JP2018151937A - Control program and mobile object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique that allows a leader to appropriately follow a mobile object such as a wheelchair.SOLUTION: A wheelchair 10 includes a drive system 36 for moving the wheelchair 10, and a controller 40 for controlling the drive system 36. The controller 40 comprises: a moving direction acquisition part 42 for acquiring a moving direction of a leader; an orientation acquisition part 44 for acquiring an orientation of the leader; a moving mode estimation part 46 for estimating which moving mode is in use from among the leader's moving modes classified into a plurality of types on the basis of the moving direction and the orientation of the leader; and a control unit 48 for determining a method of controlling the wheelchair 10 by applying different criteria according to the estimated moving mode, and for controlling the drive system 36 according to the determined method. When movement is estimated to be in the orientation of the leader, the control unit 48 controls the drive system 36 so as to maintain the relative position between the leader and the wheelchair 10 in a relative coordinate system with reference to the orientation of the leader.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a program for controlling a moving body and the moving body.

  As a wheelchair for an elderly person or a disabled person to ride, a wheelchair that can move by autonomously determining a moving direction and a moving speed has been proposed (for example, see Patent Document 1). Patent Document 1 discloses a wheelchair that moves autonomously in accordance with a caregiver's action.

Japanese Patent No. 5084756 JP 2011-60179 A

  The present inventor recognizes, as an issue, that caregivers and the like need to take care differently from the case of parallel running of vehicles (see, for example, Patent Document 2) in order to automatically follow a wheelchair. The inventors have come up with a technology that enables a caregiver to follow a wheelchair in a more appropriate manner.

  This invention is made | formed in view of such a condition, The objective is to provide the technique which makes a leader follow a moving body, such as a wheelchair, appropriately.

  In order to solve the above-described problem, a control program according to an aspect of the present invention is a control program for moving a moving body so as to follow a leader, and the computer acquires a movement direction of the leader. Based on the direction acquisition unit, the direction acquisition unit that acquires the direction of the leader, the movement direction of the leader acquired by the movement direction acquisition unit, and the direction of the leader acquired by the direction acquisition unit, it was classified into a plurality of types A movement mode estimation unit that estimates which movement mode of the leader's movement mode, a method for controlling the moving body by applying different criteria according to the estimated movement mode, and is determined The control unit functions as a control unit that controls the moving body according to the method, and when the control unit is estimated to be moving in the direction in which the leader is facing, in the relative coordinate system based on the direction of the leader. Leader As the relative position between the moving body is maintained, to control the mobile.

  Another embodiment of the present invention is a mobile object. The moving body includes a driving system for moving the moving body and a control device for controlling the driving system to move the moving body so as to follow the leader. The control device includes a movement direction acquisition unit that acquires the movement direction of the leader, a direction acquisition unit that acquires the direction of the leader, the movement direction of the leader acquired by the movement direction acquisition unit, and the direction acquisition unit. Based on the direction of the leader, a movement mode estimation unit that estimates which movement mode among the movement modes of the leaders classified into a plurality of types, and different judgment criteria according to the estimated movement mode And a control unit that determines a method for controlling the moving body by applying and controls the drive system in accordance with the determined method. When it is estimated that the controller is moving in the direction in which the leader is facing, the relative position between the leader and the moving body in the relative coordinate system based on the direction of the leader is maintained. Next, the drive system is controlled.

  It should be noted that any combination of the above-described constituent elements and a conversion of the expression of the present invention between a method, an apparatus, a system, a recording medium, a computer program, etc. are also effective as an aspect of the present invention.

  ADVANTAGE OF THE INVENTION According to this invention, the technique which makes a leader follow a mobile body, such as a wheelchair, appropriately can be provided.

It is a figure which shows typically a mode that a leader follows a wheelchair. It is a schematic diagram for demonstrating the method to control a wheelchair. It is a figure for demonstrating the control method of a wheelchair in case rule "1A" is applied. It is a figure for demonstrating the control method of a wheelchair in case rule "1B" is applied. It is a figure for demonstrating the control method of a wheelchair in case rule "1C" is applied. It is a figure for demonstrating the control method of a wheelchair in case rule "1D" is applied. It is a figure for demonstrating the control method of a wheelchair in case rules "2E" or "2F" are applied. It is a figure for demonstrating the control method of a wheelchair in case rule "3G" is applied. It is a figure which shows roughly the structure of the wheelchair which concerns on an Example.

  An embodiment of the present invention provides a technique for automatically moving a moving body such as a wheelchair to follow a leader. The leader is typically assumed to move by walking, but may be moved by a moving body such as a bicycle or a wheelchair depending on the type of moving body to be led. Further, the leader may be a movable body such as a robot that can move autonomously or by remote control from the outside. In this case, the leader may be called a leading vehicle or a leading conductor instead of the leading person. The target mobile body that is led by the leader may be a wheelchair, a cart or a robot for carrying luggage and the like. In the embodiment, a case where a human leader who moves by walking leads a wheelchair that can move autonomously will be described.

  Unlike the case where the same type of mobile objects run vertically or in parallel, it is necessary to control the characteristics of movement between humans and mobile objects when a human leader follows a wheelchair. There is. For example, it is relatively easy for a human to change the moving direction and moving speed abruptly, but if the moving direction and moving speed of the wheelchair are changed suddenly, the burden placed on the person riding in the wheelchair may be large. . In addition, the leader not only moves to lead, but also approaches the wheelchair to check the state of the user riding in the wheelchair, or temporarily moves to a place different from the route that leads the wheelchair. In some cases, the behavior of the leader cannot be accurately estimated in a short period of time. In the embodiment, based on such characteristics, a technique for appropriately following a moving body such as a wheelchair to a leader is proposed.

  FIG. 1 schematically shows how a leader follows a wheelchair. As shown in FIG. 1A, the wheelchair 10 on which the wheelchair user 12 gets is controlled not to be behind the leader 14 but to be slightly behind the left side of the leader 14. Thereby, the leader 14 can lead the wheelchair 10 while talking with the user 12 or confirming the state of the user 12. The portable terminal 16 possessed by the leader 14 communicates with the control device mounted on the wheelchair 10, and transmits information on the direction, movement direction, movement speed, destination, action schedule, etc. of the leader 14 to the control device. Send. The control device acquires or estimates the direction, moving direction, and moving speed of the leader 14 based on the information related to the leader 14 received from the mobile terminal 16, and follows the leader 14 based on the information. The wheelchair 10 is controlled. Since the control device is built in the wheelchair 10, it is not shown in the figure, but the configuration of the control device will be described later. In the present embodiment, as the wheelchair 10, a wheelchair that can slide forward and backward and right and left without changing the direction and that can rotate and change the direction on the spot is used.

  As shown in FIG. 1 (b), when the leader 14 moves forward, the control device causes the wheelchair 10 to move slightly to the left on the left side of the leader 14 so as to maintain the relative position between the leader 14 and the wheelchair 10. Move. Thereafter, as shown in FIG. 1C, when the leader 14 moves to the right front, the control device maintains the relative position with the leader 14 in the relative coordinate system based on the direction of the leader 14. As described above, the wheelchair 10 is moved to the left slightly behind the leader 14, and the direction of the wheelchair 10 is rotated in accordance with the direction of the leader 14. Since the wheelchair 10 is located on the left rear side of the leader 14, when moving to the right front, the radius of rotation becomes longer than that of the leader 14, and moves more than the leader 14.

  Thus, in the embodiment, the wheelchair 10 is positioned not behind the leader 14 but at the left rear of the leader 14 so that the leader 14 can easily check the state of the user 12. The wheelchair 10 is controlled so that the turning radius when moving the wheelchair 10 to follow the leader 14 differs greatly depending on whether the leader 14 turns to the right or to the left. become. Therefore, the control apparatus which concerns on an Example changes the method of controlling the wheelchair 10 according to the direction of the leader 14, and a moving direction.

  FIG. 2 is a schematic diagram for explaining a method of controlling the wheelchair 10. The control device first determines data such as the direction, moving direction, moving speed, and moving distance of the leader 14 from information received from the mobile terminal 16 and information acquired from a sensor such as a camera provided in the wheelchair 10. And the movement mode of the leader 14 is estimated based on the calculated data. When the control device calculates the direction and movement direction of the leader 14, first, the control device estimates the movement mode of the leader 14 based on the direction and movement direction of the leader 14 calculated this time, and if necessary, before the previous time. The movement mode of the leader 14 is estimated by further adding information such as the calculated direction and movement direction of the leader 14.

  In a present Example, the movement aspect of the leader 14 is classified into three types, and it is estimated which kind of movement aspect it is. Specifically, (1) the movement direction in which the direction of the leader 14 and the movement direction match, that is, the movement in the same direction as the direction in which the leader 14 faces, (2) the movement of the leader 14 The direction and the moving direction are different, i.e., a movement mode in which the leader 14 is moving in a direction other than the direction in which the leader 14 is facing, and (3) a movement mode in which the leader 14 is approaching the wheelchair 10. It is estimated which of the movement modes. In FIG. 2, the movement mode (1) corresponds to the outer ring 20, the movement mode (2) corresponds to the middle ring 22, and the movement mode (3) corresponds to the inner ring 24.

  When the control device estimates the movement mode of the leader 14, the control device determines the control method of the wheelchair 10 according to different rules according to the estimated movement mode. A specific control method will be described later, but first, the outline will be described. Since the movement mode (1) is a case where the leader 14 is walking in a normal mode, the movement direction has not changed greatly. The wheelchair 10 is made to follow the leader 14 so that the relative position with the leader 14 is maintained in accordance with the direction and speed of movement of the latest leader 14, and the same direction as the direction of the leader 14 If necessary, the wheelchair 10 is rotated. When the direction of movement changes significantly, the behavior of the leader 14 is estimated more carefully in consideration of not only the latest information but also information on the movement mode of the leader 14 in a longer period, and the estimation result Based on this, the movement mode of the wheelchair 10 is determined. For example, it may be estimated after referring to the movement mode in the past predetermined period or waiting until the movement direction becomes smaller and the movement direction becomes stable.

  When the movement mode of the leader 14 is the movement mode (1), the circular ring 20 includes a wheelchair in which the movement direction before the movement direction is changed is set to the [0] direction and the movement direction after the change is divided into 16 parts. 10 shows a correspondence relationship with a rule for determining a method for controlling 10. When the movement mode of the leader 14 is estimated to be the movement mode (1), the rule “1A” is set when the movement direction is [15], [0] ([16]), or [1]. When the moving direction is [2] or [14], the rule “1B” is applied, and when the moving direction is [3], [4], or [13], the rule “1C” is applied. When the moving direction is other than that, the rule “1D” is applied. The range of the direction of movement to which the rule “1C” or “1D” is applied is asymmetrical on the left and right, but this is controlled so that the wheelchair 10 is located on the left rear rather than just behind the leader 14. This is because that.

  In the case of the movement mode (2), it is estimated that the leader 14 is walking in a mode different from the normal mode. Therefore, not only the latest information but also information on the movement mode of the leader 14 in a longer period. In addition, the behavior of the leader 14 is estimated more carefully in consideration of information about the situation around the wheelchair 10, and the movement mode of the wheelchair 10 is determined based on the estimation result.

  When the movement mode of the leader 14 is the movement mode (2), the circular ring 22 controls the wheelchair 10 with the direction of the leader 14 set to [0] and the movement direction of the leader 14 divided into 16 parts. The correspondence with the rule for determining the method to do is shown. When the movement mode of the leader 14 is estimated to be the movement mode (2), if the movement direction is [1], [2] or [15], the rule “2E” is applied, and the movement direction is Otherwise, rule “2F” is applied. The range of the moving direction to which the rule “2E” or “2F” is applied is asymmetrical on the left and right sides, but this is also controlled so that the wheelchair 10 is positioned not to the back of the leader 14 but to the left rear. This is because that. When the movement direction is [0] ([16]), the direction of the leader 14 and the movement direction are the same, and therefore, it should be estimated that the movement mode (1). 1A "applies.

  In the case of the movement mode (3), if the direction of movement of the leader 14 is not the direction toward the wheelchair 10, the movement mode (1) or (2) is estimated instead of the movement mode (3). Although it is not necessary to determine whether it is a mode (3), if the direction of movement of the leader 14 is the direction toward the wheelchair 10, not only the latest information but also the movement mode of the leader 14 in a longer period In consideration of the information on the situation around the wheelchair 10 and the like, it is determined whether the movement mode of the leader 14 is the movement mode (3), and the movement mode of the wheelchair 10 is determined based on the determination result. decide.

  When the movement mode of the leader 14 is the movement mode (3), the circular ring 24 is obtained by dividing the movement direction after the change into 16 with the movement direction before the movement direction is changed as the [0] direction, and a wheelchair. 10 shows a correspondence relationship with a rule for determining a method for controlling 10. When the movement direction of the leader 14 is [8] to [13], the rule “3G” is applied, but when the movement direction is other than that, the movement aspect of the leader 14 is the movement aspect (3). There is no need to determine whether or not there is.

  The determination of whether the leader 14 is in the movement mode (1) or (2) and the determination of whether it is the movement mode (3) can be performed independently. It may be executed first or both in parallel. When determining whether or not it is the movement mode (3), if it is determined that it is the movement mode (3), the determination as to which of the movement modes (1) and (2) is omitted. And it may be estimated that it is a movement mode (3).

  Hereinafter, the control method of the wheelchair 10 in each movement aspect of the leader 14 is demonstrated concretely.

[1A: Movement Mode (1), Change in Movement Direction (Small)]
FIG. 3 is a diagram for explaining a wheelchair control method when the rule “1A” is applied. When the direction of the leader 14 matches the direction of movement, and the amount of change in the direction of movement is small, the control device makes a relative to the leader 14 according to the movement direction and direction of the leader 14 calculated this time. The wheelchair 10 is made to follow the leader 14 so that the position is maintained, and the wheelchair 10 is rotated if necessary so as to be in the same direction as the direction of the leader 14. When the moving direction is [1], the wheelchair 10 is moved so that the radius of curvature is larger than that of the leader 14, and when the moving direction is [15], the radius of curvature is smaller than that of the leader 14. The wheelchair 10 is moved.

[1B: Movement Mode (1) / Change in Movement Direction (Medium)]
FIG. 4 is a diagram for explaining a wheelchair control method when the rule “1B” is applied. When the direction of the leader 14 matches the movement direction, and the amount of change in the movement direction is medium, the control device calculates the movement direction and direction of the leader 14 calculated this time and a predetermined period before the previous time. The movement direction and direction of the leader 14 are determined based on the movement direction and direction of the leader 14, and the wheelchair 10 is made to follow the leader 14 so that the relative position with the leader 14 is maintained. At the same time, if necessary, the wheelchair 10 is rotated so that the direction of the leader 14 is the same. When the moving direction is [2], the wheelchair 10 is moved so that the radius of curvature is larger than that of the leader 14, and when the moving direction is [14], the radius of curvature is smaller than that of the leader 14. The wheelchair 10 is moved. As shown in FIG. 4, when the movement direction is [14], that is, when the leader 14 is turning to the left, the wheelchair 10 has to be moved backward to move to the left rear of the leader 14. However, if the wheelchair 10 that has been moved forward is suddenly retracted, it may impose a burden on the user 12 who is in the vehicle. In this case, it may be determined again whether it is appropriate to wait for a predetermined period of time without retreating.

[1C: Movement mode (1), change amount in movement direction (slightly large)]
FIG. 5 is a diagram for explaining a wheelchair control method when the rule “1C” is applied. When the direction of the leader 14 matches the direction of movement, and the amount of change in the direction of movement is slightly large, the control device calculates the direction and direction of movement of the leader 14 calculated this time and the lead calculated in the predetermined period before the previous time. Without determining the current movement direction and direction of the leader 14 based only on the movement direction and direction of the leader 14, the decision is retained for a predetermined period, and the movement direction and direction of the leader 14 for the predetermined period are further ruled. The direction and direction of movement of the leader 14 are estimated. If the tendency of the direction and direction of movement of the leader 14 is stable, the direction of movement and direction of the leader 14 is determined. If the tendency is not stable, the movement direction and direction of the leader 14 are further waited until it becomes stable. Confirm. When the moving direction and moving speed of the leader 14 are determined, the control device causes the wheelchair 10 to follow the leader 14 so that the relative position with the leader 14 is maintained, and the direction of the leader 14 is determined. If necessary, the wheelchair 10 is rotated so as to be in the same direction as. When the movement direction is [3] or [4], the wheelchair 10 is moved so that the radius of curvature is larger than that of the leader 14, and when the movement direction is [15], the curvature is greater than that of the leader 14. The wheelchair 10 is moved so that the radius becomes smaller.

[1D: Movement mode (1), change amount in movement direction (large)]
FIG. 6 is a diagram for explaining a wheelchair control method when the rule “1D” is applied. If the direction of the leader 14 matches the direction of movement, and the amount of change in the direction of movement is large, the control device waits until the total movement distance from the current position of the leader 14 reaches a predetermined value. Based on the movement direction and direction of the leader 14 calculated in the period until, the movement direction and direction of the leader 14 are estimated. If the tendency of the direction and direction of movement of the leader 14 is stable, the direction of movement and direction of the leader 14 is determined. If the tendency is not stable, the movement direction and direction of the leader 14 are further waited until it becomes stable. Confirm. When the control device determines the direction and speed of movement of the leader 14, the control device causes the wheelchair 10 to follow the leader 14 so that the relative position with the leader 14 is maintained, and the direction of the leader 14 is determined. If necessary, the wheelchair 10 is rotated so as to be in the same direction.

  Thus, when it is estimated that the movement mode of the leader 14 is the movement mode (1), the larger the amount of change in the movement direction, the longer the wheelchair is based on the information related to the movement of the leader 14. 10 movements are controlled. Information regarding the movement of the leader 14 applied to the rule may be acquired before or after that. Thereby, when the amount of change in the direction of movement of the leader 14 is small, the wheelchair 10 can be controlled to quickly follow the leader 14, and when the amount of change in the direction of movement of the leader 14 is large. The movement of the leader 14 can be estimated more accurately, and the wheelchair 10 can be controlled to follow the leader 14 smoothly. In addition, since the leader 14 who has greatly changed the moving direction does not follow the wheelchair 10 to the dark clouds but moves the wheelchair 10 after taking a breath, avoiding a sudden change in the moving direction of the wheelchair 10, the wheelchair 10 The burden on users can be reduced.

[2E: Movement mode (2) • Difference between direction and movement direction (middle)]
[2F: Movement mode (2) · Difference between direction and movement direction (large)]
FIG. 7 is a diagram for explaining a wheelchair control method when the rule “2E” or “2F” is applied. When the direction of the leader 14 is different from the direction of movement, and the difference between the direction and the direction of movement is medium or large, the control device provides information on the movement of the leader 14 for a longer period as the difference between the direction and the direction of movement increases. Based on the above, the moving direction and direction of the leader 14 are estimated. If the tendency of the direction and direction of movement of the leader 14 is stable, the direction of movement and direction of the leader 14 is determined. If the tendency is not stable, the movement direction and direction of the leader 14 are further waited until it becomes stable. Confirm. When the moving direction and moving speed of the leader 14 are determined, the control device causes the wheelchair 10 to follow the leader 14 so that the relative position with the leader 14 is maintained, and the direction of the leader 14 is determined. If necessary, the wheelchair 10 is rotated so as to be in the same direction as. Since it is considered that the frequency estimated as the movement mode (2) is lower than the frequency estimated as the movement mode (1), the types of rules for controlling the wheelchair 10 are higher than those in the movement mode (1). Is reduced.

[3G: Movement mode (3)]
FIG. 8 is a diagram for explaining a wheelchair control method when the rule “3G” is applied. When the moving direction of the leader 14 is [8] to [13], the rule “3G” is applied, and it is determined whether or not the leader 14 is about to approach the wheelchair 10. When the direction of movement of the leader 14 is other than that, it is not considered that the leader 14 is approaching the wheelchair 10, and thus the determination is omitted. The control device waits until a predetermined time elapses, and determines whether or not the leader 14 is approaching the wheelchair 10 based on the moving direction and direction of the leader 14 calculated in the period up to that time. When it determines with the leader 14 approaching the wheelchair 10, the function to make the wheelchair 10 follow the leader 14 is stopped, and the wheelchair 10 is stopped on the spot. The control device further moves the leader 14 closer to the wheelchair 10 based on the image of the leader 14 taken by the camera provided in the wheelchair 10 or information transmitted from the portable terminal 16 of the leader 14. It may be determined whether or not. For example, when the leader 14 transmits an instruction to the wheelchair 10 to stop on the spot to the mobile terminal 16, it is determined that the leader 14 is approaching the wheelchair 10, and the wheelchair 10 is placed on the spot. It may be stopped.

  FIG. 9 schematically illustrates the configuration of the wheelchair 10 according to the embodiment. The wheelchair 10 has a drive system 36 for moving the wheelchair 10, a control device 40 for controlling the drive system 36 to move the wheelchair 10 to follow the leader, and an image of the periphery of the wheelchair 10. A communication unit 32 that controls communication with the mobile terminal 16 of the leader, and a sensor 34 for detecting information indicating the state of the wheelchair 10 such as the speed and acceleration of the wheelchair 10.

  The control device 40 includes a movement direction acquisition unit 42 that acquires the movement direction of the leader, a direction acquisition unit 44 that acquires the direction of the leader, the movement direction of the leader acquired by the movement direction acquisition unit 42, and the direction acquisition. Based on the direction of the leader acquired by the unit 44, a movement mode estimation unit 46 that estimates which movement mode among the movement modes of the leaders classified into a plurality of types, and the estimated movement mode A method for controlling the wheelchair 10 is determined by applying different criteria according to the control method, and the control unit 48 for controlling the drive system 36 according to the determined method, and data and programs used by these components are stored. And a storage unit 50. These functions are realized by a CPU, a memory, a program loaded in the memory, and the like, and here, a configuration realized by their cooperation is illustrated. The program may be built in the wheelchair 10 or supplied from the outside in a form stored in a recording medium. Accordingly, those skilled in the art will understand that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

  The moving direction acquisition unit 42 may acquire the moving direction and moving speed of the leader acquired by the sensor mounted on the portable terminal 16 from the portable terminal 16 of the leader, or captured by the camera 30. The moving direction and moving speed of the leader may be acquired by analyzing the image. Similarly, the orientation acquisition unit 44 may acquire the orientation of the leader from the portable terminal 16 or may acquire the orientation of the leader by analyzing an image captured by the camera 30. As described above, the movement mode estimation unit 46 is moving in the direction in which the leader is facing (1), and in the movement mode (2) in which the direction is different from the direction in which the leader is facing. ), And the movement mode of the movement mode (3) in which the leader is approaching the wheelchair 10 is estimated. The control unit 48 determines the method of controlling the wheelchair 10 by applying the above-described rules “1A” to “3G” according to the estimated movement mode.

  The control unit 48 controls the drive system 36 so as to move the wheelchair 10 according to the determined method. The control unit 48 calculates a route for moving the wheelchair 10 from the target position calculated based on the determined control method, the moving direction and the moving speed of the leader. While the leader is moving slowly in the movement mode (1), the control unit 48 seems to maintain the relative position between the leader and the wheelchair 10 in the relative coordinate system based on the direction of the leader. In addition, the wheelchair 10 is made to follow the moving direction and moving speed of the leader. When the movement speed or acceleration of the leader exceeds a predetermined value, there is a risk that the traveling user 12 may be at risk if the wheelchair 10 is moved at the same speed or acceleration. Control is performed so that the speed and acceleration of 10 do not exceed a predetermined upper limit value. When the distance between the wheelchair 10 and the leader becomes a predetermined value or more, such as when the control unit 48 waits for a predetermined time to determine the control method of the wheelchair 10, then the leader When the movement speed of the wheelchair 10 becomes slower than the upper limit value of the speed of the wheelchair 10, the wheelchair 10 is controlled at a speed not exceeding the upper limit value of the speed of the wheelchair 10 and at a higher movement speed than the leader. Try to reduce the distance between.

  The control unit 48 may smooth the direction and speed of movement of the leader in a predetermined period in the past using a predetermined algorithm, and may control the wheelchair 10 based on the smoothed direction and speed of movement. Thereby, the wheelchair 10 can be moved more smoothly and the burden given to a user can be reduced.

  When the amount of change in the direction of movement of the leader is greater than or equal to a predetermined value, or when the distance to move the wheelchair 10 to follow the leader is greater than or equal to a predetermined value, the control unit 48 The relative position of 10 may be changed. For example, when the leader rotates 180 degrees, in order to position the wheelchair 10 on the left rear side of the leader, the wheelchair 10 is rotated 180 degrees around the leader, but 180 degrees on the spot. It may be rotated and thereafter positioned at the right rear of the leader.

  In addition, the wheelchair 10 may be provided with the operation part for a user to instruct | indicate a moving direction, a moving speed, etc. to the wheelchair 10. FIG. In this case, the control device 40 controls the drive system 36 in accordance with an instruction input to the operation unit, but if an instruction to turn on the function to follow the leader is acquired from the operation unit or the portable terminal 16, the operation unit The wheelchair 10 is controlled so as to automatically follow the leader as described above.

  According to the embodiment of the present invention, the wheelchair can be controlled by an appropriate control method according to the movement mode of the leader. In addition, when moving in a normal movement mode such as moving in the direction that the leader is facing, the leader follows the wheelchair while maintaining the relative position with the leader. It is possible to lead the wheelchair while confirming the user of the wheelchair and having a conversation. Also, instead of moving the wheelchair in exactly the same manner as the movement of the leader, even if the leader suddenly changes the movement direction, movement speed, direction, etc., it is not immediately reflected in the movement of the wheelchair, Since an appropriate control method is determined after a period of time, the wheelchair can be appropriately moved while ensuring the safety of the wheelchair user.

  The outline of one embodiment of the present invention is as follows. A control program according to an aspect of the present invention is a control program for moving a moving body so as to follow a leader, and a computer is provided with a movement direction acquisition unit that acquires a movement direction of the leader, the direction of the leader Of the direction of the leader acquired by the direction acquisition unit, the direction of movement of the leader acquired by the movement direction acquisition unit, and the direction of the leader acquired by the direction acquisition unit. A moving mode estimation unit that estimates which moving mode is applied, determines a method for controlling the moving body by applying different criteria according to the estimated moving mode, and controls the moving body according to the determined method When the control unit is estimated to be moving in the direction in which the leader is facing, the control unit between the leader and the moving body in the relative coordinate system based on the direction of the leader. Relative position of As will be lifting, it controls the mobile.

  According to this aspect, it is possible to control the moving body by an appropriate control method according to the movement mode of the leader. Moreover, when moving in a normal movement mode such as moving in the direction in which the leader is facing, the moving body can be made to follow the leader while maintaining the relative position with the leader.

  The control unit determines a method of controlling the moving body by applying the moving direction and direction of the leader to the determination criterion. The larger the change amount of the moving direction or direction of the leader, the longer the moving direction of the leader. And orientation may be applied as criteria. According to this aspect, since the control method of the moving body can be determined more carefully when the leading person's moving aspect is different from the usual, the moving body can be controlled more appropriately.

  When the amount of change in the direction or direction of movement of the leader is greater than a predetermined value, the control unit further applies the movement direction and direction of the leader during the predetermined time as a criterion for movement after the predetermined time has elapsed. You may decide how to control your body. Also according to this aspect, when the leader's movement mode is different from the normal mode, the method for controlling the mobile body can be determined more carefully, and therefore the mobile body can be controlled more appropriately. Also, even if the direction or direction of movement of the leader changes suddenly, it is not immediately reflected in the control of the mobile body, and the control method of the mobile body can be determined more carefully. A sudden change in the moving direction or direction can be suppressed.

  The predetermined value varies depending on the movement mode of the leader estimated by the movement mode estimation unit, the movement direction of the leader, the direction of the leader, the amount of change in the direction of movement of the leader, or the amount of change in the direction of the leader. May be. According to this aspect, since the time for retaining the determination of the control method is varied according to the movement mode, movement direction, orientation, etc. of the leader, the mobile body can be controlled more appropriately according to the situation.

  The movement mode estimation unit includes a movement mode in which the leader is moving, a movement mode in which the leader is moving in a direction different from the direction in which the leader is facing, and the leader approaches the moving body. It may be estimated which of the movement modes is present. According to this aspect, the movement mode of the leader can be estimated more accurately, so that the moving body can be controlled more appropriately.

  Another embodiment of the present invention is a mobile object. The moving body includes a driving system for moving the moving body and a control device for controlling the driving system to move the moving body so as to follow the leader. The control device includes a movement direction acquisition unit that acquires the movement direction of the leader, a direction acquisition unit that acquires the direction of the leader, the movement direction of the leader acquired by the movement direction acquisition unit, and the direction acquisition unit. Based on the direction of the leader, a movement mode estimation unit that estimates which movement mode among the movement modes of the leaders classified into a plurality of types, and different judgment criteria according to the estimated movement mode And a control unit that determines a method for controlling the moving body by applying and controls the drive system in accordance with the determined method. When it is estimated that the controller is moving in the direction in which the leader is facing, the relative position between the leader and the moving body in the relative coordinate system based on the direction of the leader is maintained. Next, the drive system is controlled.

  According to this aspect, it is possible to control the moving body by an appropriate control method according to the movement mode of the leader. Moreover, when moving in a normal movement mode in which the leader moves in the direction in which the leader is facing, the mobile body can follow the leader while maintaining the relative position with the leader.

  In the above, this invention was demonstrated based on the Example. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to each of those constituent elements or combinations of processing processes, and such modifications are also within the scope of the present invention. .

  In the embodiment, the control device is provided in the moving body, but in another example, the control device may be provided in the portable terminal of the leader. In this case, when the control method of the moving body is determined, the control device transmits information such as a moving route to the moving body to instruct movement. The moving body controls the drive system according to the instruction received from the control device. Also by this, a moving body can be controlled with the appropriate control method according to the movement mode of a leader.

  DESCRIPTION OF SYMBOLS 10 Wheelchair, 12 User, 14 Leader, 16 Portable terminal, 36 Drive system, 40 Control apparatus, 42 Movement direction acquisition part, 44 Direction acquisition part, 46 Movement mode estimation part, 48 Control part, 50 Storage part

Claims (6)

A control program for moving a moving body to follow a leader,
Computer
A moving direction acquisition unit that acquires the moving direction of the leader,
An orientation acquisition unit for acquiring the orientation of the leader,
Based on the direction of movement of the leader acquired by the movement direction acquisition unit and the direction of the leader acquired by the direction acquisition unit, any movement mode of the movement modes of the leader classified into a plurality of types A movement mode estimator that estimates whether or not
A control unit that determines a method for controlling the moving body by applying different criteria according to the estimated moving mode, and controls the moving body according to the determined method;
Function as
When it is estimated that the control unit is moving in the direction in which the leader is facing, the relative position between the leader and the moving body in the relative coordinate system based on the direction of the leader is maintained. A control program for controlling the moving body as described above.   The control unit determines a method for controlling the moving body by applying the moving direction and direction of the leader to the determination criterion, and the larger the amount of change in the moving direction or direction of the leader, the longer the leader. The control program according to claim 1, wherein the moving direction and direction of the are applied to the determination criterion.   When the amount of change in the direction or direction of movement of the leader is greater than a predetermined value, the control unit further applies the direction and direction of movement of the leader during the predetermined time to the criterion. The control program according to claim 2, wherein a method for controlling the moving body is determined.   The predetermined value depends on the movement mode of the leader estimated by the movement mode estimation unit, the movement direction of the leader, the direction of the leader, the amount of change in the direction of movement of the leader, or the amount of change in the direction of the leader. The control program according to claim 3, wherein the control program is different.   The movement mode estimation unit is configured such that the movement mode is moving in a direction in which the leader is facing, the movement mode is moving in a direction different from the direction in which the leader is facing, and the leader is moving toward the moving body. The control program according to any one of claims 1 to 4, wherein it is estimated which of the moving modes that are approaching. A drive system for moving the moving body;
A control device for controlling the drive system in order to move the moving body so as to follow the leader;
With
The control device includes:
A moving direction acquisition unit for acquiring the moving direction of the leader;
A direction acquisition unit for acquiring the direction of the leader;
Based on the direction of movement of the leader acquired by the movement direction acquisition unit and the direction of the leader acquired by the direction acquisition unit, any movement mode of the movement modes of the leader classified into a plurality of types A movement mode estimation unit that estimates whether or not
A control unit that determines a method for controlling the moving body by applying different criteria according to the estimated movement mode, and controls the drive system according to the determined method;
With
When it is estimated that the control unit is moving in the direction in which the leader is facing, the relative position between the leader and the moving body in the relative coordinate system based on the direction of the leader is maintained. A moving body that controls the drive system as described above.

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