JP2001265437A5 - - Google Patents

Claims (5)

  A moving body control device that controls reciprocation of a moving body at an appropriate interval so that the moving body performing a predetermined work can work within a specified range. Position / direction control means for changing the position and orientation of the moving body, area setting means for starting setting of the moving area, setting ending means for ending setting of the moving area, and movement at the start of moving area setting. Start state storage means for storing the position and orientation of the body, end state storage means for storing the position and orientation of the moving body at the end of area setting, position and orientation of the moving body at the start of area setting, and end of area setting A moving body control apparatus comprising: a reciprocation interval determining means for determining a reciprocating distance between a work area and a moving body based on a relationship between a position and an orientation of the moving body at the time.   The round trip interval determining means determines the round trip interval so that the number of traveling lanes is an odd number when the direction of the moving body at the start of area setting and the direction of the moving body at the end of area setting are the same. The mobile unit control device according to claim 1, wherein when the direction of the mobile unit is opposite to the direction of the mobile unit at the end of area setting, the reciprocation interval is determined so that the number of traveling lanes is an even number.   The reciprocation interval determining means has an odd or even number of traveling lanes when the angle difference between the direction of the moving body at the start of area setting and the direction of the moving body at the end of area setting is approximately 90 degrees. 2. The moving body control device according to claim 1, wherein the reciprocation interval is determined so as to minimize the number of traveling lanes by increasing the reciprocation interval as much as possible within a range in which no work remains. A mobile body control device that performs control to reciprocate the mobile body at an appropriate interval so that the mobile body having a working unit for performing a predetermined work can work within a specified range.
Position / direction control means for operating the moving body to change the position and orientation of the moving body;
Area setting means for starting the setting of the moving area;
A setting end means for ending the setting of the moving area;
Start state storage means for storing the position and orientation of the moving body at the start of moving area setting;
End state storage means for storing the position and orientation of the moving body at the end of area setting;
The moving direction of the moving body from the start of the moving area setting to the end of the area setting is set as the lateral moving direction of the zigzag travel, and the value obtained by adding the width of the working unit to the moving distance in the movement is set as the width of the working area. A moving body control device that can be set and set the distance to the front of the obstacle in the vertical direction as the length of the work area. A control device for a moving body that performs zigzag traveling control that reciprocates the moving body at an appropriate interval so that the moving body that performs a predetermined work can work within a specified range.
Position / direction control means for operating the moving body to change the position and orientation of the moving body;
Area setting means for starting the setting of the moving area;
A setting end means for ending the setting of the moving area;
Means for specifying the lateral movement direction of zigzag running;
A moving body control apparatus comprising: means for measuring a distance to the left and right walls, and setting a direction toward the far wall based on the measurement result as a lateral movement direction.