JP7021929B2 - Mobile - Google Patents

Description

The present invention relates to a moving body that moves along a path.

Conventionally, a moving body that moves autonomously along a path is known. With such a moving body, for example, automatic transportation can be realized. When the moving body is traveling straight, the moving body moves in a direction off the route due to, for example, an unbalanced load, inclination or unevenness of the running surface, or idling of wheels on a slippery running surface. I had something to do.

As a related technique, a control device for an omnidirectional moving vehicle that can improve straightness even under the influence of disturbance caused by unevenness of the floor or the like is known (see Patent Document 1).

Japanese Patent No. 5306470

The omnidirectional moving vehicle described in Patent Document 1 is a vehicle operated by a occupant on board, and is not a moving body that autonomously moves along a route. In a moving body that moves autonomously along a path, there has been a demand for high followability to the path even when there is an eccentric load or the like.

The present invention has been made in response to the above circumstances, and an object of the present invention is to provide a moving body that moves autonomously and can enhance the followability to a path.

In order to achieve the above object, the moving body according to the present invention is a moving body that moves autonomously, and has a moving mechanism for moving the moving body, a current position acquisition unit for acquiring the current position of the moving body, and a current position. A movement control unit that controls the movement mechanism so that the moving body moves along the route to the destination is provided, and a plurality of sub-destinations are set in the route, and the movement control unit is provided. Is that the angle between the first direction from the current position to the destination and the second direction from the current position to the sub-destination is within the angle threshold, and the distance from the current position to the sub-destination is equal to or greater than the distance threshold. If there is a sub-destination that satisfies the condition, the movement mechanism is controlled so that the moving object heads toward the nearest sub-destination that satisfies the condition. If there is no sub-destination that satisfies the condition, the destination It controls the movement mechanism so as to go toward.
With such a configuration, the moving body is controlled to move toward a sub-destination that satisfies a predetermined condition, so that the moving body is constantly returned to the path even if there is an eccentric load or the like. You can move to your destination while doing so. Also, by selecting a sub-destination that is more than the distance threshold away from the current position of the moving body as the sub-destination to which the moving body is heading, the trajectory of the actual movement of the moving body meanders with respect to the path (hunting). Can be suppressed. Further, by selecting a sub-destination in which the angle between the first direction and the second direction is within the angle threshold value as the sub-destination to which the moving body heads, the moving body returns to a direction different from the destination (for example, returning to the starting point). It can be prevented from moving in a direction (direction, etc.), and the trajectory of actual movement can be made to approach a straight line.

Further, in the mobile body according to the present invention, there are a plurality of routes to the destination, and a plurality of sub-destinations may be set for each route.
With such a configuration, the moving body can move to the destination according to an appropriate route according to, for example, an eccentric load or the like.

Further, the moving body according to the present invention further includes an obstacle detection unit for detecting an obstacle, and the movement control unit controls using a plurality of sub-destination set in one route, and the obstacle detection unit is used. If an obstacle is detected by, the route may be changed to avoid the obstacle.
With such a configuration, even if an obstacle is detected, it becomes possible to reach the destination according to any of a plurality of routes that can bypass the obstacle.

Further, in the moving body according to the present invention, even if there is a sub-destination that satisfies the condition, the movement control unit heads for the destination when the destination is closer than the nearest sub-destination that satisfies the condition. The movement mechanism may be controlled as such.
With such a configuration, in a situation where the moving body has passed the destination, it is possible to avoid reversing to the position of the sub-destination, and it becomes possible to reach the destination appropriately.

According to the moving body according to the present invention, even if there is an eccentric load or the like, it is possible to improve the followability to the route in the movement to the destination.

A block diagram showing a configuration of a moving body according to an embodiment of the present invention. A flowchart showing the operation of the moving body according to the same embodiment. The figure for demonstrating the selection of the sub-destination in the same embodiment. The figure for demonstrating the selection of the sub-destination in the same embodiment. The figure for comparing the movement control by the same embodiment with the conventional movement control. The figure which shows another example of the route by the same embodiment

Hereinafter, the mobile body according to the present invention will be described with reference to embodiments. In the following embodiments, the components and steps with the same reference numerals are the same or correspond to each other, and the description thereof may be omitted again. The moving body according to the present embodiment controls movement so as to go to a sub-destination that satisfies a predetermined condition among a plurality of sub-destination provided on the route to the destination.

FIG. 1 is a block diagram showing a configuration of a mobile body 1 according to the present embodiment. The moving body 1 according to the present embodiment moves autonomously, and includes a moving mechanism 11, a distance measuring sensor 12, an obstacle detection unit 13, a current position acquisition unit 14, and a movement control unit 15. Be prepared. Note that the autonomous movement of the moving body 1 may mean that the moving body 1 does not move according to an operation instruction received from a user or the like, but moves to a destination at its own discretion. The destination may be, for example, manually determined or automatically determined. The movement to the destination is carried out along the route. Further, moving to the destination by one's own judgment may mean, for example, moving to the destination by the moving body 1's own judgment of the traveling direction, movement, stop, and the like. More specifically, the moving body 1 may stop, decelerate, change the moving direction, or the like in response to the detection of an obstacle. The moving body 1 may be, for example, a dolly or a moving robot. The robot may be, for example, an entertainment robot, a monitoring robot, a transfer robot, a cleaning robot, or a robot that shoots a moving image or a still image. , Other robots may be used.

The moving mechanism 11 moves the moving body 1. The moving mechanism 11 may or may not be capable of moving the moving body 1 in all directions, for example. Being able to move in all directions means being able to move in any direction. The moving mechanism 11 may have, for example, a traveling unit (for example, a wheel) and a driving means (for example, a motor, an engine, etc.) for driving the traveling unit. When the moving mechanism 11 can move the moving body 1 in all directions, the traveling portion may be an omnidirectional moving wheel (for example, an omni wheel, a mecanum wheel, or the like). For a moving body having omnidirectional moving wheels and movable in all directions, refer to, for example, Japanese Patent Application Laid-Open No. 2017-128187. As the moving mechanism 11, a known one can be used, and a detailed description thereof will be omitted.

The distance measuring sensor 12 measures the distance to a surrounding object in a plurality of directions. The distance measuring sensor 12 may be, for example, a laser sensor, an ultrasonic sensor, a distance sensor using a microwave, a distance sensor using a stereo image taken by a stereo camera, or the like. The laser sensor may be a laser range sensor (laser range scanner). The distance measuring sensors are already known, and the description thereof will be omitted. In this embodiment, the case where the ranging sensor 12 is a laser range sensor will be mainly described. Further, the moving body 1 may have one laser range sensor, or may have two or more laser range sensors. In the latter case, two or more laser range sensors may cover all directions. Further, when the distance measuring sensor 12 is an ultrasonic sensor, a distance sensor using a microwave, or the like, the distance in a plurality of directions may be measured by rotating the distance measuring direction of the distance measuring sensor 12. Distances in a plurality of directions may be measured using a plurality of distance measuring sensors 12 arranged in each direction. The distance measuring sensor 12 may measure a distance in a predetermined range of directions, or may measure a distance in all directions. For example, the distance measuring sensor 12 may measure the distance in a plurality of directions only in the range in front of the moving body 1. Further, for example, the distance measuring sensor 12 may measure distances in a plurality of directions at predetermined angular intervals with respect to the entire circumference (360 degrees). The angle interval may be constant, for example, 1 degree interval, 2 degree interval, 5 degree interval, and the like. The information obtained from the distance measuring sensor 12 may be, for example, the distance to a surrounding object with respect to each of the plurality of azimuth angles with respect to a certain direction of the moving body 1. By using the distance, it becomes possible to know what kind of object exists around the moving body 1 in the local coordinate system of the moving body 1.

The obstacle detection unit 13 detects an obstacle. In the present embodiment, the case where the obstacle detection unit 13 detects an obstacle using the distance measured by the distance measuring sensor 12 will be mainly described, but the obstacle detection unit 13 may use another method, for example, for example. Obstacles may be detected by a method using a contact sensor or the like. The obstacle detection unit 13 may detect an object as an obstacle when it is found that an object exists near the moving body 1 by the distance measured by the distance measuring sensor 12, for example. For example, when the distance to a surrounding object measured by the distance measuring sensor 12 becomes equal to or less than a predetermined threshold value, the obstacle detection unit 13 may detect the object as an obstacle. The distance to the surrounding object may be, for example, the distance from the distance measuring sensor 12 or the distance from the outer edge of the moving body 1, and the outer edge of the moving body 1 is virtually expanded. It may be the distance from the position or it may be the distance from other criteria.

The current position acquisition unit 14 acquires the current position of the moving body 1. The acquisition of the current position may be performed, for example, by using wireless communication, by using the measurement result of the distance to a surrounding object, or by taking an image of the surroundings. , May be done using other means that can obtain the current position. As a method of acquiring the current position by using wireless communication, for example, a method using GPS (Global Positioning System), a method using indoor GPS, a method using the nearest wireless base station, and the like are known. Further, for example, a method of acquiring the current position by using the measurement result of the distance to a surrounding object or taking an image of the surroundings is known by, for example, SLAM (Simultaneous Localization and Mapping). You may use the method described above. As the measurement result of the distance to the surrounding object, for example, the measurement result of the distance measurement sensor 12 may be used. Further, when a map created in advance (for example, a map having a measurement result of a distance to a surrounding object or a photographed image) is stored, the current position acquisition unit 14 uses the map to surround the surrounding area. The current position may be obtained by specifying the position corresponding to the measurement result of the distance to the object, or the current position may be obtained by taking an image of the surroundings and using a map to specify the position corresponding to the shooting result. You may get the position. Further, the current position acquisition unit 14 may acquire the current position by using, for example, an autonomous navigation system. Further, it is preferable that the current position acquisition unit 14 acquires the current position including the direction (direction) of the moving body 1. The direction may be indicated by, for example, an azimuth measured clockwise with 0 degrees north, or by information indicating other directions. The orientation may be acquired by an electronic compass or a geomagnetic sensor.

The movement control unit 15 controls the movement of the moving body 1 by controlling the moving mechanism 11. The movement control may be control such as the movement direction of the moving body 1 and the start / stop of the movement. Further, the movement control unit 15 may control the movement by using the map. In that case, the moving body 1 may include a storage unit in which a map is stored. As a more specific movement control, the movement control unit 15 controls the movement mechanism 11 so that the moving body 1 moves along the route to the destination by using the current position acquired by the current position acquisition unit 14. do. The route is, for example, a route connecting the departure point, which is the current position at the time of departure, and the destination. The path is usually straight, but may include some curves or all may be curved. Even if the route includes a curve or the route itself is a curve, it is preferable that the route from the starting point to the destination does not deviate significantly from the straight line connecting the starting point and the destination. For example, the route may be within a range in which the distance between the straight line connecting the starting point and the destination and an arbitrary point of the route does not exceed a predetermined threshold value. The predetermined threshold is shorter than the distance between the starting point and the destination, and it is preferable that the predetermined threshold value is sufficiently shorter than the distance. More specifically, even when the route includes a curve, it is preferable that the route is about the route P2 or the route P3 in FIG. When the moving body 1 moves on a curved route in a moving environment for reasons such as avoiding obstacles, the route is divided into two or more routes, and the divided routes are described above. As such, it may be a substantially straight line. Then, by sequentially repeating the movement of the route after the division, the movement from the starting point before the division to the destination may be realized. The route before the division may be, for example, the result of a route search. The route search may be performed, for example, in the mobile body 1, or may be performed in a server other than the mobile body 1. In the latter case, the mobile body 1 may receive the route of the search result from the server or the like.

A plurality of sub-destinations are set in the route of the substantially straight line. FIG. 3A is a diagram showing an example of a route. With reference to FIG. 3A, in the route P1 from the departure place S1 to the destination G1, a plurality of sub-destination SG1 to SG8 are set between the departure place S1 and the destination G1. The sub-destination SG1 to SG8 may be provided at equal intervals, or may be provided at irregular intervals, for example. In the former case, the distance between adjacent sub-destination may be predetermined. Further, the sub-destination may be set in advance, or may be set in the moving body 1. In the latter case, for example, the movement control unit 15 determines whether or not a sub-destination is set on the route P1 when starting the movement control, and if the sub-destination is not set, the sub-destination is not set. May be set.

The movement control unit 15 selects a certain sub-destination on the route P1 and controls the movement mechanism 11 so that the moving body 1 moves toward the selected sub-destination. The sub-destination to be selected is the one closest to the moving body 1 among the sub-destination satisfying the following conditions 1 and 2.
Condition 1: The angle θ between the first direction from the current position of the moving body 1 to the destination and the second direction from the current position of the moving body 1 to the sub-destination is within the angle threshold value θ _TH .
Condition 2: The distance L from the current position of the moving body 1 to the sub-destination is equal to or greater than the distance threshold value L _TH .

Condition 1 is a condition for bringing the trajectory of the actual movement of the moving body 1 closer to a straight line by moving the moving body 1 toward the destination. By this condition 1, the moving body 1 does not select the sub-destination in the direction of returning to the departure point, and even if it exists at the current position far off the route, the nearest sub-destination is selected. Will not select. If the nearest sub-destination is selected when the current position is far off the route, the moving body 1 will move in a direction substantially orthogonal to the straight line connecting the starting point and the destination. As a result of a lot of useless movement, the arrival at the destination is delayed. Therefore, it is preferable to select a sub-destination that satisfies this condition 1. Since the condition 1 is defined for the above reason, the angle threshold value θ _TH may be, for example, 60 ° or less, or 45 ° or less. The angle threshold value θ _TH is not limited to these, but may be, for example, 40 ° or 30 °.

Condition 2 is a condition for making the trajectory of the actual movement of the moving body 1 smooth by preventing the moving body 1 from heading toward a point on the path close to the moving body 1. According to this condition 2, when the moving body 1 is near the route, the moving body 1 does not go to the nearest sub-destination on the route, but is slightly separated from the sub-destination on the route closer to the destination, that is, the current position. You will be heading to a sub-destination. As a result, smoother movement can be realized. It is preferable that the distance threshold value L _TH of the condition 2 is adjusted so as to be a value sufficient to achieve the object of the condition 2.

In FIG. 3A, the current position of the moving body 1 and the eight sub-destination SG1 to SG8 set in the route P1 are shown. When there is an eccentric load or the like, as shown in FIG. 3A, the current position of the moving body 1 departing from the departure point S1 may be separated from the path P1. In FIG. 3A, the angle θ between the first direction from the current position of the moving body 1 to the destination and the second direction from the current position of the moving body 1 to the sub-destination SG5 is within the angle threshold value θ _TH , and the sub It is assumed that the destination SG5 satisfies the condition 1. Similarly, it is assumed that the sub-destination SG6 to SG8 also satisfy the condition 1. Further, assuming that the circle whose radius centered on the moving body 1 is the distance threshold value L _TH is shown in FIG. 3A, the sub-destination SG1, SG5 to SG8 satisfy the condition 2. Become. Therefore, it is the sub-destination SG5 to SG8 that satisfy both the conditions 1 and 2, and the sub-destination SG5 closest to the current position of the moving body 1 is selected by the movement control unit 15. Then, the movement control unit 15 controls the movement mechanism 11 so that the moving body 1 moves to the selected sub-destination SG5. That is, the movement control unit 15 controls the movement mechanism 11 so that the moving body 1 heads toward the nearest sub-destination SG5 that satisfies the conditions 1 and 2. The movement control unit 15 repeatedly executes such selection of the sub-destination and movement control to the selected sub-destination. Therefore, the sub-destination close to the destination G1 is sequentially selected according to the movement.

Due to the above condition 2, when the distance between the current position of the moving body 1 and the sub-destination SG8 is shorter than the distance threshold value L _TH , the sub-destination to be selected does not exist. As such, when there is no sub-destination that satisfies the conditions 1 and 2, the movement control unit 15 controls the movement mechanism 11 so that the moving body 1 heads for the destination G1. In that way, the mobile body 1 finally reaches the destination G1.

FIG. 3B is also a diagram showing an example of the relationship between the current position of the moving body 1 and the path P1. In FIG. 3B, it is assumed that all the sub-destination SG1 to SG8 satisfy the condition 2. On the other hand, it is assumed that θ1 and _θ2 are larger than the angle threshold value θTH, and θ3 is equal to or less than the angle threshold value _θTH . Then, the sub-destination SG7 and SG8 satisfy the conditions 1 and 2, and the movement control unit 15 moves the movement mechanism 11 so that the moving body 1 moves to the sub-destination SG7 closest to the current position of the moving body 1. To control.

The movement control unit 15 performs movement control so that the moving body 1 heads toward the nearest sub-destination that satisfies the conditions 1 and 2, but in reality, it depends on an unbalanced load, an inclination of the traveling surface, unevenness, and the like. Therefore, it is possible that the sub-destination will not be reached. However, it will be described with reference to FIG. 4 that more preferable movement according to the route P1 can be realized rather than movement control that does not consider the sub-destination.

FIG. 4 is a diagram for comparing the movement control according to the present embodiment and the other movement control. FIG. 4A shows a moving body 2 that constantly controls movement toward the destination G1, and FIG. 4B shows a moving body that constantly moves toward the route P1 when it deviates from the route P1. The moving body 3 is shown, and FIG. 4C shows the moving body 1 that performs movement control according to the present embodiment. In FIGS. 4A to 4C, the solid line arrow indicates the actual movement direction, and the broken line arrow indicates the movement direction according to the command value. In each of the moving bodies 1 to 3 shown in FIGS. 4 (a) to 4 (c), the actual movement is performed in a direction different from the command value due to an eccentric load or the like.

In FIG. 4A, since the moving body 2 tries to move toward the destination G1, the control for returning the moving body 2 to the path P1 is weakened. As a result, as shown in FIG. 4A, the distance from the path P1 gradually increases as the position changes as in the moving bodies 1-1, 1-2, 1-3. That is, in the movement control toward the destination G1, when the disturbance is large, the followability to the path P1 is lowered.

In FIG. 4B, since the moving body 3 tries to move so as to return to the path P1, the position of the moving body 3-2 even if it is separated from the path P1 like the position of the moving body 3-1. It is possible to return to the route P1 as in. However, after returning to the path P1, it will be deviated from the path P1 again due to an eccentric load or the like, as shown by the position of the moving body 3-3. Therefore, the locus of the actual movement of the moving body 3 meanders. That is, in the movement control toward the path P1, the larger the disturbance, the easier it is for hunting to occur, and the trajectory of the actual movement becomes less smooth.

On the other hand, in FIG. 4C, the moving body 1 moves toward the nearest sub-destination that satisfies the conditions 1 and 2 as described above. Therefore, the control between the movement control shown in FIG. 4A and the movement control shown in FIG. 4B is performed. That is, it does not move toward a distant point on the route P1 (for example, the destination G1), but moves toward a near point on the route P1 (for example, a point on the closest route P1 from the current position). As a result, as shown at the positions of the mobile bodies 1-1, 1-2, 1-3 in FIG. 4 (c), even in the presence of disturbance, in FIG. 4 (a). It will be along the path P1 rather than the locus, and will move more smoothly than the locus in FIG. 4B, so that the followability to the path P1 can be improved. Here, high followability to the route P1 does not necessarily mean that the vehicle moves on the route P1, but it means that the vehicle moves closer to the route P1. Needless to say, if there is no eccentric load or the like, the moving bodies 1 to 3 move on the path P1 in each of the situations of FIGS. 4 (a) to 4 (c).

When an obstacle is detected by the obstacle detection unit 13, the movement control unit 15 may perform control to prevent a collision with the obstacle. The control may be, for example, a stop of the moving body 1 or a deceleration of the moving body 1, and is to change the traveling direction of the moving body 1 so as to avoid (detour) an obstacle. You may. The movement control for preventing the collision with such an obstacle is already known, and a detailed description thereof will be omitted.

Next, the operation of the moving body 1 will be described with reference to the flowchart of FIG.
(Step S101) The movement control unit 15 determines whether or not there is a sub-destination that satisfies the conditions 1 and 2. Then, if there is a sub-destination that satisfies the conditions 1 and 2, the process proceeds to step S102, and if not, the process proceeds to step S103.

(Step S102) The movement control unit 15 controls the movement mechanism 11 so as to move to the sub-destination closest to the current position among the sub-destination determined to satisfy the conditions 1 and 2 in step S101. Then, the process returns to step S101. By repeating the movement control in step S102, the moving body 1 approaches the destination.

(Step S103) The movement control unit 15 determines whether or not the moving body 1 has reached the destination. Then, when the destination is reached, the process of moving to the destination is completed. On the other hand, if the destination has not been reached, the process proceeds to step S104.

(Step S104) The movement control unit 15 controls the movement mechanism 11 so as to move to the destination. Then, the process returns to step S101. After the sub-destination satisfying the conditions 1 and 2 does not exist, the moving body 1 reaches the destination by repeating the movement control in step S104.

Although not included in the flowchart of FIG. 2, the acquisition of the current position by the current position acquisition unit 14, the measurement of the distance by the distance measuring sensor 12, and the detection of the obstacle by the obstacle detection unit 13 are repeated. It is assumed that it has been damaged. Then, when an obstacle is detected, the movement control unit 15 may perform movement control for preventing a collision with the detected obstacle, as described above. Further, in the flowchart of FIG. 2, the processing is terminated by the power off or the interrupt of the processing termination.

As described above, according to the moving body 1 according to the present embodiment, the moving body 1 is moved by controlling the movement so as to move to the nearest sub-destination among the sub-destination satisfying the conditions 1 and 2. It will move towards a point on the path that is neither too far nor too close to its current position. In this way, even if the moving body 1 moves away from the path due to an eccentric load, inclination of the traveling surface, unevenness, or the like, the moving body 1 follows the path. You will be able to improve your sex. As a result, it is possible to reduce the situation where the locus is unexpectedly far from the path 1 and the situation where the locus is not smooth and meandering.

In the present embodiment, the case where there is only one route has been described, but it may not be the case. As shown in FIG. 5, there may be a plurality of routes P1 to P3 connecting the starting point S1 and the destination G1. In FIG. 5, it is assumed that the sub-destination is indicated by a circular figure on each of the routes P1 to P3. Therefore, a sub-destination is set for each of the routes P1 to P3. In such a case, for example, the movement control unit 15 may perform movement control using a plurality of sub-destination set in one route. The one route may be, for example, a randomly selected route, or a predetermined route (for example, of the three routes P1 to P3, it is determined that the route P1 is used first. Etc.). Then, when an obstacle is detected by the obstacle detection unit 13, the route may be changed so as to avoid the obstacle. Specifically, in FIG. 5, first, it is assumed that the moving body 1 is moving according to the path P1. Then, it is assumed that when the moving body 1 moves as shown by the arrows M1 and M2, the obstacle B1 is detected in front of the moving body 1. In that case, the movement control unit 15 may receive from the obstacle detection unit 13 that the obstacle has been detected and the position of the obstacle in the local coordinate system. Further, the movement control unit 15 identifies the closest sub-destination satisfying the conditions 1 and 2 among the sub-destination of each route other than the current route P1, that is, the sub-destination of the routes P2 and P3. Then, from the specified sub-destination, a sub-destination that can be reached without passing through the position of an obstacle is selected from the current position at that time, and movement control is performed so as to move to that sub-destination. May be good. After that, the movement control unit 15 may perform movement control using a plurality of sub-destinations set in the route including the selected sub-destination until another obstacle is detected. .. In the specific example of FIG. 5, the moving body 1 can avoid the obstacle B1 and go to the destination G1 by moving toward the sub-destination on the route P3 as shown by the arrows M3, M4, M5 ... You will be able to continue moving. In this way, the moving body 1 can both detour the obstacle and move to the destination by changing the route according to the detection of the obstacle. When yet another obstacle is detected, the moving body 1 may change the route so as to avoid the obstacle again in the same manner as described above.

Here, the case where the movement control along one path P1 is performed until the obstacle B1 is detected has been described, but it is not necessary. The movement control unit 15 selects the nearest sub-destination that satisfies the conditions 1 and 2 from the plurality of sub-destination set in the plurality of routes, and moves the movement control so as to move to the selected sub-destination. May be done. In that case, the route may be changed regardless of the presence or absence of obstacle detection.

Further, in the present embodiment, the case where the movement control is performed so as to go toward the destination when the sub-destination satisfying the above conditions 1 and 2 does not exist has been described, but the sub-purpose satisfying the above conditions 1 and 2 has been described. Even if a place exists, movement control may be performed so as to move toward the destination when the destination is closer than the sub-destination that satisfies the conditions 1 and 2. For example, it is conceivable that the trajectory of the actual movement of the moving body 1 deviates from the path and thus passes the destination. In such a case, there may be a sub-destination that satisfies the conditions 1 and 2 in the moving body 1 at a position that has passed the destination, but when the sub-destination is headed, the destination is changed again. It will pass through and go back a lot. Therefore, in such a situation, it is considered appropriate to go to the destination. Therefore, as described above, the movement control unit 15 is in the case where there is a sub-destination that satisfies the conditions 1 and 2. However, when the destination is closer than the nearest sub destination that satisfies the conditions 1 and 2, the moving body 1 is controlled so that the moving body 1 heads toward the destination, and the closest sub that satisfies the conditions 1 and 2. When the destination is closer to the destination, the movement mechanism 11 may be controlled so that the moving body 1 heads toward the nearest sub-destination that satisfies the conditions 1 and 2. When the distance from the current position of the moving body 1 to the nearest sub-destination that satisfies the conditions 1 and 2 and the distance to the destination are the same, the moving body 1 is set in the movement control unit 15. It is preferable to control the moving mechanism 11 so as to go to the destination.

In the present embodiment, the case where the moving body 1 detects an obstacle has been described, but it may not be the case. When the moving body 1 does not detect an obstacle, the moving body 1 may not include the obstacle detecting unit 13. Further, when the moving body 1 does not detect an obstacle and the distance measured by the distance measuring sensor 12 is not used for the identification of the self-position, that is, the acquisition of the current position, the moving body 1 Does not have to be provided with the distance measuring sensor 12.

Further, 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 distributed processing by a plurality of devices or a plurality of systems. It may be realized by.

Further, in the above embodiment, the transfer of information performed between the components is performed by, for example, one of the components when the two components that transfer the information are physically different. It may be done by outputting information and accepting information by the other component, or if the two components that pass the information are physically the same, one component. It may be performed by moving from the processing phase corresponding to the other component to the processing phase corresponding to the other component.

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

Further, in the above embodiment, when the information used in each component or the like, for example, the information such as the threshold value and the address used in the processing by each component and various setting values may be changed by the user, the above-mentioned The information may or may not be changed as appropriate by the user, even if it is not specified in the description. When the information can be changed by the user, the change is realized by, for example, a reception unit (not shown) that receives a change instruction from the user and a change unit (not shown) that changes the information in response to the change instruction. You may. The reception unit (not shown) may accept the change instruction from, for example, an input device, information transmitted via a communication line, or information read from a predetermined recording medium. ..

Further, in the above embodiment, when two or more components included in the mobile body 1 have a communication device, an input device, or the like, the two or more components may physically have a single device. , Or may have separate devices.

Further, in the above 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. Further, 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, etc.). good. Further, this program may be used as a program constituting a program product. Further, the number of computers that execute 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 embodiments, and various modifications can be made, and it goes without saying that these are also included in the scope of the present invention.

From the above, according to the moving body according to the present invention, even if there is an eccentric load or the like, the effect that smooth movement according to the path can be realized can be obtained, and it is useful as, for example, a moving body for transportation. ..

1 Moving body 11 Moving mechanism 12 Distance measuring sensor 13 Obstacle detection unit 14 Current position acquisition unit 14 Current position acquisition unit 15 Movement control unit

Claims (4)

It is a mobile body that moves autonomously.
A moving mechanism that moves the moving body and
The current position acquisition unit that acquires the current position of the moving body, and
A movement control unit that controls the movement mechanism so that the moving body moves along a route to a destination by using the current position is provided.
The distance between the straight line connecting the starting point and the destination and an arbitrary point on the route is within a range not exceeding a predetermined threshold value.
A plurality of sub-destinations are set in the route, and the route has a plurality of sub-destination.
In the movement control unit, the angle between the first direction from the current position to the destination and the second direction from the current position to the sub-destination is within the angle threshold value, and the distance from the current position to the sub-destination is the distance. When there is a sub-destination that satisfies the condition of being equal to or higher than the threshold value, the moving mechanism is controlled so that the moving body heads toward the nearest sub-destination that satisfies the condition, and the sub-destination that satisfies the condition is determined. A moving body that controls the moving mechanism so as to go to the destination if it does not exist. The mobile body according to claim 1, wherein there are a plurality of routes to the destination, and a plurality of sub-destinations are set for each of the routes. Further equipped with an obstacle detection unit that detects obstacles,
The movement control unit controls using a plurality of sub-destination set in one route, and when an obstacle is detected by the obstacle detection unit, the route is set so as to avoid the obstacle. The moving object according to claim 2, which is to be changed. Even if there is a sub-destination that satisfies the above condition, the movement control unit moves the movement toward the destination when the destination is closer to the nearest sub-destination that satisfies the condition. The mobile body according to any one of claims 1 to 3, which controls the mechanism.

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