or the like while traveling the second path 3 82 and determines that it cannot reach the sub goal 3 74 To do so, switch to the third pass 385 on the way. In this case as well, such information is transmitted to the environment-side computer 205, and is used for setting a route thereafter. FIG. 21 explains the concept of a relay point as a first concept for speeding up traveling. It is assumed that there is an L-shaped obstacle 4222 that narrows the passageway 4221 in the space 201. It is assumed that the goal 4 25 of the first autonomous robot 200 2 i exists in the narrow space 4 2 3 partitioned by the obstacles 4 2 2. Second self 'law robot 2 0 2 ₂ back and forth repeatedly between the narrow space 4 2 3 position 4 2 6 and the passage 4 2 other predetermined position 1 through the wide space side 4 2 7 It is assumed that predetermined work has been performed.

In this situation, if the first autonomous lo-po 202 tries to generate a route to the goal 4 25, the second autonomous lo-po an autonomous robot 2 0 2 ₂ exists in a position closing the passage 4 2 1, which is movement of the first autonomous Ropotto 2 0 2 i until terminated stopped. The result to, although Rukoto reach the finite time the first autonomous robot 2 0 2 i is that goal 4 2 5 is guaranteed, the behavior is the second autonomous Ropotto 2 0 2 ₂ If the vehicle stops every time it comes to a position blocking road 4 21, it will be intermittent and slow. Such place the relay point 4 2 8 at a position where the second running of the autonomous robot 2 0 2 ₂ does not interfere with a relatively close passages 4 2 1 in the present embodiment in order to solve the problem ing. Then, the first autonomous robot 202i first generates a route so as to stop at the relay point 428 and then aim for the goal 425. In this way, the first autonomous robot 2 0 2 exactly independently of the running of the second autonomous robot 2 0 2 _2, can reach the relay point 4 2 8. Then, from the relay point 4 2 8 to击行to啬specific goals 4 2 5 while adjusting the travel to achieve coexistence and the running of the second autonomous robot 2 0 2 ₂ ^ tau-> or \ tau , Tenkawa_Whistle 1 f7 _

A median strip 4 4 3 is conceptually provided. Then, with this as a boundary, this space is set as a first direction passage 445 and a second direction passage 446. Here, the first direction passage 4 4 5 is a passage that allows all autonomous mouth pots 202 2..., 202 _N to travel only in the first direction, and the second direction passage 4 4 6 Is a passage that allows all the autonomous mouth pots 202 2..., 202 _N to run in the direction opposite to the first direction passage 4445.

 At the end of the first direction passage 4 45, a second direction no-going wall 4 4 7 is conceptually arranged, and the autonomous robot 202 trying to travel in the second direction is connected to the first direction passage 4 4 5. To avoid accidentally entering Similarly, at the end of the second direction passage 446, a first direction no-going wall 448 is conceptually arranged, and the autonomous robot 2202 trying to travel in the first direction is placed in the second direction passage. 4 4 6 to prevent accidental entry.

In this way, a specific space area is set as an area where traveling in only one direction is possible. As a result, it is possible to prevent wasteful waiting time from being generated due to the setting of a route in which the autonomous robots 202 run in a relatively narrow path in a chaotic manner. a one-way passage 4 4 5 first to third autonomous Ropotto 2 0 2 There ..., 2 0 2 ₃ sequentially travels, the second axial channel 4 4 6 fourth to sixth autonomous Ropo' bets 2 0 2 _4, ..., 2 0 2 ₆ shows a state in which sequentially traveling. Each autonomous robot 2 0 2 had ..., if 2 0 2 ₆ traveling speed at a constant, though sufficiently packed and efficient running multiply One was like the spacing of these autonomous Ropotto 2 0 2 in escalator It becomes possible.

 In the example shown in Fig. 22, it is possible to run in both the left and right directions in parallel in time by providing the median strip 443, but in relatively narrow passages, it is limited to one direction It is also possible to change the direction in which traffic can be made at predetermined time intervals.

FIG. 23 is for explaining the concept of a rotary as a third concept for speeding up traveling. In the space 201, there is provided an annular one-way annular passage 451, and a plurality of sets of radial bidirectional passages 452 ... 452 ^ connected thereto. Each two-way passage 4 5 2 ……, 4 5 The first direction shown in Figure 22 This is a combination of the passage 445 and the second direction passage 446. By using the one-way annular passage 451, the autonomous robot 202, not shown, can be guided into the one-way annular passage 451, from a desired direction, and sent out in another desired direction.

Incidentally, the bidirectional passage 4 5 2 have ...... that enables parallel to two directions of traffic in FIG 3, the one-way annular passageway 4 5 1, but is connected to 4 5 2 _L, 1 single autonomous robot It is also possible to provide a passage having a width enough to allow the vehicle to travel, and determine the traveling direction for each passage, or switch one passage to traveling in both directions as appropriate.

 Fig. 24 explains the concept of a checkpoint as a fourth concept for speeding up traveling. If the space 201 is relatively large or if the space 201 can be divided into a plurality of small areas 471 and 472 as shown in Fig. 24, the space 201 should be The concept divided into is adopted. It is not always necessary that a physical separation such as a wall exists between the small areas 471 and 472. A passage control concept called “separate section 4 7 3” is placed at the divided connection parts. If the area is divided into two sub-areas 4 7 1 and 4 7 2 as shown in the figure, place a Seki 4 7 3 between them. Then, the autonomous robot 202 does not consider the obstacles in the subsequent division or the small area 471 (4722) until it reaches the checkpoint 473.

Thus, for example, when the first autonomous robot 202 i is present in one of the small areas 47 2 and is going to gonorrasse 4 74 in the other small area 4 71, the small area 4 It is possible to reach the checkpoint 4 7 3 without worrying about the obstacles in 7 1, for example, the second autonomous robot 2 2 ₂ . By appropriately dividing the space in this way and performing travel control in consideration of obstacles in the small area at the time of entering a certain small area, the travel of each autonomous robot 202 can be performed smoothly. Will be able to do so. Obviously, a plurality of checkpoints 473 may be arranged in one space 201.

Figure 25 shows an example of the actual spatial arrangement. Depending on the desk 501, the table 502, the bookshelf 503, etc., the space 201 in this example becomes the first movable space 505 serving as the field of view of the first TV camera 203i. , the second movable space 5 0 5 ₂ that Do a second television camera 2 0 3 ₂ of the visual field, a third television camera 2 0 3 of ₃ of the field of view of these passages specific third movable space 5 It consists of 0 5 ₃ . The third movable space 5 0 5 ₃ Overlap the first and second part and movable space 505 I 505 _2. In such a space arrangement, when moving from the first movable space 505 i to the second movable space 505 ₂ as shown by the arrow 51 1, the third movable space 505 2 by providing a barrier to a position sandwiched between the two spaces 505 I 505 ₂ in central portions of the _three movement control of an autonomous Ropotto 202 not shown in this figure is simplified.

Figure 26 shows an example of a checkpoint in a multi-story building. In this example, the first space 201 forms the first floor of the building, and the second space 201 ₂ forms the second floor of the building. Both spaces 201 ぃ 20 1 ₂ are connected by elevator 521. If a plurality of autonomous robots 202 (not shown) move in such a space 201, the part of the elevator 521 is set as a checkpoint 522, so that the autonomous robot 202 can ride on the elevator 521 and reach a desired floor. It will be able to avoid having to consider any mouth pot 202 in the space 20 1 ^ or 201 ₂ of that floor.

Of course, provided with a barrier 522 in a portion connecting the upper and lower spaces, the space 201 I 201 ₂ constituting each floor further divided into a plurality providing a barrier also between these can, as previously described It is.

 Fig. 27 shows the flow of the trajectory control of the autonomous robot according to the present embodiment. (The trajectory control moves a small distance along the route set in the route plan, For this purpose, the CPU in the environment-side computer 205 first controls the trajectories X (t), Y (t), and trajectory of the autonomous mouth pot 202 to perform the movement control. Set θ (t) (step S301 in Fig. 27) where the symbols X (t) and Y (t) indicate the two-dimensional coordinate position on the system side, and the symbol 0 (t) is shown in Fig. 10. Indicates the rotation angle of the mouth pot body portion 26. The symbol t is the current time.After setting, the parameter n is initially set to "0" (step S302). The value n is increased by "1" (step S303), and t (= n- Δ 目標) to calculate the target position of the autonomous robot 202 and its posture (rotation angle)

(Step S304). The calculated values are assumed to be X (t _n ), Y (t _n ), and θ (t _n ) ₍ sign ΔΤ is a time interval required for one movement control. Next, the CPU uses this global autonomous robot system based on a global information sensing system, which is grasped by the environment-side computer 205 processed using the multiple TV cameras 200 SS 03 _M shown in Fig. 1. (X, y, Θ) is obtained (step S305). Then, the velocity set value (v _x , v _y , ω) of the autonomous robot 202 to become the position and posture at the next time is calculated (step S306), and the set velocity is calculated as the autonomous value. It is converted into the local coordinate system of the type robot 202 (step S307). The speed after the conversion is notified to the autonomous robot 202. The movement control is performed until the next time (step S308). The actual state of movement of the autonomous robot ₂₀₂ by this can be checked by the environment-side computer ₂₀₅ using the television camera _20SiS03 0. That is, it is possible to control the movement state during or after the movement by feed pack control.

When the above movement control is completed, the CPU checks whether the corresponding autonomous robot 202 has reached the final destination and has completed the movement (step S309). If the movement is not completed (Ν), the process proceeds to step S303, and the same control is repeated until the movement is completed (steps S303 to S309). Fig. 28 shows the result of moving the autonomous robot along the L-shaped trajectory under the control shown in Fig. 27. In the present embodiment, the movement of the autonomous robot 202 is controlled by the environment-side computer 205 using the television cameras 203 i to 203 _M shown in FIG. For this reason, the autonomous robot 202 can move with much higher precision with simple movement control compared to the case where the autonomous robot 202 itself controls movement with its own TV camera as before. I understand.

In the embodiment described above, the robot identification mark 2 12 or the object identification mark 2 13 has been described as emitting a fixed pattern that does not change over time. However, a pattern that changes over time may be emitted. For example, in the initial state in which the environment-side computer 205 detects an entire obstacle, the lopot identification mark 211 or the object identification mark 212 emits light with a light emission pattern that maximizes the amount of light. It is also possible to use a method in which individual patterns are emitted so that the individual can easily recognize the image and then enable individual recognition. In addition, these identification markers If it is possible to change the patterns of h 2 1 2 and 2 1 3 over time by controlling the lighting of a plurality of light-emitting diodes, it will not only transmit information for distinguishing robots, etc. It is also possible to transmit other information to be transmitted to 05 by changing the pattern.

Further, in the embodiment, the case where the television camera 20 SS03 _M detects infrared light has been described. However, the present invention is not limited to this, and it is also possible to detect light in a predetermined wavelength region such as visible light.

 In addition, as for the checkpoints that the robot sequentially passes to reach the goal, the route plan to the goal should be implemented with all other lopots deleted first, and the checkpoint that led to the passage at that time should be adopted. I have to. Therefore, for example, in the situation shown in FIG. 21, it is also possible to use a bureau instead of a relay point. The major difference between the gateway and the relay point is that the former is automatically selected by the system, while the latter is specified by the user (programmer).

Further, in the embodiment, the details of checking whether the pot is in the deadlock state are not described in detail.However, in order to perform such a check, there is a plurality of mouth pots that cannot be moved for a certain period of time. whether always and _c may be to monitor, if in the case where a plurality of robots has become unmovable fixed time thus exists, it is determined whether the deadlock in the above manner. If it is not a deadlock and there is a mouth pot that cannot be moved for a certain period of time, the movable obstacle that causes the movement cannot be identified.

 Furthermore, if the direction of mouth pot traffic in a certain area is to be regulated in accordance with the traffic volume, the number of robots in that area is monitored, and when the number of robots exceeds a certain number, direction-restricted traffic is implemented. What should I do?

In addition, the continuous running of a large number of robots in the direction control passage can be controlled by switching from wide-area operation control to track control at the entrance and giving each robot a track that keeps the distance between the robots at a certain level or more. When such control is performed, each robot is switched to wide-area operation regulation at the exit of the direction regulation passage. Also, when a robot outside the direction control passage plans a route to the goal, By ignoring the lopot in the control passage, it can be prevented from becoming an obstacle to movement.

 The goal, evacuation point, and relay point are, of course, set at locations where the mouth pots located there do not prevent the movement of other mouth pots.

Next, an example in which a moving object is treated as a group will be described with reference to FIGS. That is, in this example, the meaning of the term “moving object” includes “a group having a plurality of moving objects”. First, autonomous port pot _{2 0 2 i~ 2 0 2 6} , as shown in FIG. 3 1, divided into groups A to C. Group C - one and a mover 2 0 2 _6. Thus, the taloop may be composed of one mobile.

 The movement control of the moving body as described above is performed in units of this group. In other words, for each group, a route is generated for each mobile unit belonging to that group to reach the goal. Here, it is assumed that each mobile unit in the group generates a route together. In other words, in the above-described embodiment, the route of one mobile unit in which the other mobile unit is stationary is generated, but in this example, the other group is set in a stationary state while the other group is stationary. The route of the moving object belonging to is generated.

In this way, more efficient route generation can be performed within the group. However, performing route generation for a plurality of moving objects together increases the amount of calculation. Therefore, it is desirable that the computing speed of the computer be high. Of course, since it is divided into groups, it is possible to greatly reduce the amount of computation compared to generating a route for all moving objects together. The advantages of grouping will be further described with reference to FIGS. 32 and 33. In FIG 3 2 (a), and the autonomous robot 2 0 2丄and 2 0 2 _2, belonging to the same group Rutosuru. In addition, the robot 2 0 2 is aimed at the goal G, and the robot 2 0 2 ₂ aims to Gore Ichiru 0 _2. Then, the mouth pot 2 0 2丄and 2 0 2 ₂ can proceed their respective simultaneously (Fig b). Therefore, mouth pot 2 0 2 ₂ can quickly arrive at the goal G _2. On the other hand, Fig. 33 shows an example without grouping. In this case, while the robot 2 0 2丄passes narrow space (passage), mouth pot 2 0 2 ₂ is stationary. Therefore, the time in which the robot 2 0 2 ₂ arrives at the goal G ₂ becomes longer. Industrial applicability

 As described above, according to the first and second aspects of the present invention, for each of the moving objects specified by the target specifying means, the respective positions from the current position specified by the position specifying means to these goals are set. The route for traveling to is set by the route setting means, and the traveling control for each moving body is performed by the traveling body-specific traveling control means so that the traveling body is controlled from the current position to the goal by a predetermined unit along the route for each moving body, After that, the route is set again by the route setting means, and the control of moving to the goal by a predetermined unit is repeated until the final goal is reached. This makes it possible to move a plurality of moving objects to each goal with relatively simple control.

 According to the invention as set forth in claims 2 to 16, the environment-side imaging means is required for a moving object that moves by itself in the space and a movable object that can move with a force applied from another. By providing one or more imaging cameras for imaging the pre-installed marks, these objects can be recognized without the need for sophisticated recognition technology for recognizing individual moving and movable objects. . This makes it possible to identify whether the object is a moving object that moves on its own or a movable object that can move with a force applied from another. In the case of a moving object that moves on its own, it may be temporary even if it blocks the path of its own moving object. it can. In particular, since the environment-side imaging means sets the route of each moving body moving in the space, it is easy to adjust the movement of these moving bodies, and each moving body is equipped with its own camera. It is much easier to control the movement of a plurality of moving objects in the same space than in the case where traveling is controlled only by using a single vehicle. .

According to the third aspect of the present invention, in the moving body movement control system according to the first or second aspect, the route setting unit may have a plurality of moving body paths that intersect or are closely parallel to each other. These vehicles move without colliding with a predetermined location Therefore, there is a possibility that deadlocks may occur, in which mobile bodies cannot move due to the presence of each other in relatively narrow passages. In some cases, environmental restrictions can eliminate such risks and speed up the time to reach each goal.

 The invention described in claim 4 shows one form of the restriction passage, and at least one of the moving bodies having a possibility of collision is temporarily evacuated to avoid collision with another moving body. By providing the temporary evacuation point setting means for setting the route and partially changing the route as described above, collision or deadlock can be avoided. '

 According to the invention described in claim 5, in the moving body movement control system according to claim 1 or 2, the route setting means divides a space in which a plurality of moving bodies can travel at the same time into a plurality of spaces. A checkpoint for checking a moving object moving from one small area to the other small area is arranged at a place where the divided small areas are connected. It is not affected by the behavior of other moving objects in the area, so that not only can control be simplified, but also the time required for traveling control to the checkpoint can be shortened.

 Further, according to the invention described in claim 6, in the moving object movement control system according to claim 2, the mark emits infrared light, and the environment-side imaging means is sensitive to infrared light, so that it is not obstructive to humans. It is possible to use a mark that does not need to be used, and to realize an environment that considers humans in a space where humans and moving objects coexist.

 According to the seventh aspect of the present invention, in the moving body movement control system according to the third aspect, the regulating passage contacts the moving bodies at least in a range of an area where the moving paths of the plurality of moving bodies can be regarded as common. It is a passage that moves at a constant speed and in a predetermined common direction at a constant interval, so it is efficient without stopping both moving bodies together as when riding on an escalator Can be moved.

Further, according to the invention described in claim 8, in the moving object movement control system according to claim 3, each moving object that has moved to the intersection of the moving paths of the plurality of moving objects is respectively desired to be moved. If the intersection is composed of a ring-shaped passage and a plurality of radial passages connected to it, a plurality of moving bodies will use the intersection because the moving body rotating means for switching the moving direction is provided. Also in this case, these moving bodies can be efficiently moved through the ring-shaped passage and sent out in a desired direction using one of the plurality of radial passages.

 According to the ninth aspect of the present invention, in the moving body movement control system according to the first or second aspect, the space in which the moving body moves is mapped or mapped to the layout space. Since the route setting means sets the route in units of cells, it is easier to plan each route of the moving object than setting a route with fine coordinates.

 According to the tenth aspect of the present invention, in the moving body movement control system according to the first or second aspect, the moving body includes an on-board sensor for detecting a surrounding obstacle and the on-board sensor. When the sensor detects an obstacle that can be avoided on the route set by the route setting unit, the sensor further includes a correction route setting unit that independently sets a correction route for avoiding the obstacle. Even when there is an obstacle that should not exist on this route while operating the route that has been set by imaging, it is possible to independently set a correction route to minimize this. In other words, this makes it possible to deal with obstacles that could not be detected by the environment-side imaging means, and also when an obstacle such as a person suddenly moves and blocks the route after setting the route. It can respond flexibly.

 According to the invention of claim 11, in the moving object movement control system of claim 10, when the correction route setting means sets a correction route, the correction result of the route is notified to the route setting means. Therefore, it can be used not only as a reference when creating a future route for the moving object, but also as a reference for setting a traveling route of another moving object when traveling using the corrected route.

According to the invention described in claim 13, in the moving object movement control system according to claim 12, when the obstacle specified by the obstacle specifying means cannot be moved for at least a predetermined time, an instruction to remove the obstacle is given. Specific obstacle removal instructing means, for example, a person cannot move, as if a human had moved a seat on the path of a moving object. If it does, it can be removed from the route to ensure movement.

 Further, according to the invention of claim 14, in the moving object movement control system of claim 2, a part or all of the environment-side imaging means outputs image data capable of measuring a three-dimensional position of each mark. Since this is a stereo imaging means, it is possible to set a three-dimensional path to an obstacle even when the moving object moves under the desk and performs cleaning.

 According to the invention of claim 17, the traveling control means for each moving body sequentially issues a command for controlling the movement of each moving body based on the position of each object specified by the position specifying means on the environment side. Since each mobile unit receives these commands and can use its own drive mechanism to perform control for movement, it is only necessary to release the complicated control for movement. Therefore, there is an advantage that the control circuit can be greatly simplified, and high-precision movement can be performed even with a small moving body.

 Further, according to the invention of claim 18, by using the environment-side imaging means, the object specifying means, and the position specifying means existing on the environment side, during or after the movement of the specific moving body. The position of the moving body can be grasped each time, and the feed pack control means feeds back the position during or after the movement to the content of the movement instructing means, so that the moving body itself can take the imaging means on its own side. Thus, there is an effect that more accurate movement can be easily realized as compared with the case where the path set by the path setting means is moved while imaging.

 The moving object movement control system according to claim 19, wherein the term "moving object" includes "a group having a plurality of moving objects" in any one of claims 1 to 18. This has the effect that efficient route generation is possible.

Claims

The scope of the claims

1. Part or all of the space in which a plurality of moving objects move, and pick up images of other objects that exist on the passages of the moving objects that move on their own in this space.

Environment-side imaging means having one or more imaging power lenses,

 Target specifying means for specifying each moving object and other objects existing on the passage from the image data captured by the environment-side imaging means;

 Position specifying means for specifying the position of other objects present on the moving object passage from the image data captured by the environment-side imaging means,

 Route setting means for setting a route for traveling from the current position specified by the position specifying means for each of the moving objects specified by the target specifying means to the respective positions serving as these goals;

 The moving object is moved along the route for each moving object set by the route setting means so that the moving object does not collide with the other moving objects and other objects existing on the passage. Traveling control means for each moving body for performing traveling control toward the vehicle;

 Until the plurality of moving objects reach their respective goals, the route setting means sets again the route from the current position to the goal position for each moving object by the route setting means, and the traveling control means for each moving object. Travel control means that repeats travel control toward the goal

And a moving body movement control system.

 2. A part or all of the space in which a plurality of moving objects move, respectively, and the moving objects that move on their own in this space are movable objects that can move with the force applied by others. Environment-side imaging means having one or a plurality of imaging cameras for imaging a mark attached in advance to a necessary object;

 Target specifying means for specifying each moving object and movable object from a unique pattern for each mark imaged by the environment-side imaging means;

Position specifying means for specifying the position of a moving object and a movable object having a mark attached in the space from the position of the mark picked up by the environment-side image pickup means; Route setting means for setting a route for traveling from the current position specified by the position specifying means for each of the moving objects specified by the target specifying means to the respective positions serving as these goals;

 Along the route for each moving object set by the route setting means, a traveling control is performed from the current position to the goal by a predetermined unit from the current position within a moving range in which the moving object does not collide with an obstacle such as another moving object. Traveling control means for each moving object to be

 Until the plurality of moving bodies reach their respective goals, a route for traveling from the current position to the goal position is set again by the route setting means for each moving body, and the moving control for each moving body is performed. Travel control means that repeats travel control toward the goal

And a moving body movement control system.

 3. The route setting means regulates a traveling order for the plurality of moving bodies to travel without colliding with a predetermined place where the paths of the moving bodies may intersect or parallel in close proximity. 3. The moving body movement control system according to claim 1, wherein a regulating passage that regulates a traveling direction is arranged.

 4. The route setting means may detect a collision in a place near a predetermined location where routes of a plurality of moving objects may intersect or closely parallel to each other and are not routes of the moving objects. A temporary evacuation point setting means for setting a route so that at least one of the possible moving bodies is temporarily evacuated to avoid collision with another moving body. 3. The moving object movement control system according to claim 1 or 2.

5. The route setting means is configured to divide a space in which a plurality of moving bodies can travel at the same time into a plurality of spaces and to move from one small ridge region to the other small region at a portion connecting the divided small regions. A checkpoint for checking the body is arranged, and the traveling control means for each moving body performs the running control without considering the obstacle in the small area after passing until the relevant moving body passes through the checkpoint. The moving object movement control system according to claim 1 or 2, wherein +

6. The moving object movement control according to claim 2, wherein the mark emits infrared light, and the environment-side imaging unit is responsive to the infrared light.

7. The regulation passage moves the moving bodies at a predetermined interval that does not make contact with each other at a constant speed in a predetermined common direction within a range of a region where the moving paths of the plurality of moving bodies can be regarded as common. 4. The moving object movement control system according to claim 3, wherein the passage is configured as described above.

 8. The moving body movement control system according to claim 3, further comprising moving body rotating means for switching each moving body that has moved to an intersection of the moving paths of the plurality of moving bodies to a desired moving direction.

 9. The space in which the moving object moves is mapped to an arrangement space, and the arrangement space is formed as a group of cells in a predetermined unit, and the path setting means sets a path in units of cells. 3. The moving object movement control system according to claim 1 or 2.

 10. The mobile object is a built-in sensor for detecting a surrounding obstacle, and avoids the obstacle when the mounted sensor detects an obstacle that can be avoided on the route set by the route setting means. 3. The moving object movement control system according to claim 1, further comprising a correction path setting means for independently setting a correction path for the moving object.

 11. The mobile object movement control system according to claim 10, wherein when the correction route setting means sets a correction route, the correction result of the route is notified to the route setting means.

 1 2. When it is impossible for the route setting means to set a route to the goal for a specific moving object, the other moving objects and other objects are sequentially deleted to determine whether the route can be set. 3. The moving object movement control system according to claim 1, further comprising an obstacle specifying means for specifying an obstacle that hinders movement of the moving object.

 13. The movement according to claim 12, further comprising specific obstacle removal instruction means for instructing removal of the obstacle identified by the obstacle identification means when the obstacle cannot move for at least a predetermined time. Body movement control system.

14. The moving body according to claim 2, wherein a part or all of the environment-side imaging means is stereo imaging means for outputting image data capable of measuring a three-dimensional position of each mark. Control system.

15 5. Detection of the deadlock state in which these moving objects cannot move with each other due to the existence of other moving objects on the route of multiple moving objects is determined by the mutual movement on the route. 3. The moving body movement control system according to claim 1, further comprising deadlock detecting means for performing a movement by erasing the body to determine whether movement is possible.

 16. The moving body movement control system according to claim 2, wherein the environment-side imaging means detects a rotation angle of the moving body based on a direction of a pattern forming the mark.

 17. The moving body-specific traveling control means sequentially issues commands for controlling the movement of each moving body based on the position of each object specified by the position specifying means, and the moving body uses these received commands. 3. The moving body movement control system according to claim 1, wherein the movement of the moving body is controlled by controlling the movement of the moving body.

 1 8. A part or all of the space in which a specific moving object moves, and one or more imaging powers to image the moving object moving by itself in this space and other objects existing on the passage. Environment-side imaging means having a camera,

 Target specifying means for specifying the specific moving object and other objects existing on the passage from the image data captured by the environment-side image capturing means;

 Position specifying means for specifying the position of the specific moving object and other objects existing on a passage from image data captured by the environment-side image capturing means;

 Path setting means for setting a path through which the specific moving body can move in the space; and for each of the destinations on which the specific moving body moves one after another on the path set by the path setting means, Movement instructing means for giving an instruction on movement; and a feed pack control means for feeding the position of the movement specified by the position specifying means during or after the movement of the specific moving body to the contents of the instruction of the movement instructing means.

And a moving body movement control system.

 19. The moving body movement control system according to claim 1, wherein the moving body includes a group having a plurality of moving bodies.