JP2017130121A - Mobile body, and server - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that, in a system having a plurality of mobile bodies, the burden of a server becomes too great in order to prevent each mobile body from colliding each other.SOLUTION: A mobile body 2 which autonomously moves includes: a receiving part 21 for receiving an another person planned track showing a time-sequential position of a movement plan of the other mobile body 2 from a server; a generation part 22 for generating an own planned track so as not to interfere with the another person planned track; an accumulation part 23 for accumulating the generated own planned track; a movement mechanism 26 for moving the mobile body 2; a control part 27 for controlling the movement mechanism 26 according to the accumulated own planned track; and a transmission part 28 for transmitting the generated own planned track to the server. Thus, in each mobile body 2, since the own planned track not interfered with another person planned track is generated, the burden of the server is reduced.SELECTED DRAWING: Figure 3A

Description

  The present invention relates to a moving body that can prevent the trajectories of each moving body from interfering when a plurality of moving bodies move autonomously.

  2. Description of the Related Art Conventionally, a multi-robot system having a plurality of robots and a robot control device that avoids collisions between the robots by controlling movement of the plurality of robots is known (Patent Document 1). In the multi-robot system, the trajectory of each robot is expressed as a sequence of subgoals (nodes). Then, the robot controller determines the possibility of collision of multiple robots from the subgoal sequence, and if there is a possibility of collision, avoids robot collision by changing the path of the robot with lower priority. doing.

  Further, a multi-robot system is known in which each robot transmits a movement path generation request to a server (Patent Document 2). In the multi-robot system, the server generates a movement path in response to a request from each robot, and transmits it to each robot. As such, since the entire movement route is generated in the server, the movement route can be generated so that the robots do not collide.

JP 2006-133863 A JP 2010-231698 A

However, in the methods of Patent Documents 1 and 2, in order to avoid a robot collision, the server determines the possibility of collision, controls the path change for collision avoidance, and generates a movement path for each robot. Will do. Therefore, when there are many robots, processing of the server becomes excessive, and processing on the server may be delayed. If the processing at the server is delayed, there is a problem that proper collision avoidance cannot be realized or each robot has to wait for a long time to start moving according to the moving path. . Further, in order to avoid such a delay, it is necessary to allow more processing to be executed in the server.
Generally speaking, there has been a desire to prevent the load on the server from increasing when control is performed so that a plurality of autonomously moving mobile bodies do not collide.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a moving body and the like that can prevent collisions between the moving bodies without increasing the load on the server.

In order to achieve the above object, a mobile object according to the present invention is a mobile object that moves autonomously, and a receiving unit that receives another person's planned trajectory indicating a time-series position where the other mobile object is scheduled to move; A generation unit that generates a self-planned trajectory so as not to interfere with another person's planned trajectory, a storage unit that accumulates the self-planned trajectory generated by the generation unit, a moving mechanism that moves the moving body, and a storage unit A control unit that controls the moving mechanism according to the self-planned trajectory, and a transmission unit that transmits the self-planned trajectory generated by the generation unit.
With such a configuration, each mobile unit generates its own planned track so as not to interfere with the planned track of other mobile units. Therefore, it is possible to prevent the mobile bodies that move autonomously from colliding without increasing the load on the server.

In the mobile body according to the present invention, the receiving unit may receive the other person's planned trajectory from the server, and the transmitting unit may transmit the own planned trajectory to the server.
With such a configuration, the planned trajectory of each moving body can be centrally managed in the server.

In the mobile body according to the present invention, the reception unit may also receive a destination from the server, and the generation unit may generate a self-planned trajectory to the destination received by the reception unit.
With such a configuration, the destination is transmitted to each mobile unit via the server. Therefore, for example, a person who wants to move a certain moving body to a predetermined destination needs only to input the destination to the server, and the destination can be easily set.

The mobile unit according to the present invention further includes a reception unit that receives the destination, the transmission unit transmits request information for requesting transmission of the other person's planned trajectory to the server, and the generation unit is received by the reception unit. A self-planned trajectory to the destination may be generated.
With such a configuration, the mobile body can receive the planned trajectory of another mobile body at an arbitrary timing by transmitting the request information, and the self-scheduled trajectory using the received other person's planned trajectory can be received. Generation is possible.

The mobile body according to the present invention further includes an obstacle detection unit that detects an obstacle on the self-planned trajectory accumulated by the accumulation unit, and the transmission unit is configured to detect an obstacle when the obstacle detection unit detects the obstacle. The request information for requesting transmission of the other person's planned trajectory is transmitted to the server, and the generation unit detects the obstacle detected by the obstacle detecting unit using the other person's planned trajectory received in response to the transmission of the request information. A self-scheduled trajectory that avoids the above may be generated.
With such a configuration, when an obstacle is detected, a new self-scheduled trajectory that can avoid the detected obstacle can be generated.

In the mobile body according to the present invention, the transmission unit transmits obstacle information that is information related to the position of the obstacle detected by the obstacle detection unit to the server, and the reception unit also receives the obstacle information from the server. Then, the generation unit may generate a self-planned trajectory so as not to interfere with an obstacle corresponding to the obstacle information received by the reception unit.
With such a configuration, information regarding obstacles can be centrally managed in the server.

The mobile unit according to the present invention further includes a reception unit that receives a destination, the transmission unit transmits request information for requesting transmission of the other person's planned trajectory to the other mobile unit, and the reception unit receives the other mobile unit. The other part planned trajectory is received from the body, the generation unit generates a self planned trajectory to the destination accepted by the reception unit, the reception unit receives request information from another mobile body, and the transmission unit In response to reception of the request information by the receiving unit, the self-scheduled trajectory generated by the generating unit may be transmitted to the mobile body that has transmitted the request information.
With such a configuration, the planned trajectory is transmitted and received between the mobile bodies, and the mobile bodies can move autonomously so as not to collide even if there is no server.

Moreover, in the mobile body according to the present invention, the generation unit may generate the self-planned trajectory so as not to interfere with the other-person planned extended trajectory that is expanded according to the speed of the planned trajectory.
With such a configuration, it is possible to realize safer scheduled trajectory generation. In other words, the higher the speed, the more likely it is that the planned trajectory will deviate due to an error, etc., and the possibility of a collision due to the error etc. is reduced by generating a self-scheduled trajectory that takes that into account. can do.

Further, the server according to the present invention is stored by a receiving unit that receives a scheduled trajectory indicating a time-series position of a moving object to be moved, an accumulating unit that accumulates the planned trajectory received by the receiving unit, and an accumulating unit. And a transmission unit that transmits the scheduled trajectory to the moving body.
With such a configuration, when a mobile unit generates a planned trajectory, it can support the generation of a planned trajectory that does not interfere with the planned trajectory of another mobile unit by transmitting the planned trajectory of another mobile unit. it can. In addition, since the scheduled trajectory is not generated in the server, the server will not be overloaded even if there are many moving objects.

The server according to the present invention may further include a reception unit that receives the destination of the mobile body, and the transmission unit may transmit the destination received by the reception unit to the mobile body that moves to the destination.
With such a configuration, the destination is transmitted to each mobile unit via the server. Therefore, for example, a person who wants to move a certain moving body to a predetermined destination needs only to input the destination to the server, and the destination can be easily set.

In the server according to the present invention, the receiving unit also receives request information for requesting transmission of the planned trajectory, and the transmitting unit transmits the planned trajectory to the mobile body that transmitted the request information in response to the reception of the request information. May be.
With such a configuration, the mobile body can receive the planned trajectory of another mobile body at an arbitrary timing by transmitting the request information, and the self-scheduled trajectory using the received other person's planned trajectory can be received. Generation is possible.

In the server according to the present invention, the transmission unit may not transmit the planned trajectory after transmitting the planned trajectory until the planned trajectory received accordingly is accumulated.
With such a configuration, when a scheduled trajectory is generated by a certain moving body, the generation of the planned trajectory by another moving body can be prevented, and the planned trajectory accumulated by the storage unit does not interfere. Can be. As a result, safety can be improved.

The server according to the present invention further includes a determination unit that determines whether the planned trajectory received by the receiving unit interferes with the planned trajectory stored by the storage unit, and the storage unit determines that the determination unit does not interfere. In such a case, the planned trajectory received by the receiving unit may be accumulated.
With such a configuration, it is possible to prevent the scheduled trajectory accumulated by the accumulating unit from interfering with the safety, thereby improving safety.

In the server according to the present invention, the receiving unit also receives obstacle information that is information related to the position of the obstacle detected by the moving body, and the storage unit also stores the obstacle information received by the receiving unit. And a transmission part may also transmit obstacle information to a mobile body.
With such a configuration, information regarding obstacles can be centrally managed in the server.

  According to the mobile body and the like according to the present invention, the trajectory of each mobile body can be prevented from interfering without imposing a high load on the server.

The schematic diagram which shows the structure of the mobile body system by embodiment of this invention The block diagram which shows the structure of the server by the embodiment The block diagram which shows an example of the other structure of the server by the embodiment The block diagram which shows an example of the other structure of the server by the embodiment The block diagram which shows the structure of the moving body by the embodiment The block diagram which shows an example of the other structure of the moving body by the embodiment The flowchart which shows operation | movement of the server by the embodiment The flowchart which shows an example of the other operation | movement of the server by the embodiment The flowchart which shows an example of the other operation | movement of the server by the embodiment The flowchart which shows the operation | movement of the moving body by the same embodiment The flowchart which shows an example of the other operation | movement of the moving body by the same embodiment The flowchart which shows an example of the other operation | movement of the moving body by the same embodiment The figure which shows an example of the scheduled track | orbit of the moving body in the embodiment The figure which shows an example of the scheduled track | orbit of the moving body in the embodiment The figure which shows an example of the scheduled track | orbit of the moving body in the embodiment The figure which shows an example of the scheduled track | orbit of the moving body in the embodiment The figure which shows an example of the obstruction information in the embodiment The figure which shows an example of the obstruction information in the embodiment The figure for demonstrating the production | generation of the plan trajectory in the embodiment The figure for demonstrating the expansion plan orbit in the embodiment The figure for demonstrating the expansion plan orbit in the embodiment The figure for demonstrating the expansion plan orbit in the embodiment

  Hereinafter, a server and a moving body according to the present invention will be described using embodiments. In the following embodiments, components and steps denoted by the same reference numerals are the same or equivalent, and repetitive description may be omitted. The moving body according to the present embodiment generates its own planned trajectory in each moving body.

  FIG. 1 is a schematic diagram showing a configuration of a mobile system 100 according to this embodiment, FIG. 2A is a block diagram showing a configuration of a server 1 according to this embodiment, and FIG. 3A is a diagram showing this embodiment. It is a block diagram which shows the structure of the mobile body 2 by. A mobile system 100 according to the present embodiment includes a server 1 and a plurality of mobile bodies 2. The server 1 and the plurality of mobile units 2 are communicably connected via a wired or wireless communication line 500. In order for the moving body 2 to move freely, transmission / reception of information in the moving body 2 is preferably performed at least by wireless communication. The communication line 500 may be, for example, the Internet, an intranet, a public telephone line network, or the like. Note that the number of moving bodies 2 included in the moving body system 100 may be one, or may be two or more. Usually, the mobile body system 100 includes many mobile bodies 2, and this embodiment will mainly describe the case.

As illustrated in FIG. 2A, the server 1 includes a reception unit 11, a storage unit 12, a storage unit 13, a reception unit 14, and a transmission unit 15.
The receiving unit 11 receives the scheduled trajectory of the moving body 2. The scheduled trajectory indicates a time-series position where the moving body 2 is scheduled to move. The time-series position scheduled to move is a moving route including a temporal element. The time series position may be considered as a time change of the position or a position along the time series. Therefore, it is possible to know a point existing at a certain point in time by the planned trajectory. The point is strictly an expected point. Note that the planned trajectory usually indicates the position and time point at which the moving body 2 will move in the future. The planned trajectory may or may not include the direction (orientation) of the moving body 2. The direction of the moving body 2 may be the direction of the moving body 2 in a two-dimensional plane, or may be the direction of the moving body 2 in a three-dimensional space. In the former case, for example, the orientation of the moving body 2 may be an azimuth angle measured clockwise with north as 0 degree. In the latter case, for example, the orientation of the moving body 2 may be polar coordinates. The elevation angle and the azimuth angle measured in the system may be used. The direction of the moving body 2 may be considered to be the posture of the moving body 2. In the present embodiment, in order to simplify the description, a case where the direction of the moving body 2 is not included in the planned trajectory will be mainly described.

  The receiving unit 11 may also receive request information for requesting transmission of a scheduled trajectory. The request information is transmitted from the mobile unit 2. The receiving unit 11 may also receive obstacle information that is information related to the position of the obstacle detected by the mobile body 2. The obstacle information will be described later. The obstacle information is usually transmitted from the mobile unit 2. The receiving unit 11 may receive the planned trajectory, the request information, and the obstacle information together with the mobile body ID of the mobile body 2 that has transmitted the information, or otherwise. May be. The mobile object ID is an identifier for identifying the mobile object 2. The identifier may be, for example, an address or a unique character string.

  The receiving unit 11 may or may not include a wired or wireless receiving device (for example, a modem or a network card) for receiving. The receiving unit 11 may be realized by hardware, or may be realized by software such as a driver that drives the receiving device.

  The accumulating unit 12 accumulates the planned trajectory received by the receiving unit 11 in the storage unit 13. When the obstacle information is also received, the accumulation unit 12 may accumulate the obstacle information received by the reception unit 11 in the storage unit 13. When the mobile body ID is received together with the planned trajectory and the obstacle information, the storage unit 12 may store the planned trajectory and the obstacle information in the storage unit 13 in association with the mobile body ID.

  In the storage unit 13, the planned trajectory of the moving body 2 is stored. Obstacle information may also be stored. These pieces of information are accumulated by the accumulation unit 12 as described above. Normally, the scheduled trajectory stored in the storage unit 13 indicates a future trajectory, but may indicate a past trajectory as time passes. Therefore, when the planned trajectory corresponds to a past time point, the planned trajectory may or may not be deleted. The deletion of the scheduled trajectory may be performed by, for example, the storage unit 12 or a deletion unit (not shown). The same applies to the track portion corresponding to the past time point in one scheduled track. Obstacle information other than that transmitted from the mobile unit 2 may be stored in the storage unit 13. Such obstacle information may be, for example, an obstacle that is continuously present in an area in which the moving body 2 moves, such as a pillar, a wall, or a mounted object. Therefore, the obstacle information can be considered to be information similar to a map showing pillars, walls, and the like, for example. The storage in the storage unit 13 may be temporary storage in a RAM or the like, or may be long-term storage. The storage unit 13 can be realized by a predetermined recording medium (for example, a semiconductor memory, a magnetic disk, an optical disk, etc.).

  The reception unit 14 receives a destination of the moving body 2. The destination may be coordinates indicating latitude and longitude, for example, or other coordinates. Moreover, the reception part 14 may receive the destination and the mobile body ID of the mobile body 2 that is to be moved to the destination. In the present embodiment, the case where the mobile object ID is received together with the destination will be mainly described.

  For example, the reception unit 14 may receive information input from an input device (for example, a keyboard, a mouse, or a touch panel), or may receive information transmitted via a wired or wireless communication line. The reception unit 14 may or may not include a device (for example, a modem or a network card) for reception. In addition, the reception unit 14 may be realized by hardware, or may be realized by software such as a driver that drives a predetermined device.

  The transmission unit 15 transmits the scheduled trajectory accumulated by the accumulation unit 12 and the destination received by the reception unit 14 to the mobile body 2 in response to reception of the destination. The destination mobile body 2 is the mobile body 2 that moves to the destination. For example, when the mobile unit ID is received together with the destination in the reception unit 14, the mobile unit 2 identified by the received mobile unit ID becomes the destination mobile unit 2. On the other hand, when the moving body ID is not accepted, the transmission destination moving body 2 is a moving body 2 that is known to have no future moving schedule according to the planned trajectory stored in the storage unit 13. May be. When there are a plurality of such mobile bodies 2, the mobile body 2 selected on the basis of an arbitrary criterion may be the destination mobile body 2. The reference may be, for example, the mobile body 2 closest to the destination, the mobile body 2 with the lowest operating rate, or the like. When performing selection using such criteria, the server 1 may manage the current position of each mobile unit 2, the operating rate of each mobile unit 2, and the like. Further, the transmission unit 15 may transmit the planned trajectory to the mobile body 2 that has transmitted the request information in response to reception of the request information. The scheduled trajectory to be transmitted is usually the planned trajectory of the mobile body 2 other than the transmission destination mobile body 2, but the planned trajectory of the transmission destination mobile body 2 may be included. Normally, the scheduled trajectory stored in the storage unit 13 indicates a future trajectory, but may indicate a past trajectory as time passes. In this case, the scheduled trajectory to be transmitted may be only a planned trajectory in the future from the time of transmission, or may include a past planned trajectory. The transmission unit 15 may also transmit the obstacle information stored in the storage unit 13 to the moving body 2. The transmission of the obstacle information may be performed together with the transmission of the scheduled trajectory, or may be performed separately. In the present embodiment, the former case will be mainly described. The transmission unit 15 may not transmit the planned trajectory after transmitting the planned trajectory until the planned trajectory received accordingly is accumulated. By doing in this way, while the planned trajectory is generated in a certain mobile body 2, the planned trajectory stored in the server 1 can be locked, and the planned trajectories that interfere with each other are stored in the storage unit 13. Safety can be improved by avoiding the situation of being memorized.

  The transmission unit 15 may directly transmit the planned trajectory or the like to the moving body 2 or may indirectly transmit it via another device or the like. Further, the transmission unit 15 may perform transmission by using an address held in a recording medium (not shown) as a transmission destination, or by using an address received from another component or another server before transmission as a transmission destination. Transmission may be performed. For example, in the server, when the mobile body ID and the address of the mobile body 2 identified by the mobile body ID are stored in association with each other, the transmission unit 15 uses the stored information. Thus, the address of the mobile unit 2 may be specified. Further, the transmission unit 15 may or may not include a transmission device (for example, a modem or a network card) for performing transmission. The transmission unit 15 may be realized by hardware, or may be realized by software such as a driver that drives the transmission device.

  The moving body 2 moves autonomously according to the planned trajectory generated by itself so as not to interfere with the planned trajectory of another moving body. The moving body 2 may be, for example, a traveling body that travels or a flying body that flies. Moreover, the mobile body 2 may be a cart or a robot, for example. The robot may be, for example, an entertainment robot, a monitoring robot, a transfer robot, a cleaning robot, or another robot. The flying object may be, for example, a rotary wing aircraft, an airplane, an airship, or another flying object. From the viewpoint of being movable to an arbitrary position, the flying object is preferably a rotary wing aircraft. The rotorcraft may be, for example, a helicopter or a multicopter having three or more rotor blades (rotors). The multicopter may be, for example, a quadrotor having four rotor blades, or may have another number of rotor blades. In the present embodiment, the case where the moving body 2 is a transport carriage will be mainly described. As shown in FIG. 3A, the moving body 2 includes a receiving unit 21, a generating unit 22, a storing unit 23, a storage unit 24, an obstacle detecting unit 25, a moving mechanism 26, a control unit 27, And a transmission unit 28.

  The receiving unit 21 receives the scheduled trajectory (hereinafter also referred to as “other-scheduled trajectory”) and the destination of another moving body 2 from the server 1. The receiving unit 21 may also receive obstacle information from the server 1. The receiving unit 21 may or may not include a wired or wireless receiving device (for example, a modem or a network card) for receiving. The receiving unit 21 may be realized by hardware, or may be realized by software such as a driver that drives the receiving device.

The generation unit 22 generates a planned trajectory of the own mobile body to the received destination (hereinafter also referred to as “self planned trajectory”) so as not to interfere with the other's planned trajectory. The others planned trajectory has been received by the receiving unit 21. In addition, the starting point of the self-planned trajectory is usually the current position of the mobile body 2. The current position may be acquired by a current position acquisition unit described later. When the moving body 2 is currently moving, the generation unit 22 determines the destination in the movement and the estimated arrival time at the destination (or a time after a predetermined period from the estimated arrival time). A self-scheduled trajectory may be generated. Generating a self-planned trajectory so as not to interfere with another person's planned trajectory is to generate a self-planned trajectory so as not to collide with another moving body that moves according to the other person's planned trajectory. In the system, the self-scheduled trajectory may be generated so as not to intersect with the other planned trajectory of the other moving body 2. The generation unit 22 may generate a self-planned trajectory so as not to interfere with an obstacle corresponding to the obstacle information received by the reception unit 21. That is, the generation unit 22 may generate a self-planned trajectory so as to avoid the position of the obstacle indicated by the obstacle information. When an obstacle is detected by the obstacle detection unit 25, the generation unit 22 may generate a self-planned trajectory so as not to interfere with the detected obstacle. In the generation of the self-scheduled trajectory, the generation unit 22 uses the other-scheduled trajectory transmitted from the server 1 in response to the transmission of the request information corresponding to the detection of the obstacle, as will be described later. May be generated. The generation unit 22 may generate a self-planned trajectory using, for example, a spatiotemporal RRT (Rapidly-exploring Random Tree). For the spatio-temporal RRT, see, for example, the following document.
References: Hiroto Sakahara, Yasuhiro Sugaya, Fumio Miyazaki, “Real-time trajectory generation considering multiple moving obstacles by spatio-temporal RRT”, Transactions of the Society of Instrument and Control Engineers, Vol. 43, No. 4, pp. 277-284, 2007

In addition, the generation unit 22 generates a route to the destination in the spatial coordinate system, generates a trajectory candidate obtained by adding a temporal element to the route, and the candidate for the trajectory and the planned trajectory for the other person are displayed in time. When intersecting in a spatial coordinate system, the trajectory candidate is changed so that it decelerates or stops before the intersection, from the starting point of the trajectory candidate to the destination, and the final trajectory A planned trajectory may be generated. As a method for generating a route in the spatial coordinate system, for example, a known method such as a method using a Laplace potential method, a method using an A * algorithm, or a method using an RRT may be used. Further, when generating the planned trajectory, the generation unit 22 may generate the planned trajectory with reference to a map stored in a recording medium (not shown). Trajectory generation with reference to a map is well known and will not be described. Of the received scheduled trajectories, the scheduled trajectory that is the same as the planned trajectory stored in the storage unit 24 is the planned trajectory of the mobile unit. It may not be used for generation.
The self-scheduled trajectory and the others planned trajectory are relative. This is because the self-scheduled trajectory of a certain mobile body 2 becomes the other-scheduled trajectory of another mobile body 2.

  The accumulating unit 23 accumulates the planned trajectory generated by the generating unit 22, that is, the self-planned trajectory in the storage unit 24. When the generation unit 22 generates the self-scheduled trajectory several times, the storage unit 23 may or may not store the generated self-scheduled track by overwriting. Even in the latter case, it is preferable that the latest self-planned trajectory is accumulated so as to be specified.

  In the storage unit 24, the self-scheduled trajectory of the moving body 2 generated by the generation unit 22 is stored. The self-scheduled trajectory is accumulated by the accumulating unit 23. The storage in the storage unit 24 may be temporary storage in a RAM or the like, or may be long-term storage. The storage unit 24 can be realized by a predetermined recording medium (for example, a semiconductor memory, a magnetic disk, an optical disk, etc.).

  The obstacle detection unit 25 detects obstacles on the planned self-trajectory accumulated by the accumulation unit 23. Detecting an obstacle on the self-planned trajectory means detecting an obstacle present on a route corresponding to the self-planned trajectory. Strictly speaking, even if it does not exist on the route, an obstacle that becomes an obstacle when the moving body 2 passes through the route may be considered as an obstacle on its own planned trajectory. The detection of the obstacle is normally performed while the moving body 2 is moving. The method by which the obstacle detection unit 25 detects the obstacle is not limited. For example, the obstacle detection unit 25 measures the distance to the obstacle using an ultrasonic sensor, a laser sensor, or the like, and detects the obstacle when the distance is equal to or less than a predetermined threshold. Good. The laser sensor may be, for example, a laser range sensor (laser range scanner). The obstacle detection unit 25 may detect an obstacle when a contact is detected by a pressure sensor attached to the outer periphery of the moving body 2. Further, the obstacle detection unit 25 may detect an obstacle by an imaging sensor or other known sensors. The obstacle detection unit 25 may be provided, for example, so as to detect an obstacle existing ahead in the traveling direction in order to appropriately detect the obstacle on the self-planned trajectory. Specifically, an ultrasonic sensor, a laser sensor, a pressure sensor, or the like may be provided in front of the moving body 2 in the traveling direction.

  The obstacle detection unit 25 may generate obstacle information related to the detected obstacle in response to the detection of the obstacle. The obstacle information is information related to the position of the detected obstacle, and may be information indicating the position of the obstacle (for example, information indicating the coordinate value of the obstacle, for example) and has a size. Information indicating the range of the obstacle (for example, information indicating the coordinate value of the obstacle and the size of the obstacle such as a diameter and a width) may be used. When the distance and direction to the detected obstacle are not known, for example, when an obstacle is detected by a pressure sensor or the like, the obstacle detection unit 25 determines the position of the moving body 2 at the time of detection as the obstacle. Obstacle information indicated as the position of the may be generated. The position may be a current position at that time acquired by a current position acquisition unit described later. Further, when the distance and direction to the detected obstacle are known, for example, when the obstacle is detected by a distance sensor such as an ultrasonic sensor or a laser sensor, the obstacle detection unit 25 determines the distance to the obstacle. Alternatively, the position of the obstacle may be calculated using the direction of the distance sensor at the time of detection and the current position of the moving body 2. Specifically, a vector from the current position of the moving body 2 to the position of the obstacle is generated using the distance and direction, and the vector is separated from the current position of the moving body 2 by the distance and direction according to the vector. The position may be the position of the obstacle. When the obstacle detection unit 25 includes a laser range sensor or the like, the width of the obstacle may be acquired. As described above, when the width of the obstacle can be acquired, the obstacle detection unit 25 may generate obstacle information including the position and the width of the obstacle. The obstacle detection unit 25 may generate obstacle information related to the position of the detected obstacle by other methods.

  The moving mechanism 26 moves the moving body 2. The moving mechanism 26 may be any method as long as it can move the moving body 2. The moving mechanism 26 may include, for example, a traveling unit (for example, a wheel or an endless track) and a driving unit (for example, a motor or an engine) for driving the traveling unit. A driving unit that drives the rotor blades may be included, and a propeller and a driving unit that drives the propeller may be included. As this moving mechanism 26, since a well-known thing can be used, the detailed description is abbreviate | omitted. In the present embodiment, a case will be mainly described in which the moving mechanism 26 includes a traveling unit and a driving unit that drives the traveling unit.

  The control unit 27 controls the moving mechanism 26 according to the self-scheduled trajectory accumulated by the accumulating unit 23. That is, the control unit 27 controls the moving mechanism 26 so that the moving body 2 moves according to the self-scheduled trajectory. In addition, when the direction of the mobile body 2 is included in the self-planned trajectory, the control unit 27 controls the moving mechanism 26 so that the mobile body 2 faces the direction included in the self-planned trajectory. In addition, the control part 27 may use the present position and the present direction of the mobile body 2 in those controls. Therefore, the control unit 27 may perform feedback control of the moving mechanism 26 so that the current position and the current direction of the moving body 2 are the positions and directions indicated by the self-planned trajectory. A method of controlling the moving mechanism 26 so that the moving body 2 moves in accordance with the predetermined trajectory when given a predetermined trajectory is already known, and a detailed description thereof will be omitted.

  Further, the control unit 27 may control the moving mechanism 26 so as not to interfere with the obstacle when the obstacle detection unit 25 detects the obstacle during the movement. The control may be, for example, stopping the moving body 2 or decelerating the moving body 2. For example, the control may be similar to an obstacle avoidance operation performed when an obstacle is detected in a conventional automatic carriage.

  Moreover, the mobile body 2 may have a current position acquisition unit (not shown). The current position acquisition unit may acquire the current position and the current direction of the moving body 2, for example. The acquisition of the current position by the current position acquisition unit may be performed using, for example, wireless communication, may be performed by measuring the distance to a surrounding obstacle, and a surrounding image is taken. Or other means that can obtain the current position. Known methods for acquiring the current position using wireless communication include, for example, a method using GPS (Global Positioning System), a method using indoor GPS, and a method using the nearest wireless base station. Further, as a method of acquiring the current position by measuring the distance to surrounding obstacles, for example, a method using a laser range sensor that measures the distance to obstacles in a plurality of surrounding directions is known. . For example, a method known by SLAM (Simultaneous Localization and Mapping) is used as a method of acquiring the current position by measuring the distance to the surrounding obstacles or taking a surrounding image. May be. In addition, when a map prepared in advance (for example, a measurement result of a distance to a surrounding obstacle or a map having a captured image) is stored, the current position acquisition unit determines the distance to the surrounding obstacle. The current position may be obtained by measuring the position and specifying the position corresponding to the measurement result by using a map, and by capturing the surrounding image and using the map, the current position can be obtained. The current position may be acquired by specifying the position. Moreover, when the mobile body 2 has wheels, the current position acquisition unit may acquire the current position using, for example, an autonomous navigation device. The current position acquisition unit may acquire the current position including the direction (direction) of the moving body 2. The direction may be indicated by, for example, an azimuth angle measured clockwise with north as 0 degree, or may be indicated by information indicating other directions. The direction may be acquired by an electronic compass or a geomagnetic sensor. Moreover, when the mobile body 2 is a flying body, the current position acquisition unit may also acquire the altitude of the mobile body 2. The altitude may be measured by, for example, a barometer or a distance meter that measures the distance to the ground surface.

  The transmission unit 28 transmits the self-scheduled trajectory generated by the generation unit 22 to the server 1. In addition, when the obstacle detection unit 25 detects an obstacle, the transmission unit 28 may transmit request information for requesting transmission of the other person's planned trajectory to the server 1. This is to make it possible to generate a self-scheduled trajectory that avoids an obstacle using the newly-sent other person's planned trajectory. Note that sending request information when an obstacle is detected may mean sending request information in all cases where an obstacle is detected, and the obstacle is detected and is not removed in a short time. The request information may be transmitted when it is determined as such. Further, the transmission unit 28 may transmit obstacle information, which is information related to the position of the obstacle detected by the obstacle detection unit 25, to the server 1. The obstacle information may be transmitted to the server 1 together with the request information in response to the detection of the obstacle, or may be transmitted separately.

  Note that the transmission unit 28 may directly transmit the self-planned trajectory or the like to the server 1 or may indirectly transmit it via another device or the like. Further, the transmission unit 28 may perform transmission by using an address held in a recording medium (not shown) as a transmission destination, or by using an address received from another component or another device before transmission as a transmission destination. Transmission may be performed. Further, the transmission unit 28 may or may not include a transmission device (for example, a modem or a network card) for performing transmission. The transmission unit 28 may be realized by hardware, or may be realized by software such as a driver that drives the transmission device.

Next, operation | movement of the server 1 is demonstrated using the flowchart of FIG. 4A. In this flowchart, a case will be described in which obstacle information is transmitted together with a planned trajectory, and obstacle information is received together with request information.
(Step S101) The receiving unit 14 determines whether a destination has been received. If the destination is accepted, the process proceeds to step S102. If not, the process proceeds to step S105. In addition, the reception part 14 may receive mobile body ID with a destination.

  (Step S <b> 102) The transmission unit 15 transmits the destination received by the reception unit 14 and the planned trajectory and obstacle information stored in the storage unit 13 to the moving body 2. When the mobile object ID is also accepted, the destination mobile object 2 is the mobile object 2 identified by the accepted mobile object ID. When the mobile object ID is also accepted, the scheduled trajectory to be transmitted may be a planned trajectory of the mobile object 2 other than the mobile object 2 identified by the mobile object ID.

  (Step S <b> 103) The receiving unit 11 determines whether the planned trajectory is received from the mobile object 2 that is the destination of the planned trajectory. If the planned trajectory is received, the process proceeds to step S104. If not, the process of step S103 is repeated until the planned trajectory is received. The receiving unit 11 may also receive the moving body ID of the moving body 2 that has transmitted the planned trajectory together with the planned trajectory.

  (Step S <b> 104) The accumulation unit 15 accumulates the received scheduled trajectory in the storage unit 13. Then, the process returns to step S101. When the mobile body ID is also received together with the planned trajectory, the storage unit 15 may store the planned trajectory in the storage unit 13 in association with the mobile body ID.

  (Step S105) The receiving unit 11 determines whether request information and obstacle information have been received. If they are received, the process proceeds to step S106, and if not, the process returns to step S101. The receiving unit 11 may also receive the mobile object ID together with the request information and the like.

  (Step S106) The accumulation unit 15 accumulates the received obstacle information in the storage unit 13.

  (Step S107) The transmission unit 15 reads the planned trajectory and the obstacle information from the storage unit 13, and transmits the read request information to the mobile unit 2 that has transmitted the request information. At that time, the obstacle information and the planned trajectory transmitted from the moving body 2 may not be transmitted. When the mobile object ID is received together with the request information and the like, the scheduled trajectory to be transmitted may be the planned trajectory of the mobile object 2 other than the mobile object 2 identified by the mobile object ID. Then, the process proceeds to step S103.

  Note that the order of processing in the flowchart of FIG. 2A is an example, and the order of each step may be changed as long as similar results can be obtained. If the planned trajectory has already been stored in the storage unit 13 for the mobile unit 2 identified by the mobile unit ID received in step S101, an error is returned in response to the input of the mobile unit ID, You may be prompted to input the mobile object ID. In addition, when the planned trajectory and obstacle information are not stored in the server 1, the planned trajectory and the obstacle information need not be transmitted. Further, in the flowchart of FIG. 2A, the processing ends due to power-off or processing end interruption.

Next, operation | movement of the mobile body 2 is demonstrated using the flowchart of FIG. 5A. In this flowchart, a case where obstacle information is received together with the other person's planned trajectory and the obstacle information is transmitted together with request information will be described.
(Step S <b> 201) The receiving unit 21 determines whether the destination, the other person's planned trajectory, and the obstacle information are received from the server 1. If they are received, the process proceeds to step S202. If not, the process of step S201 is repeated until reception.

  (Step S202) The generation unit 22 generates the self-scheduled trajectory up to the received destination so as not to interfere with the received other-scheduled trajectory and the obstacle indicated by the received obstacle information.

  (Step S <b> 203) The storage unit 23 stores the generated self-scheduled trajectory in the storage unit 24.

  (Step S <b> 204) The transmission unit 28 transmits the generated self-planned trajectory to the server 1. The transmitting unit 28 may also transmit the mobile body ID of the mobile body along with the planned self-trajectory.

  (Step S205) The control unit 27 controls the moving mechanism 26 so that the moving body 2 reaches the destination according to the generated self-scheduled trajectory. The control in step S205 may be movement control from the current position of the moving body 2 to the next target position in the self-scheduled trajectory. By repeating the movement to the target position on the self-planned trajectory, the moving body 2 finally moves to the destination.

  (Step S206) The control unit 27 determines whether or not the moving body 2 has reached the destination. If the destination is reached, the process returns to step S201, and if not, the process proceeds to step S207.

  (Step S207) The obstacle detection unit 25 determines whether an obstacle on the movement route is detected. If an obstacle is detected, the process proceeds to step S208. If not, the process returns to step S205, and the movement to the destination is continued.

  (Step S <b> 208) The transmission unit 28 transmits the request information and the obstacle information of the obstacle detected by the obstacle detection unit 25 to the server 1. In this case, since the process does not return to step S205, the movement by the control unit 27 is stopped, and the moving body 2 is stopped. The transmitting unit 28 may also transmit the mobile body ID of the mobile body together with the request information and the like.

(Step S209) The receiving unit 21 determines whether or not the other person's planned trajectory and the obstacle information are received from the server 1. If they are received, the process returns to step S202. If not, the process of step S209 is repeated until they are received. In addition, when returning from step S209 to step S202, the other self-scheduled trajectory to the destination received in step S201 is received in step S209 so as to avoid the obstacle detected in step S207. It is generated using the person's planned trajectory and obstacle information.
Note that the order of processing in the flowchart of FIG. 5A is an example, and the order of the steps may be changed as long as the same result can be obtained. Further, in the flowchart of FIG. 5A, the processing is ended by power-off or processing end interruption.

  Next, the operation of mobile system 100 according to the present embodiment will be described using a specific example. In this specific example, it is assumed that the planned trajectory shown in FIG. 6A and the obstacle information shown in FIG. 7A are stored in the storage unit 13 of the server 1. In FIG. 6A, the moving body ID is associated with the planned trajectory of the moving body 2 identified by the moving body ID. For example, the scheduled trajectory of the moving body 2 identified by the moving body ID “R001” is “P001”. The planned trajectory is information indicating a position along the time series of the planned movement of the moving body 2 identified by the moving body ID “R001”. The planned trajectory “P001” or the like may be information on a plurality of positions on the planned trajectory in space-time, for example. It is preferable that the set of positions has a granularity that is fine enough to appropriately specify a continuous planned trajectory. In FIG. 7A, the obstacle information “B001” and “B002” are obstacles (for example, pillars and walls) existing in advance in the moving area of the moving body 2 and are stored in the storage unit 13 in advance. And On the other hand, the obstacle information “(X501, Y501)” and “(X502, Y502)” is transmitted from the mobile unit 2 and accumulated in the storage unit 13.

  Next, it is assumed that the operator of the server 1 inputs the mobile object ID “R004” and the destination (X11, Y11) by operating the input device. Then, the information is received by the receiving unit 14 and passed to the transmitting unit 15 (step S101). Upon receiving the destination, etc., the transmission unit 15 sets the destination, all scheduled trajectories shown in FIG. 6A, and all obstacle information shown in FIG. 7A to addresses corresponding to the mobile object ID “R004”. Transmit (step S102).

  The transmitted destination and the like are received by the receiving unit 21 of the moving body 2 identified by the moving body ID “R004” and passed to the generating unit 22 (step S201). When receiving the destination or the like, the generation unit 22 shows the self-planned trajectory P004 from the departure point (X10, Y10), which is the current position at that time, to the received destination (X11, Y11) in FIG. 7A. The data is generated so as not to interfere with the obstacle indicated by the obstacle information and so as not to interfere with each scheduled trajectory of FIG. 6A, and is passed to the storage unit 23 (step S202). For example, as shown in FIG. 8, a self-planned trajectory P004 from the departure point to the destination may be generated. In FIG. 8, a coordinate system indicating a time space is shown, the xy coordinate system indicates a two-dimensional plane, and the t-axis indicates the time axis direction. Since the obstacle and the destination do not move, the object becomes a solid extending in the t-axis direction. The obstacles corresponding to the obstacle information (X501, Y501) and (X502, Y502) may be obtained by extending a circle with a predetermined radius centered on the coordinates in the time axis direction. . In FIG. 8, the scheduled trajectories P002 and P003 are omitted for convenience of explanation. Upon receiving the self-scheduled trajectory P004, the storage unit 23 stores the self-scheduled trajectory in the storage unit 24 (step S203). When detecting that the new self-scheduled trajectory has been accumulated, the transmitting unit 28 reads the self-scheduled trajectory and stores it in the server 1 together with the mobile body ID “R004” of the mobile body 2 stored in a recording medium (not shown). Transmit (step S204).

  The planned trajectory and the moving body ID transmitted from the moving body 2 are received by the receiving unit 11 of the server 1 and passed to the accumulating unit 12 (step S103). When receiving the scheduled trajectory and the like, the accumulating unit 12 accumulates them in the storage unit 13 (step S104). As a result, the planned trajectory stored in the storage unit 13 is as shown in FIG. 6B.

  Thereafter, the control unit 27 of the moving body 2 controls the moving mechanism 26 so that the moving body 2 moves along a trajectory corresponding to the self-planned trajectory P004 accumulated in the storage unit 24, whereby the moving body 2 is self-planned. It moves on the orbit (step S205). It is assumed that an obstacle on the route is detected by the obstacle detection unit 25 during the movement (step S207). Then, the control part 27 stops control of a movement according to it, and the mobile body 2 stops at the point. Also, the obstacle detection unit 25 generates obstacle information (X503, Y503) indicating the current position at the time when the obstacle is detected, and passes it to the transmission unit 28. Then, the transmission unit 28 transmits the obstacle information, the request information, and the mobile body ID “R004” to the server 1 (step S208).

  The request information, obstacle information, and mobile body ID transmitted from the mobile body 2 are received by the reception unit 11 of the server 1 (step S105). Then, the mobile object ID is passed to the transmission unit 15 and the obstacle information is passed to the storage unit 12. When the obstacle information is received, the accumulation unit 12 accumulates the obstacle information in the storage unit 13 (step S106). As a result, the obstacle information stored in the storage unit 13 is as shown in FIG. 7B. In addition, when the mobile unit ID is received, the transmission unit 15 reads the scheduled trajectory shown in FIG. 6C and the obstacle information shown in FIG. It transmits to the address corresponding to “R004” (step S107). In FIG. 6C, the planned trajectory corresponding to the moving body ID “R002” has been rewritten from P002 to P005 so far. Note that the transmission target may not include the planned trajectory “P004” corresponding to the moving body ID “R004”, and may not include the obstacle information (X503, Y503) accumulated immediately before. .

  The other person's planned trajectory and the like are received by the receiving unit 21 (step S209), and the self-scheduled trajectory P006 is generated, stored, and transmitted in the same manner as described above (steps S202 to S204). The transmitted scheduled trajectory is received by the receiving unit 11 of the server 1 and accumulated in the storage unit 13 (steps S103 and S104). As a result, the planned trajectory stored in the storage unit 13 is as shown in FIG. 6D.

  Moreover, the moving body 2 moves according to the new self-scheduled trajectory P006. Then, the movement control is repeated until the destination (X11, Y11) is reached (steps S205, S206).

  As described above, according to each moving body 2 according to the present embodiment, the self-planned trajectory is generated so as not to interfere with the other-person planned trajectory using the other-person planned trajectory transmitted from the server 1. A collision between the two can be avoided. In addition, since the scheduled trajectory is generated not by the server 1 but by the mobile body 2, even if the amount of the mobile body 2 increases, it is possible to avoid a significant increase in the load on the server 1. As a result, it is possible to prevent the waiting time of the moving body 2 from becoming longer in accordance with the delay in the generation of the planned trajectory in the server, and it is possible to realize a quicker movement of the moving body 2. In addition, it is not necessary to prepare a high-performance server.

  In the present embodiment, the case where the server 1 receives the destination has been described. However, the destination may be received by the mobile body 2. In that case, as illustrated in FIG. 2B, the server 1 may not include the reception unit 14. On the other hand, as shown in FIG. 3B, the moving body 2 may further include a reception unit 29 that receives a destination of the own moving body. For example, the reception unit 29 may receive a destination input from an input device (for example, a keyboard, a mouse, a touch panel, etc.), or may receive a destination transmitted via a wired or wireless communication line. Good. The accepting unit 29 may or may not include a device for accepting (for example, a modem or a network card). The receiving unit 29 may be realized by hardware, or may be realized by software such as a driver that drives a predetermined device. As described above, when the mobile body 2 receives the destination, the transmission unit 28 of the mobile body 2 may transmit the request information to the server 1 when the destination is received. Then, the generation unit 22 generates a self-scheduled trajectory up to the destination using the other person's planned trajectory received in response to the transmission of the request information and the destination received by the reception unit 29. Also good. In this case, the obstacle information may be used as described above.

FIG. 4B is a flowchart showing the operation of the server 1 shown in FIG. 2B. In the flowchart of FIG. 4B, processes other than steps S111 and S112 are the same as those in the flowchart of FIG. 4A, and the description thereof is omitted.
(Step S111) The receiving unit 11 determines whether request information has been received. If received, the process proceeds to step S112. If not, the process of step S111 is repeated until the request information is received. The receiving unit 11 may also receive obstacle information and a moving body ID together with the request information.

  (Step S112) The receiving unit 11 determines whether obstacle information is included in the received information. If the obstacle information is included, the process proceeds to step S106, and if not, the process proceeds to step S107.

  FIG. 5B is a flowchart showing the operation of the moving body 2 shown in FIG. 3B. In the flowchart of FIG. 5B, processes other than steps S211 to S213 are the same as those in the flowchart of FIG.

  (Step S211) The reception unit 29 determines whether a destination has been received. If the destination is received, the process proceeds to step S212. If not, the process of step S211 is repeated until the destination is received.

  (Step S212) The transmission unit 28 transmits the request information to the server 1. The transmitting unit 28 may also transmit the mobile body ID of the mobile body along with the request information.

(Step S213) The receiving unit 21 determines whether or not the other person's planned trajectory and the obstacle information are received from the server 1. If they are received, the process proceeds to step S202. If not, the process of step S213 is repeated until reception.
In this way, a self-planned trajectory may be generated using the destination received by the mobile body 2.

  In addition, when the mobile body 2 is the structure shown by FIG. 3B, you may make it perform transmission / reception of a planned track | orbit between the mobile bodies 2 without going through the server 1. FIG. In that case, the mobile body system 100 includes a plurality of mobile bodies 2. Further, the transmission unit 28 transmits the request information not to the server 1 but to another mobile unit 2. Transmission of request information to other mobile units 2 may be performed by broadcast, for example. More specifically, when a plurality of mobile units 2 belong to the same wireless LAN, the request information can be transmitted to all other mobile units 2 by such broadcast. In addition, the receiving unit 21 receives request information from another mobile unit 2. When the request information is received, the transmission unit 28 transmits the self-scheduled trajectory generated by the generation unit 22 to the mobile body 2 that transmitted the request information. Thus, the receiving unit 21 receives the other person's planned trajectory from the other mobile body 2 instead of from the server 1. When the planned trajectory is received from all the mobile bodies 2 having the planned trajectory, the reception of the others planned trajectory is completed. Further, when the server 1 does not exist, each moving body 2 holds the obstacle information of the obstacle detected by the own moving body, and the held obstacle information together with the planned self-trajectory. You may send it. Further, the mobile unit 2 that does not have the self-planned trajectory may receive the request information or may not transmit the self-planned trajectory. In that case, the mobile unit 2 may transmit that there is no self-scheduled trajectory, or may not. As described above, when the scheduled trajectory is transmitted and received between the mobile bodies 2, a certain mobile body 2 may receive the planned trajectory only from the mobile body 2 existing near the mobile body 2. Then, the generation unit 22 generates a self-scheduled trajectory up to a destination on the way to the destination (hereinafter also referred to as “sub destination”), and repeats the movement to the sub destination. Depending on the situation, you may finally move to the destination. Even in that case, the generation to the destination is achieved by repeating the generation of the self-scheduled trajectory to the sub-destination, so the generation unit 22 thinks that the self-scheduled trajectory to the destination is generated. be able to. In order for a certain mobile unit 2 to receive another person's planned trajectory only from a nearby mobile unit 2, for example, when wireless communication is performed in an ad hoc mode, radio waves of the wireless communication reach. The other person's planned trajectory or the like may be received only from the moving body 2 within the range. In that case, in the ad hoc mode, it may be set so that the mobile unit 2 that has received the request information does not transfer the request information to another mobile unit 2. Therefore, for example, in the request information to be transmitted, the number of hops may be limited (specifically, TTL (Time To Live) = 1 may be set).

  In the case where the planned trajectory is transmitted and received between the mobile bodies 2 in this manner, the transmission of the self-planned trajectory (step S204) is not performed in the flowchart of FIG. 5B (that is, the process proceeds from step S203 to step S205). In addition, in response to the reception of the request information in the receiving unit 21, processing for transmitting the self-scheduled trajectory and obstacle information to the transmission source mobile unit 2 may be performed. As described above, when the scheduled trajectory is transmitted and received between the moving bodies 2, since there is no server, it is natural that the load on the server is reduced.

  Further, in the present embodiment, the transmission unit 15 of the server 1 interferes with each other by not transmitting the planned trajectory until the planned trajectory received accordingly is accumulated after transmitting the planned trajectory. Although the case where the scheduled trajectory to be stored is not stored in the storage unit 13 has been described, this need not be the case. That is, the transmission unit 15 transmits the planned trajectory stored in the storage unit 13 to the mobile body 2 even after the planned trajectory is transmitted until the planned trajectory received accordingly is accumulated. You may do it. In this case, since the planned trajectories that interfere with each other may be stored in the storage unit 13, the server 1 may further include a determination unit 16, as shown in FIG. 2C. The determination unit 16 determines whether the planned trajectory received by the receiving unit 11 interferes with the planned trajectory stored in the storage unit 13 by the storage unit 12. The accumulating unit 12 accumulates the planned trajectory received by the receiving unit 11 in the storage unit 13 when it is determined by the determining unit 16 that no interference occurs, and the received planned trajectory when it is determined to interfere. Shall not be accumulated. When it is determined that interference occurs, the transmission unit 15 transmits the planned trajectory and the like stored in the storage unit 13 at that time to the mobile body 2 that is the transmission source of the planned trajectory received by the reception unit 11. May be. Then, the storage unit 12 may store the new scheduled trajectory received in response to the transmission in the storage unit 13 after determining that there is no interference. In this case, the mobile unit 2 uses the other person's scheduled orbit, etc., when a new other person's planned orbit is received immediately after transmission to the server 1 of the own planned orbit, etc. May be generated and transmitted to the server 1 again.

FIG. 4C is a flowchart showing the operation of the server 1 shown in FIG. 2C. In the flowchart of FIG. 4C, processes other than steps S121 to S123 are the same as those in the flowchart of FIG. 4A, and a description thereof is omitted.
(Step S121) The receiving unit 11 determines whether a planned trajectory has been received. If the planned trajectory has been received, the process proceeds to step S122. If not, the process returns to step S101. The receiving unit 11 may also receive the mobile object ID together with the planned trajectory.

  (Step S122) The determination unit 16 determines whether the received planned trajectory interferes with the planned trajectory stored in the storage unit 13. And when it interferes, it progresses to step S107, and when that is not right, it progresses to step S123. When the mobile unit ID is also received, the determination unit 16 determines whether the received planned trajectory interferes with the planned trajectory of the mobile unit 2 other than the mobile unit 2 identified by the mobile unit ID. May be.

  (Step S123) The storage unit 12 stores the received scheduled trajectory in the storage unit 13. Then, the process returns to step S101.

FIG. 5C is a flowchart showing the operation of the mobile unit 2 shown in FIG. 3A that communicates with the server 1 shown in FIG. 2C. In the flowchart of FIG. 5C, processes other than step S221 are the same as those in the flowchart of FIG. 5A, and a description thereof will be omitted.
(Step S221) The receiving unit 21 determines whether or not the other person's planned trajectory and obstacle information have been received. If they are received, the process returns to step S202; otherwise, the process proceeds to step S205.
In this way, by making a determination by the determination unit 16, it is possible to avoid a situation in which the planned trajectories that interfere with each other are stored in the server 1, and safety can be improved.

  In the above description, the case where the server 1 includes the determination unit 16 in the mobile system 100 including the server 1 illustrated in FIG. 2A and the mobile body 2 illustrated in FIG. 3A has been described. Also good. In the mobile system 100 having the server 1 shown in FIG. 2B and the mobile body 2 shown in FIG. 3B, the server 1 may have the determination unit 16. Even in this case, by using the determination result by the determination unit 16, it is possible to avoid storing the scheduled trajectory that interferes in the storage unit 13.

  Also, in the present embodiment, when generating the planned trajectory of the moving body so as not to interfere with the planned trajectory of the other moving body, the case where the planned trajectory is generated so as not to intersect in the spatio-temporal coordinate system will be described. But it doesn't have to be. Strictly speaking, since each moving body 2 has a size in the real space, even if a new planned trajectory is generated so that the one-dimensional planned trajectories do not cross each other, There is also the possibility that at least some of the two collide with each other. Therefore, the generation unit 22 may generate a new planned trajectory using the expanded planned trajectory obtained by expanding the planned trajectory in the spatial direction. This will be specifically described. FIG. 9A is a diagram illustrating a spatial coordinate system (xy plane coordinate system) at a certain time (t = t1). In FIG. 9A, the other person's planned trajectory is indicated by dots. A circle having a predetermined radius centered on the other person's planned trajectory serves as an expansion planned trajectory of the other moving body in the spatial coordinate system (hereinafter also referred to as “other person planned trajectory”). . The generation unit 22 generates the self-scheduled trajectory so as not to interfere with the others extension planned trajectory. Therefore, in the case shown in FIG. 9A, the generation unit 22 cannot generate the self-scheduled trajectory at t = t1, for example, at the position (x, y) = (X22, Y22). , Y) = (X21, Y21). Also, for the own mobile unit, generate a planned extension trajectory so that the other person's planned extension trajectory does not interfere with the extension plan trajectory of the mobile unit (hereinafter also referred to as the “self-expanded target trajectory”). A self-planned trajectory may be generated. In that case, for example, as shown in FIG. 9B, the self-planned trajectory is generated so that the two planned expansion trajectories do not interfere with each other. In addition, the speed at each position of the planned trajectory can be calculated. For example, the speed of a scheduled trajectory at t = t1 may be calculated by dividing the moving distance from t = t1−ε to t = t1 + ε by 2ε. The speed is a scalar quantity and may be considered as a speed. It is considered that the higher the speed at the time of movement, the greater the degree of error that deviates from the planned trajectory during actual movement in real space. Therefore, the generation unit 22 may generate the self-scheduled trajectory so as not to interfere with the other person's planned trajectory that is expanded according to the speed of the other person's planned trajectory. The expansion planned trajectory expanded according to the speed of the planned trajectory is a planned expansion trajectory in which the degree of expansion increases as the speed increases and the degree of expansion decreases as the speed decreases. As shown in FIG. 9C, the expected expansion trajectory is the smallest range when the speed is low, the expected expansion trajectory is when the speed is high, and the expected expansion trajectory is when the speed is medium. May be. It should be noted that when the speed is 0, it may be expanded so as to be approximately the same as the size of the actual mobile body 2. Also in this case, the self-planned trajectory to be generated may or may not be extended. Also, when the self-planned trajectory to be generated is expanded, that is, when the self-planned trajectory is generated using the self-expanded trajectory corresponding to the self-planned trajectory to be generated, expansion corresponding to the speed is performed. It may or may not be. In addition, when a planned expansion trajectory according to speed is used, the degree of expansion may be stepwise as shown in FIG. 9C or may be continuous. In addition, as described above, when the planned trajectory is expanded to the planned expansion trajectory, the cross-sectional shape in the time direction of the planned expansion trajectory may be a circular shape as shown in FIGS. 9A to 9C, or Other shapes such as an elliptical shape, a square shape, a rectangular shape, a polygonal shape, or the like may be used. Further, the fact that the planned trajectory does not interfere may be considered that at least a part of the planned extended trajectory corresponding to the planned trajectory does not overlap as described above.

  Moreover, although the said embodiment demonstrated the case where the obstruction information regarding the obstruction is transmitted to the server 1 or another mobile body 2 when the obstruction is detected in the mobile body 2, it is so. It does not have to be. Transmission of obstacle information may not be performed. In that case, the obstacle information is not held in the server 1 or the mobile body 2, and the obstacle information is not transmitted from the server 1 to the mobile body 2.

  Moreover, although the said embodiment demonstrated the case where the obstruction on a self-planned track | orbit was detected in the mobile body 2, it may not be so. In the moving body 2, it is not necessary to detect the obstacle. When the obstacle detection is not performed, the moving body 2 may not include the obstacle detection unit 25. Moreover, the transmission part 28 does not need to transmit the request information according to the detection of an obstruction.

  In addition, information other than that described above may be included in the planned trajectory. For example, when the moving body 2 has a manipulator, and the position of the tip (hand effector) of the manipulator changes according to the time or the position of the moving body 2, the information on the position becomes a planned trajectory. May be included. In addition, information related to other moving bodies 2 may be included in the planned trajectory.

  Further, when the request information is not transmitted from the mobile body 2 to the server 1, the transmission unit 15 of the server 1 may not transmit the other person's planned trajectory according to the reception of the request information. When the request information is not transmitted from the mobile body 2 to another mobile body 2, the transmission unit 28 of the mobile body 2 does not transmit the other person's planned trajectory in response to the reception of the request information. May be.

  In the above embodiment, the request information may be any information as long as the server 1 or the mobile body 2 recognizes the request information. For example, when request information and obstacle information are transmitted together, the obstacle information may also serve as request information. In that case, transmitting the obstacle information means transmitting the request information and the obstacle information, and receiving the obstacle information means that the request information and the obstacle information are received. You may think.

  In the above embodiment, each process or each function may be realized by centralized processing by a single device or a single system, or may be distributedly processed by a plurality of devices or a plurality of systems. It may be realized by doing.

  In the above embodiment, the information exchange between the components is performed by one component when, for example, the two components that exchange the information are physically different from each other. It may be performed by outputting information and receiving information by the other component, or when two components that exchange information are physically the same, one component May be performed by moving from the phase of the process corresponding to to the phase of the process corresponding to the other component.

  In the above embodiment, information related to processing executed by each component, for example, information received, acquired, selected, generated, transmitted, or received by each component In addition, information such as threshold values, mathematical formulas, addresses, and the like used by each constituent element in processing may be temporarily or for a long time held in a recording medium (not shown), even if not specified in the above description. Further, the storage of information on the recording medium (not shown) may be performed by each component or a storage unit (not shown). Further, reading of information from the recording medium (not shown) may be performed by each component or a reading unit (not shown).

  In the above embodiment, when information used by each component, for example, information such as a threshold value, an address, and various setting values used by each component may be changed by the user, Even if it is not specified in the description, the user may be able to change the information as appropriate, or may not be so. If the information can be changed by the user, the change is realized by, for example, a not-shown receiving unit that receives a change instruction from the user and a changing unit (not shown) that changes the information in accordance with the change instruction. May be. The change instruction received by the receiving unit (not shown) may be received from an input device, information received via a communication line, or information read from a predetermined recording medium, for example. .

  In the above embodiment, when two or more components included in the server 1 or the mobile body 2 have communication devices, input devices, etc., the two or more components have a physically single device. Or may have separate devices.

  In the above-described embodiment, each component may be configured by dedicated hardware, or a component that can be realized by software may be realized by executing a program. For example, each component can be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. At the time of execution, the program execution unit may execute the program while accessing the storage unit or the recording medium. The program may be executed by being downloaded from a server or the like, or may be executed by reading a program recorded on a predetermined recording medium (for example, an optical disk, a magnetic disk, a semiconductor memory, or the like). Good. Further, this program may be used as a program constituting a program product. Further, the computer that executes the program may be singular or plural. That is, centralized processing may be performed, or distributed processing may be performed.

  Further, the present invention is not limited to the above-described embodiment, and various modifications are possible, and it goes without saying that these are also included in the scope of the present invention.

  As described above, according to the mobile system according to the present invention, the autonomous mobile body can generate the planned trajectory of the mobile body so as not to collide with other mobile bodies without applying a high load on the server. For example, it is useful as a system having a plurality of moving bodies.

DESCRIPTION OF SYMBOLS 1 Server 2 Mobile body 11, 21 Reception part 12, 23 Storage part 13, 24 Storage part 14, 29 Reception part 15, 28 Transmission part 16 Judgment part 22 Generation part 25 Obstacle detection part 26 Movement mechanism 27 Control part 100 Mobile body system

(Step S <b> 104) The accumulation unit 12 accumulates the received scheduled trajectory in the storage unit 13. Then, the process returns to step S101. When the mobile object ID is also received together with the planned track, the storage unit 12 may store the planned track in the storage unit 13 in association with the mobile object ID.

(Step S106) The accumulation unit 12 accumulates the received obstacle information in the storage unit 13.

Claims (14)

A mobile object that moves autonomously,
A receiving unit that receives another person's planned trajectory indicating a time-series position of a moving schedule of another moving body;
A generating unit for generating a self-planned trajectory so as not to interfere with the others planned trajectory;
An accumulator for accumulating the self-planned trajectory generated by the generator;
A moving mechanism for moving the moving body;
A control unit that controls the moving mechanism in accordance with a self-planned trajectory accumulated by the accumulation unit;
And a transmitter that transmits the self-scheduled trajectory generated by the generator. The receiving unit receives the other person's planned trajectory from a server,
The mobile body according to claim 1, wherein the transmission unit transmits the self-planned trajectory to the server. The receiving unit also receives a destination from the server,
The mobile body according to claim 2, wherein the generation unit generates a self-planned trajectory to a destination received by the reception unit. It further includes a reception unit for receiving a destination,
The transmission unit transmits request information for requesting transmission of the other person's planned trajectory to the server,
The moving body according to claim 2, wherein the generation unit generates a self-planned trajectory to a destination received by the reception unit. An obstacle detection unit for detecting obstacles on the self-planned trajectory accumulated by the accumulation unit;
When the obstacle is detected by the obstacle detection unit, the transmission unit transmits request information for requesting transmission of the other person's planned trajectory to the server,
The generation unit generates a self-scheduled trajectory that avoids an obstacle detected by the obstacle detection unit, using a planned trajectory of others received in response to transmission of the request information. Item 5. The moving object according to any one of Items 4 to 5. The transmission unit transmits obstacle information, which is information on the position of the obstacle detected by the obstacle detection unit, to the server.
The receiving unit also receives obstacle information from the server,
The mobile unit according to claim 5, wherein the generation unit generates a self-planned trajectory so as not to interfere with an obstacle corresponding to the obstacle information received by the reception unit. It further includes a reception unit for receiving a destination,
The transmitting unit transmits request information for requesting transmission of the other person's planned trajectory to the other moving body,
The receiving unit receives the other person's planned trajectory from the other moving body,
The generation unit generates a self-scheduled trajectory to the destination received by the reception unit,
The receiving unit receives request information from the other mobile unit,
The mobile unit according to claim 1, wherein the transmission unit transmits the self-scheduled trajectory generated by the generation unit to the mobile unit that transmitted the request information in response to reception of the request information by the reception unit. The said production | generation part produces | generates a self-scheduled trajectory so that it may not interfere with the others extended planned trajectory extended according to the speed of the said planned trajectory. Moving body. A receiving unit that receives a scheduled trajectory indicating a time-series position of a moving object scheduled to move;
An accumulator that accumulates the planned trajectory received by the receiver;
A transmission unit that transmits the planned trajectory accumulated by the accumulation unit to a moving body. A reception unit for receiving a destination of the mobile body;
The server according to claim 9, wherein the transmission unit transmits the destination received by the reception unit to a mobile body that moves to the destination. The receiving unit also receives request information for requesting transmission of a planned trajectory,
The server according to claim 9 or 10, wherein the transmission unit transmits a planned trajectory to a mobile body that has transmitted the request information in response to reception of the request information. The server according to any one of claims 9 to 11, wherein the transmission unit does not transmit the planned trajectory until the planned trajectory received in accordance with the planned trajectory is transmitted. A determination unit that determines whether the planned trajectory received by the receiving unit interferes with the planned trajectory stored by the storage unit;
The server according to any one of claims 9 to 11, wherein the accumulation unit accumulates the planned trajectory received by the reception unit when it is determined by the determination unit that there is no interference. The receiving unit also receives obstacle information that is information related to the position of an obstacle detected by a moving object,
The storage unit also stores obstacle information received by the receiving unit,
The server according to claim 9, wherein the transmission unit also transmits the obstacle information to a moving body.

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