JP7145422B2 - Mobile device and mobile system - Google Patents

Description

The present disclosure relates to mobile devices and mobile systems . More particularly, the present disclosure relates to mobile devices and systems that move in space.

Conventionally, there is an automatic guided vehicle that moves within a travel area according to route data (see Patent Document 1, for example). An automatic guided vehicle (moving device) includes a laser ranging sensor capable of measuring a distance to an object around the automatic guided vehicle. A laser distance sensor (a wave transmitting unit, a wave receiving unit, and an object detection unit) emits laser light and detects its reflected light (reflected wave) to measure the distance to an obstacle.

Japanese Unexamined Patent Application Publication No. 2012-53838

When a plurality of AGVs described in Patent Document 1 travel within a travel area, when a laser ranging sensor of one AGV receives a laser beam emitted from a laser ranging sensor of another AGV, There was a possibility of erroneously detecting the distance to the object.

An object of the present disclosure is to provide a mobile device and a mobile system capable of reducing the possibility of erroneous detection of an object.

A mobile device according to one aspect of the present disclosure is a mobile device that includes a main body that moves. The moving device further includes an object detection unit, a transmission limiter, and an acquisition unit provided in the main body. The object detection unit detects the object by transmitting an investigation wave from the wave transmission unit and receiving a reflected wave of the investigation wave reflected by the object by the wave reception unit. The wave transmission limiting section limits a wave transmission range, which is an angular range in which the wave transmission section transmits the search wave. The acquisition unit acquires, from the outside, restriction information regarding a restriction range in which the search wave is not transmitted. The transmission limiting unit limits the transmission range based on the limitation information. The limited range is an angular range that includes the position of a moving device different from the moving device. The mobile device further includes a map information generator, a map information transmitter, and a map information receiver. The map information generation unit generates first map information in the wave transmission range based on the detection result of the object detection unit. The map information transmission section transmits the first map information generated by the map information generation section to the outside. The map information receiving unit receives second map information generated by a mobile device different from the mobile device. The second map information generated by a mobile device different from the mobile device includes map information of at least a portion of the restricted area. The mobile device moves according to integrated map information obtained by integrating the first map information generated by the map information generation unit and the second map information received by the map information reception unit.

A mobile system according to one aspect of the present disclosure includes a plurality of mobile devices and a host system. Each of the plurality of mobile devices includes a moving main unit, an object detection unit provided in the main unit, a transmission limiting unit, an acquisition unit, a map information generation unit, a map information transmission unit, and map information. a receiver; The object detection unit detects the object by transmitting an investigation wave from the wave transmission unit and receiving a reflected wave of the investigation wave reflected by the object by the wave reception unit. The acquisition unit acquires, from the outside, restriction information regarding a restriction range, which is an angle range in which the search wave is not transmitted and includes a position in which a mobile device different from each of the plurality of mobile devices exists. . The wave transmission limiter limits a wave transmission range, which is an angle range in which the wave transmitter transmits the search wave, based on the limit information. The map information generation unit generates first map information in the wave transmission range based on the detection result of the object detection unit. The map information transmission unit transmits the first map information generated by the map information generation unit to the host system. The map information receiving unit receives integrated map information from the host system. The integrated map information is information obtained by integrating the first map information generated by the map information generation unit and the second map information generated by a mobile device different from each of the plurality of mobile devices. The second map information generated by a mobile device different from each of the plurality of mobile devices includes map information of at least a portion of the restricted range. The host system includes an integrated map information generator and an integrated map information transmitter. The integrated map information generator generates the integrated map information by integrating the map information generated by the map information generators of the plurality of mobile devices. The integrated map information transmission unit transmits the integrated map information generated by the integrated map information generation unit to the plurality of mobile devices. Each of the plurality of moving devices moves according to the integrated map information received by the map information receiving section.

Advantageous Effects of Invention According to the present disclosure, it is possible to provide a mobile device and a mobile system capable of reducing the possibility of erroneous detection of an object.

FIG. 1 is an external perspective view of a moving device according to Embodiment 1 of the present disclosure. FIG. 2 is an explanatory diagram for explaining an example of use of the mobile device of the same. FIG. 3 is a block diagram of a mobile system according to Embodiment 1 of the present disclosure. FIG. 4 is a flow chart for explaining the operation of the mobile device of the same. FIG. 5 is a block diagram of a mobile system according to Modification 1 of the present disclosure. FIG. 6 is an explanatory diagram for explaining a first example of use of the above mobile system. FIG. 7 is an explanatory diagram for explaining a second example of use of the above mobile system. FIG. 8 is an explanatory diagram for explaining a third example of use of the same mobile system.

(Embodiment 1)
(1) Outline As shown in FIGS. 1 and 2 , the mobile device 10 according to the present embodiment is a device that travels on a moving surface 200 with a plurality of wheels 13 . The mobile device 10 is installed in facilities such as distribution centers (including delivery centers), factories, offices, stores, schools, and hospitals, and moves on the moving surface 200 with the floor surface of the facility as the moving surface 200. run. The moving surface 200 is a surface on which the moving device 10 moves. When the moving device 10 moves within the facility, the moving surface 200 is the floor surface of the facility. etc. becomes the movement plane 200 . In this embodiment, as an example, a case where the moving device 10 is a transport device for transporting the article X1 will be described.

In FIG. 2, a plurality of moving devices 10A and 10B (for example, two in FIG. 2) are running on a moving surface 200. In FIG. Since the plurality of mobile devices 10A and 10B have a common configuration, the plurality of mobile devices 10A and 10B will be referred to as mobile device 10 when described without particular distinction. The number of mobile devices 10 is not limited to two, and may be one or three or more.

A mobile device 10 (10A, 10B) of the present embodiment includes a moving main body 1, an object detection unit 3 (see FIG. 3) provided in the main body 1, and a transmission limiting unit 31. The object detection unit 3 transmits the search wave from the wave transmission unit 5, and detects the target object by receiving the reflected wave of the search wave reflected by the target object at the wave reception unit 6. FIG. The wave transmission limiter 31 limits a wave transmission range 50 (see FIG. 2) in which the wave transmitter 5 transmits the search wave. In the following description, when distinguishing between the transmission range of the mobile device 10A and the transmission range of the mobile device 10B, the transmission range of the mobile device 10A is referred to as the transmission range 50A, and the transmission range of the mobile device 10B. A transmission range is denoted as a transmission range 50B.

Here, the search wave is, for example, at least one of light (light wave), radio wave, and sound wave, and is transmitted from the wave transmitting section 5 toward the space around the main body section 1 . A reflected wave is generated when the search wave hits and is reflected by an object existing around the mobile device 10 . The object is a moving device 10 different from the own device moving on the moving surface 200, a stationary object placed on the moving surface 200, or the like. The wave transmission range 50 of the mobile device 10 is, for example, a range in which there is no mobile device 10 different from the mobile device 10 (especially, the wave receiving unit 6 of the mobile device 10). to be changed accordingly. In FIGS. 2 and 6 to 8, line segments and hatching indicating the wave transmission range 50 (50A, 50B) and the like are shown only for explanation and are not substantial.

The mobile device 10 of the present embodiment can limit the transmission range 50 of the search wave by the transmission wave limiter 31 . Therefore, when there is a mobile device 10 different from the mobile device 10 outside the wave transmission range 50, the probe wave transmitted from the wave transmission unit 5 of the mobile device 10 is different from the mobile device 10. The possibility of being received by the wave receiving section 6 of the device 10 can be reduced. Therefore, it is possible to reduce the possibility of erroneous detection occurring in a mobile device 10 different from the mobile device 10 concerned.

(2) Configuration The configuration of the mobile device 10 and the mobile system 100 according to the present embodiment will be described in detail below with reference to FIGS. 1 to 4. FIG. Hereinafter, unless otherwise specified, the direction perpendicular to the moving surface 200 is defined as the up-down direction, and the moving device 10 side viewed from the moving surface 200 is defined as "upper". Further, the direction in which the moving device 10 advances is defined as "forward", and the direction orthogonal to both the up-down direction and the front-rear direction is defined as the left-right direction. That is, in FIG. 1, etc., as indicated by the arrows “up”, “down”, “left”, “right”, “front”, “back”, each direction of up, down, left, right, front, back stipulate. However, these directions are not meant to define the direction of use of the mobile device 10 . Also, the arrows indicating each direction in the drawings are only shown for explanation and are not substantial. Similarly, the arrows indicating the direction of movement of each part such as the main body part 1 in the drawings are only shown for the sake of explanation and are not substantial.

A mobile system 100 is composed of a plurality of mobile devices 10 and a host system 300 capable of communicating with the plurality of mobile devices 10 .

The mobile device 10 includes the main unit 1, the object detection unit 3, and the transmission limiting unit 31, as described above. Further, in the present embodiment, the mobile device 10 further includes a control section 2 , a sensor section 4 ( 41 and 42 ), a position detection section 7 , a traveling system drive section 8 and a communication section 9 . In this embodiment, the control unit 2, the object detection unit 3, the sensor unit 4 (41, 42), the position detection unit 7, the traveling system driving unit 8, and the communication unit 9 are all mounted on the main unit 1. .

The moving device 10 autonomously travels on a flat moving surface 200 such as the floor of a facility, for example. Here, as an example, the mobile device 10 includes a storage battery and operates using electrical energy stored in the storage battery. Note that the mobile device 10 may be appropriately equipped with a configuration other than the above, such as a charging circuit for a storage battery.

In the present embodiment, the moving device 10 is the "transporting device" for transporting the article X1 as described above. Therefore, the moving device 10 travels on the moving surface 200 with the article X1 loaded on the main body 1 . As a result, the mobile device 10 can, for example, transport the article X1 placed at a certain location within the facility to another location within the facility.

The main body 1 has a rectangular parallelepiped shape that is longer in the front-rear direction than in the left-right direction and smaller in the vertical direction than in the left-right direction and the front-rear direction. The body portion 1 has a vehicle body portion 11 and a loading platform portion 12 . In this embodiment, the body portion 1 is made of metal. However, the body portion 1 is not limited to being made of metal, and may be made of resin, for example.

The body section 11 is supported on a moving surface 200 by four wheels 13 . The four wheels 13 are arranged at the four corners of the vehicle body portion 11 in plan view.

The loading platform 12 is arranged above the vehicle body 11 so as to cover at least a portion of the upper surface of the vehicle body 11 . In this embodiment, the loading platform 12 covers substantially the entire upper surface of the vehicle body 11 except for the front end and the rear end of the vehicle body 11 . The upper surface of the loading platform 12 is a loading surface for loading the goods X1. In other words, when the moving device 10 transports the transported object X1, the transported object X1 is loaded on the upper surface of the loading platform portion 12 .

Each of the plurality of wheels 13 is individually rotatable by receiving a driving force from a travel system driving section 8 mounted on the vehicle body section 11 . Each wheel 13 is held by the main body portion 1 (the vehicle body portion 11) so as to be rotatable about a rotation shaft extending in the left-right direction.

In this embodiment, all the four wheels 13 are drive wheels driven by the travel system drive unit 8 . By individually driving the plurality of wheels 13, the main body 1 can move in all directions. That is, the main body 1 supported by the plurality of wheels 13 can move forward, backward, left and right on the moving surface 200 by each rotation of the plurality of wheels 13 . Each of the plurality of wheels 13 may be, for example, an omnidirectional wheel such as an omni-wheel.

The travel system drive unit 8 directly or indirectly applies a driving force to drive wheels that are at least a portion of the plurality of wheels 13 . In the present embodiment, all of the multiple (four) wheels 13 are drive wheels as described above, so the travel system drive unit 8 applies driving force to all of the multiple wheels 13 . The traveling system driving section 8 is built in the vehicle body section 11 . The travel system drive unit 8 includes, for example, an electric motor (motor), and indirectly applies driving force generated by the electric motor to the wheels 13 via a gearbox, a belt, and the like. Further, the traveling system driving unit 8 may be configured to directly apply a driving force to each wheel 13 like an in-wheel motor. Based on the control signal input from the control unit 2, the traveling system drive unit 8 drives each of the plurality of wheels 13 at a rotation direction and a rotation speed according to the control signal.

The control unit 2 controls the object detection unit 3 and the traveling system drive unit 8 . In this embodiment, the control unit 2 is mainly composed of a computer system having a processor and memory. The functions of the control unit 2 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in a memory, provided through an electric communication line such as the Internet, or recorded in a non-temporary recording medium such as a memory card and provided.

A position detector 7 measures the position of the main body 1 . The position detection unit 7 includes, for example, a reception unit that receives beacon signals transmitted by radio waves from a plurality of transmitters. A plurality of transmitters are arranged at a plurality of locations within a range in which the mobile device 10 moves. The position detection unit 7 measures the position of the main unit 1 based on the positions of the multiple transmitters and the received radio wave intensity of the beacon signals transmitted from the multiple transmitters. The position detection unit 7 may specify the position of the main unit 1 using GPS (Global Positioning System) or the like.

The traveling system drive unit 8 receives control signals from the control unit 2 and controls the speed and direction of rotation of the wheels 13 , thereby controlling the speed and direction of movement of the vehicle body 11 .

The communication unit 9 includes, for example, a communication module that performs wireless communication using a communication method that does not require a license for a wireless station. Communication methods of this type include communication methods conforming to standards such as Bluetooth (registered trademark), ZigBee (registered trademark), and specified low-power radio. The communication unit 9 has a communication function to communicate with the host system 300 .

The object detection unit 3 of the present embodiment drives the sensor unit 4 to emit a search wave composed of a light wave from the wave transmission unit 5, and the reflected wave (reflected light) reflected by the object is received by the wave reception unit 6. An object is detected by receiving light.

The sensor unit 4 is, for example, LIDAR (Light Detection and Ranging) or the like, and detects an object in a target space around the main body 1 .

The sensor section 4 has a wave transmitting section 5 and a wave receiving section 6 .

The wave transmitting unit 5 includes, for example, a light source such as a laser diode and a projection optical system. A search wave such as laser light (pulse light or continuous light) output from a light source is projected onto a target space by a projection optical system.

The wave receiving section 6 includes, for example, a light receiving element such as a photodiode array and a light receiving optical system. When the incident light from the object space is guided to the light receiving optical system and enters the light receiving element, the wave receiving section 6 outputs a received wave signal S21 or S22 corresponding to the incident wave.

The sensor unit 4 also has a scanning mechanism for scanning the probe wave within a plane parallel to the moving surface 200 . The scanning mechanism, for example, rotates the light projecting optical system and the light receiving optical system in a plane parallel to the movement plane 200, thereby scanning the search wave output from the wave transmitting section 5 within a certain angular range. The wave transmitting unit 5 periodically projects the search wave to the target space so as to scan the target space at a predetermined cycle. As a result, the probe wave output from the wave transmitting section 5 is irradiated toward the space around the main body section 1 . In other words, the wave transmitting unit 5 transmits the search wave (search light) within a plane parallel to the moving surface 200 . Here, the range within which the search wave (laser light) projected from the wave transmitting unit 5 reaches becomes the target space in which the target object can be detected.

The light-receiving optical system guides the incident light from the target space to a light-receiving element composed of a photodiode array or the like in the angle range where the scanning light is scanned by the scanning mechanism. can be received. Here, when an object exists in the target space, the probe light output from the wave transmitting unit 5 is reflected by the object, the reflected light is received by the light receiving element, and the received wave signal S21 or S22 is output.

In this embodiment, in order to detect an object within a range of 360 degrees centering on the main body 1 on a plane parallel to the movement plane 200, the above-described sensor sections 4 are arranged one by one in front of and behind the main body 1. there is When distinguishing between the two sensor portions 4 , the sensor portion 4 arranged on the front side of the main body portion 1 is called the sensor portion 41 , and the sensor portion 4 arranged on the rear side of the main body portion 1 is called the sensor portion 42 . Note that the number and arrangement of the sensor units 4 can be changed as appropriate. 2 and 6 to 8 show the wave transmission range 50 (50A, 50B) and the like of the sensor unit 41 arranged on the front side of the mobile device 10, and For the sensor unit 42 arranged in , the display of the wave transmission range and the like is omitted.

The object detection unit 3 is mainly composed of, for example, a computer system having a processor and memory. The functions of the object detection unit 3 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in a memory, provided through an electric communication line such as the Internet, or recorded in a non-temporary recording medium such as a memory card and provided. Here, the control unit 2 and the object detection unit 3 may be realized by one computer system. Further, the object detection unit 3 is not limited to having a computer system as a main component, and may have an electric circuit composed of a plurality of circuit elements as a main component.

The object detection unit 3 of this embodiment includes the functions of the transmission wave limiting unit 31 and the acquisition unit 32 described above.

The acquisition unit 32 acquires, from the outside (for example, the host system 300), restriction information regarding a restriction range in which the search wave is not transmitted. Here, the restricted range is, for example, a range including the position where a mobile device 10 different from the mobile device 10 (own device) exists. The host system 300 collects location information regarding the current location of the mobile device 10 from each of the plurality of mobile devices 10 by communicating with the plurality of mobile devices 10 . The host system 300 creates restriction information including information on the current positions of the plurality of mobile devices 10 and transmits the created restriction information to the plurality of mobile devices 10 .

In each of the mobile devices 10 , the communication unit 9 receives the restriction information transmitted from the host system 300 . The acquisition unit 32 acquires the restriction information received by the communication unit 9 via the control unit 2 . Since the control unit 2 and the object detection unit 3 are configured by one computer system, the object detection unit 3 may directly acquire the restriction information from the communication unit 9 .

For example, when the object detection unit 3 detects the presence of a mobile device 10 different from its own device, the wave transmission limiting unit 31 limits the wave transmission range 50 in which the wave transmission unit 5 transmits the search wave. The wave transmission limiting units 31 of the mobile devices 10A and 10B respectively limit the wave transmission ranges 50A and 50B in which the wave transmitting unit 5 transmits the search wave based on the limit information acquired by the acquiring unit 32 . For example, the wave transmission limiting unit 31 of a certain mobile device 10 determines the limited range 51 in which the search wave is not transmitted based on the current position information of the mobile device 10 different from the mobile device 10 included in the limitation information. do. Then, the wave transmission limiter 31 determines the wave transmission range 50 in which the search wave is transmitted so that the limit range 51 is not included. This reduces the possibility that the probe wave output from the mobile device 10 is received by the wave receiving unit 6 of the mobile device 10 different from the mobile device 10 concerned.

The object detection unit 3 causes the wave transmission unit 5 to transmit the search wave to the wave transmission range 50 set by the wave transmission limiter 31 . The probe wave output from the sensor unit 4 is reflected by the object, and when the reflected wave enters the wave receiving unit 6, the wave receiving unit 6 transmits received wave signals S21 and S22 corresponding to the reflected wave to the object detection unit 3. Output. The object detection unit 3 can measure the distance to the object based on the time of flight from the transmission of the search wave to the input of the received wave signals S21 and S22 corresponding to the reflected waves, for example. can detect the presence of an object in the transmission range 50 by .

Host system 300 has a communication function to communicate with a plurality of mobile devices 10 moving on moving surface 200 . The host system 300 receives position information regarding the current position of each of the mobile devices 10 moving on the moving surface 200 from each of the plurality of mobile devices 10 . The host system 300 creates restriction information including information on the current positions of the plurality of mobile devices 10 and transmits the created restriction information to the plurality of mobile devices 10 .

(3) Operation The operation of the mobile device 10 and host system 300 according to this embodiment will be described below.

The mobile device 10 autonomously travels on the moving surface 200 as a basic operation during normal operation. In the mobile device 10 , the object detection unit 3 detects the presence or absence of an object in the target space around the main body 1 , the distance to the object, and the like, and the position detection unit 7 specifies the position of the main body 1 . The control unit 2 of the moving device 10 determines the moving route based on information such as the current position of the main unit 1, the destination, surrounding objects, etc., and controls the traveling system driving unit 8 to move the wheels 13. Drive and run independently.

The object detection unit 3 of the mobile device 10 periodically (intermittently) transmits (projects) the search light from the wave transmitting unit 5 of the sensor unit 4 (41, 42) while the mobile device 10 is traveling, and the wave receiving unit 6 The presence or absence of the object, the distance to the object, etc. are detected based on the received wave signals S21 and S22 output from the .

Here, as shown in FIG. 2, when the two mobile devices 10A and 10B are moving on the moving surface 200, the operation of the mobile device 10A will be described. The operation of the mobile device 10A will now be described with reference to the flow chart of FIG.

In the mobile device 10</b>A, the control unit 2 causes the communication unit 9 to transmit the position information indicating the current position periodically detected by the position detection unit 7 to the host system 300 . When the host system 300 receives the position information from the plurality of mobile devices 10 (10A, 10B) traveling on the moving surface 200, the host system 300 sets a limit including information on the current positions of the plurality of mobile devices 10 (10A, 10B). create information. The host system 300 transmits the created restriction information to the plurality of mobile devices 10 .

When the communication unit 9 of the mobile device 10A receives the restriction information transmitted from the host system 300, the acquisition unit 32 acquires the restriction information via the control unit 2. FIG. When the acquisition unit 32 acquires the limit information, the transmission limit unit 31 determines a limit range 51A in which the search wave is not transmitted based on the limit information, and the wave transmission unit 5 determines a transmission range 50A in which the search wave is not transmitted. (S1) to determine the transmission range 50A (transmission range determination step). Here, limiting the wave transmission range 50A means narrowing the range in which the wave transmitting unit 5 transmits the search wave from the range in which the wave can be transmitted.

When the wave transmission range 50A is set by the wave transmission limiter 31, the object detection unit 3 performs a process (wave transmission step) for transmitting the search wave (exploration light) from the wave transmission unit 5 to the wave transmission range 50A. (S2). The probe wave transmitted from the wave transmitting section 5 hits and is reflected by the object, and when the reflected wave is received by the wave receiving section 6, the wave receiving section 6 outputs a received wave signal S21. The object detection unit 3 performs processing (detection step) for detecting the object by receiving the reflected wave of the search wave reflected by the object by the wave receiving unit 6 (S3).

For example, the transmission limiting unit 31 of the mobile device 10A determines the relative positional relationship between the mobile device 10A and the mobile device 10B based on the current position information of the mobile device 10B different from the own device included in the limitation information. is obtained, and the range including the current position of the mobile device 10B is defined as a restricted range 51A in which no search wave is transmitted. Here, the wave transmission limiter 31 may determine the limit range 51A so that the entire mobile device 10B falls within the limit range 51A, or the arrangement position of the wave receiving unit 6 in the mobile device 10B is at least within the limit range 51A. The limit range 51A may be determined so as to fall within. After determining the limited range 51A, the transmitted wave limiter 31 determines the transmitted wave range 50A so as not to include the limited range 51A. This reduces the possibility that the probe wave output from the mobile device 10A is received by the wave receiving unit 6 of the mobile device 10B, and reduces the possibility of erroneous detection occurring in the mobile device 10B.

Similarly, the wave transmission limiting unit 31 of the mobile device 10B determines the limit range 51B in which the search wave is not transmitted based on the limit information acquired by the acquisition unit 32, and sets the limit range 51B so that the limit range 51B is not included. A transmission range 50B in which the unit 5 transmits the search wave is set. That is, in the mobile device 10B as well, the wave transmission range 50B in which the search wave is transmitted from the wave transmitting unit 5 is restricted in the same manner as in the mobile device 10A. Therefore, the possibility that the probe wave output from the mobile device 10B is received by the wave receiving unit 6 of the mobile device 10A can be reduced, and the possibility of erroneous detection occurring in the mobile device 10A can be reduced.

The object detection unit 3 causes the wave transmission unit 5 to transmit the search wave to the wave transmission range 50 ( 50 A, 50 B) set by the wave transmission limiter 31 . Here, the object detection unit 3 outputs a transmission signal S11 to the wave transmission unit 5 of the sensor unit 41 and outputs a transmission signal S12 to the wave transmission unit 5 of the sensor unit 42, whereby the sensor units 41 and 42 , the probe light is output from each of the wave transmitting units 5 of . When the probe light output from the sensor unit 4 is reflected by the object and the reflected light is incident on the wave receiving unit 6, the wave receiving unit 6 transmits received wave signals S21 and S22 corresponding to the incident light (reflected light) to the object. Output to the detection unit 3 . The object detection unit 3 calculates the distance to the object based on the flight time from projecting the search light to receiving the received wave signals S21 and S22 corresponding to the reflected light (reflected wave). It can be measured and thereby detect the presence of an object in the object space. Therefore, the mobile device 10 can autonomously travel on the moving surface 200 while avoiding the target.

(4) Modifications Embodiment 1 is merely one of various embodiments of the present disclosure. Embodiment 1 can be modified in various ways according to design and the like, as long as the object of the present disclosure can be achieved. Also, functions similar to those of the mobile device 10 according to the first embodiment may be embodied by a control method of the mobile device 10, a (computer) program, or a non-temporary recording medium recording the program. A control method for a mobile device 10 according to one aspect includes a transmission range determination step, a transmission step, and a detection step. In the wave transmission range determination step, the wave transmission range 50 is determined so as to limit the wave transmission range 50 in which the wave transmitting unit 5 transmits the search wave. In the wave-transmitting step, the wave-transmitting unit 5 transmits the search wave to the wave-transmitting range 50 . In the detection step, the object is detected by the wave receiving unit 6 receiving the reflected wave of the search wave reflected by the object.

A (computer) program according to one aspect is a program for causing a computer system to execute a transmission range determination step, a transmission step, and a detection step. In the wave transmission range determination step, the wave transmission range 50 is determined so as to limit the wave transmission range 50 in which the wave transmitting unit 5 transmits the search wave. In the wave-transmitting step, the wave-transmitting unit 5 transmits the search wave to the wave-transmitting range 50 . In the detection step, the object is detected by the wave receiving unit 6 receiving the reflected wave of the search wave reflected by the object.

Modifications of the first embodiment are listed below. Modifications described below can be applied in combination as appropriate.

The mobile device 10 according to the present disclosure includes a computer system in, for example, the control unit 2, the object detection unit 3, and the like. A computer system is mainly composed of a processor and a memory as hardware. Functions of the control unit 2, the object detection unit 3, and the like in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be recorded in advance in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-temporary recording medium such as a computer system-readable memory card, optical disk, or hard disk drive. may be provided. A processor in a computer system consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). A plurality of electronic circuits may be integrated into one chip, or may be distributed over a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.

(4.1) Modification 1
A mobile system 100 according to Modification 1 differs from Embodiment 1 in that the mobile device 10 includes a map information generator 21 and the host system 300 includes an integrated map information generator 311, as shown in FIG. In the following, configurations similar to those of the first embodiment are denoted by common reference numerals, and descriptions thereof are omitted as appropriate.

The control unit 2 of the mobile device 10 has the function of the map information generation unit 21 . The map information generator 21 generates map information in the wave transmission range 50 based on the detection result of the object detector 3 . The control unit 2 causes the map information generated by the map information generation unit 21 to be transmitted from the communication unit 9, which is a map information transmission unit, to the outside (for example, the host system 300). Here, the map information refers to the position of an object (another mobile device 10, a stationary object, etc.) existing in the space in which the mobile device 10 moves, in a coordinate system (two-dimensional coordinate system or three-dimensional coordinate system). This is information representing (coordinates).

The host system 300 includes a control section 310 and a communication section 320 .

The communication unit 320 has a communication module for wireless communication with the communication unit 9 of the mobile device 10 .

The control unit 310 is mainly composed of a computer system having a processor and memory. The functions of the control unit 310 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in a memory, provided through an electric communication line such as the Internet, or recorded in a non-temporary recording medium such as a memory card and provided.

A control unit 310 has the function of an integrated map information generation unit 311 . The integrated map information generator 311 generates integrated map information by integrating the map information received by the communication unit 320 from the plurality of mobile devices 10, that is, the map information generated by the map information generators 21 of the plurality of mobile devices 10. . Integrated map information is information obtained by integrating map information generated by a plurality of mobile devices 10 . In each of the plurality of mobile devices 10 , the map information generator 21 generates map information of the wave transmission range 50 . The integrated map information generation unit 311 generates integrated map information based on position information indicating the current positions of the plurality of mobile devices 10 and map information generated by the plurality of mobile devices 10 . For example, the integrated map information generation unit 311 generates integrated map information by arranging a plurality of pieces of map information respectively generated by the plurality of mobile devices 10 at coordinates corresponding to the current positions of the plurality of mobile devices 10. do. Then, the control unit 310 causes the integrated map information generated by the integrated map information generation unit 311 to be transmitted from the communication unit 320 as the integrated map information transmission unit to the mobile device 10 .

The integrated map information provided from the host system 300 which is an external system is received by the communication units 9 (map information receiving units) of the plurality of mobile devices 10 . Then, the control units 2 of the plurality of mobile devices 10 move according to the integrated map information received by the communication unit 9 . As described above, the mobile devices 10A and 10B limit the transmission ranges 50A and 50B of the search waves, respectively. Map information other than the ranges 50A and 50B is not included.

Here, the operation of the mobile devices 10A and 10B in the first usage example shown in FIG. 6 will be described. In the example of FIG. 6, two moving devices 10A and 10B are running on the moving surface 200 between the wall 211 and the wall 212, and the moving devices 10A and 10B move toward each other while looking at each other on the right side. is doing. That is, the moving devices 10A and 10B are moving on the moving surface 200 between the wall 211 and the wall 212 so as to pass on the left side in the traveling direction. Here, on the movement plane 200 between the walls 211 and 212, three obstacles 221 to 223 are arranged near the wall 211, and an obstacle 224 is arranged near the wall 212. FIG.

Since the mobile device 10B exists on the front right side of the mobile device 10A, the front right side is defined as the restricted range 51A. The mobile device 10A cannot obtain the map information of the front right side only from the detection result of the object detection unit 3 of the mobile device 10A, and the existing position of the obstacle 224 is unknown. Since the mobile device 10B is also located on the front right side of the mobile device 10A, the front right side is defined as the restricted range 51B. The mobile device 10B cannot obtain the map information of the front right side only from the detection result of the object detection unit 3 of the mobile device 10B, and the existing position of the obstacle 222 is unknown. In Modified Example 1, mobile devices 10A and 10B receive the integrated map information from host system 300, and mobile devices 10A and 10B receive the map information of mobile device 10A's transmission range 50A and the mobile device 10B's transmission wave. Integrated map information that is integrated with the map information of the range 50B can be acquired. Then, the mobile device 10A moves based on the integrated map information acquired from the host system 300. FIG. As a result, the mobile device 10A can move based on the integrated map information generated by the host system 300 covering a wider range than the transmission range 50A of the mobile device 10A. Similarly, the mobile device 10B can move based on the integrated map information generated by the host system 300 covering a wider range than the transmission range 50B of the mobile device 10B.

In Modified Example 1, in the mobile device 10 , the communication section 9 that is the map information transmission section transmits map information to the host system 300 , and the communication section 9 that is the map information reception section receives the integrated map information from the host system 300 . . Therefore, the mobile devices 10A and 10B limit the transmission ranges 50A and 50B in order to reduce the possibility of occurrence of false detections, while placing the integrated map information in a range wider than the transmission ranges 50A and 50B in higher order. It can be acquired from the system 300 and moved according to this integrated map information.

Incidentally, in Modification 1, the communication units 9 of a plurality of mobile devices 10 may communicate with each other. In each of the plurality of mobile devices 10, the communication unit 9 (map information receiving unit) may receive map information generated by a mobile device 10 different from the mobile device 10 concerned. In this case, the mobile device 10 moves according to the integrated map information obtained by integrating the map information generated by the map information generation unit 21 of the mobile device 10 and the map information received by the communication unit 9 (map information receiving unit). . As a result, the mobile device 10 restricts the wave transmission range 50 in order to reduce the possibility of false detection, but according to the integrated map information of a range wider than the wave transmission range 50 of the mobile device 10 . can move.

(4.2) Other Modifications In Embodiment 1 and Modification 1, the wave transmitting unit 5 emits a search wave composed of light (light wave) and receives a reflected wave (reflected light) reflected by an object. Therefore, the object is detected, but the search wave is not limited to light (light wave). The wave transmitting unit 5 may include a radar that transmits radio waves such as microwaves and millimeter waves, or may include a sonar sensor that transmits sound waves such as ultrasonic waves.

In Embodiment 1 and Modification 1, in each of the plurality of mobile devices 10, the wave transmission limiter 31 determines the wave transmission range 50 based on information on the current position of the mobile device 10 different from the mobile device 10 concerned. However, the upper system 300 may determine the transmission range. That is, the control unit 310 of the host system 300 predicts whether or not interfering waves will occur between the plurality of mobile devices 10 based on information on the current positions of the plurality of mobile devices 10 . Here, the state in which the interrogation wave interference occurs means that the probe wave transmitted from one of the plurality of mobile devices 10 is received by another mobile device 10 of the plurality of mobile devices 10. state When the control unit 310 predicts that there is a possibility that interrogation waves will interfere, it generates restriction information that limits the wave transmission range 50 so that different mobile devices 10 do not receive the interrogation waves. Then, the control unit 310 causes the mobile device 10 to transmit the restriction information from the communication unit 320 , and the transmission wave restriction unit 31 of the mobile device 10 limits the transmission range 50 based on the restriction information from the host system 300 . Restrict.

In Embodiment 1 and Modification 1, when a plurality of (for example, two) mobile devices 10A and 10B exist on the moving surface 200, each of the plurality of mobile devices 10 predetermines the probe wave transmission ranges 50A and 50B. may be limited to the specified range.

For example, when the mobile devices 10A and 10B pass each other on the moving plane 200, and when the mobile devices 10A and 10B are controlled to move on the left side of each other, the transmission ranges 50A and 50B are regions on the left side with respect to the traveling direction. may be restricted to

Further, when the travel lane along which the plurality of mobile devices 10 move on the moving surface 200 is predetermined, the wave transmission range 50 may be limited to the travel lane in each of the plurality of transfer devices 10 . For example, when the object detection unit 3 of the mobile device 10 detects the existence of the mobile device 10 different from the mobile device 10, the control unit 2 of the mobile device 10 detects the transmission range of the traveling lane in which the mobile device 10 moves. 50 may be limited.

In Embodiment 1 and Modification 1, by equally dividing the detection range by the object detection unit 3 into the mobile device 10A and one or more mobile devices 10B different from the mobile device 10A existing in the detection range, A transmission range 50A of the mobile device 10A has been determined. The detection range by the object detection unit 3 is the maximum range in which an object can be detected when the transmission wave range is not restricted by the transmission wave limiter 31 . As a result, each of the plurality of mobile devices 10A and 10B can detect the object in the wave transmission ranges 50A and 50B obtained by equally dividing the detection range, but the wave transmission ranges can be changed as appropriate.

For example, as shown in usage example 2 in FIG. 7, the detection range by the object detection unit 3 is not uniform between the moving device 10A and one or more moving devices 10B different from the moving device 10A existing in the detection range. , the transmit range 50A of the mobile device 10A may be determined. When the detection characteristics such as the detection method, detection range, and detection sensitivity of the sensor unit 4 are different among the plurality of mobile devices 10, each of the plurality of mobile devices 10 has an optimum wave transmission range according to the detection characteristics of the sensor unit 4. should be set.

8, the sensor unit 41 of the mobile device 10 is a sensor capable of detecting an object within a 360-degree range centered on the mobile device 10 within a plane parallel to the moving plane 200. It's okay. In this case, the wave transmission limiting unit 31 of the mobile device 10 sets the fan-shaped area including the range in which the mobile device 10 different from the mobile device 10 exists as the limited range 51, and sets the wave transmission range so that the limited range 51 is not included. 50 should be set.

In Embodiment 1 and Modification 1, in each of the plurality of mobile devices 10, when the object detection unit 3 detects the presence of another mobile device 10, the wave transmission limiting unit 31 limits the wave transmission range 50. , the transmission range 50 may be limited by a trigger other than detection by the object detection unit 3 . For example, when the communication unit 9 of the mobile device 10 receives a limitation request from the host system 300 or the mobile device 10 different from the mobile device 10, the transmission limiting unit 31 of the mobile device 10 limits the transmission range 50. good too.

In Embodiment 1 and Modified Example 1, when a plurality of mobile devices 10 exist around a given mobile device 10, the wave transmission limiting unit 31 of the mobile device 10 controls the plurality of mobile devices existing around the mobile device 10. A plurality of restricted areas 51 each including the device 10 may be set. Then, the transmission limiting unit 31 of the mobile device 10 may set the transmission range 50 so that the plurality of limiting ranges 51 are not included.

In the first embodiment, the moving device 10 is used for transporting the object X1, but the purpose of the moving device 10 is not limited to transporting the object X1. The mobile device 10 may be, for example, a device for transporting a person (that is, a riding device), or a device that moves without performing any transport, such as a monitoring robot or a guide robot.

Further, the control unit 2, the object detection unit 3, and the like, which are provided in the main body 1 in the first embodiment, may be provided in a place other than the main body 1. FIG. For example, some functions of the control unit 2 and the object detection unit 3 may be provided in the host system 300 or the like that can communicate with the main unit 1 .

Also, autonomous travel is not an essential function of the mobile device 10. For example, the mobile device 10 may be remotely operated by receiving an operation signal from the host system 300, a transmitter, or the like.

(summary)
A mobile device (10, 10A, 10B) of a first aspect comprises a moving main body (1), an object detection section (3) provided in the main body (1), a transmission limiting section (31), including. An object detection unit (3) transmits an investigation wave from a wave transmission unit (5), and a wave reception unit (6) receives a reflected wave of the investigation wave reflected by the object, thereby detecting the object. do. A wave transmission limiter (31) limits a wave transmission range (50, 50A, 50B) in which the wave transmitter (5) transmits the search wave.

According to the mobile device (10, 10A, 10B) of this aspect, the transmission wave limiter (31) can limit the transmission range (50, 50A, 50B) of the search wave. The mobile device (10, 10A, 10B) in which the probe wave transmitted from the wave transmitting unit (5) of the mobile device (10, 10A, 10B) exists outside the wave transmission range (50, 50A, 50B). 10B) can be reduced. Therefore, it is possible to reduce the possibility of erroneous detection occurring in the mobile devices (10, 10A, 10B).

In the mobile device (10, 10A, 10B) of the second aspect, in the first aspect, an acquisition unit (32) externally acquires restriction information regarding the restriction range (51, 51A, 51B) in which the search wave is not transmitted. further includes A wave transmission limiter (31) limits a wave transmission range (50, 50A, 50B) in which the wave transmitter (5) transmits the search wave based on the limit information.

According to this aspect, the wave transmission limiter (31) can limit the wave transmission range (50, 50A, 50B) based on the limit information acquired from the outside.

In the mobile device (10, 10A, 10B) of the third aspect, in the second aspect, the restricted range (51, 51A, 51B) is different from the mobile device (10, 10A, 10B). 10A, 10B).

According to this aspect, the wave transmission limiter (31) can limit the wave transmission range (50, 50A, 50B) based on the limit information acquired from the outside.

The mobile device (10, 10A, 10B) of the fourth aspect further includes a map information generator (21) and a map information transmitter (9) in any one of the first to third aspects. . A map information generator (21) generates map information in the wave transmission range (50, 50A, 50B) based on the detection result of the object detector (3). A map information transmission section (9) transmits the map information generated by the map information generation section (21) to the outside.

According to this aspect, there is an advantage that the map information generated by the map information generator (21) can be used in an external device or system that receives the map information from the mobile devices (10, 10A, 10B).

The mobile device (10, 10A, 10B) of the fifth aspect, in the fourth aspect, further includes a map information receiving section (9) for receiving integrated map information provided from the outside. The integrated map information integrates the map information generated by the map information generator (21) and the map information generated by the mobile devices (10, 10A, 10B) different from the mobile devices (10, 10A, 10B). Information. It moves according to the integrated map information received by the map information receiving section (9).

According to this aspect, the mobile devices (10, 10A, 10B) generate not only the map information generated by the map information generation unit (21), but also the mobile device (10 , 10A, 10B) can also be used to move.

In the mobile device (10, 10A, 10B) of the sixth aspect, in the fifth aspect, the map information transmitting section (9) transmits map information to the host system (300), and the map information receiving section (9) Integrated map information is received from the host system (300).

According to this aspect, the mobile device (10, 10A, 10B) has a transmission range (50, 50A, 50B) of the mobile device (10, 10A, 10B) generated by the host system (300). It is possible to move based on a wide range of integrated map information.

The mobile device (10, 10A, 10B) of the seventh aspect further includes a map information receiver (9) in the fourth aspect. A map information receiving unit (9) receives map information generated by a mobile device (10, 10A, 10B) different from the mobile device (10, 10A, 10B). The moving devices (10, 10A, 10B) move according to the integrated map information obtained by integrating the map information generated by the map information generating section (21) and the map information received by the map information receiving section (9).

According to this aspect, the map information receiving unit (9) of the mobile device (10, 10A, 10B) receives the map information from the mobile device (10, 10A, 10B) different from the mobile device (10, 10A, 10B). to get The map information of the mobile device (10, 10A, 10B) different from the mobile device (10, 10A, 10B) includes information other than the transmission range (50, 50A, 50B) of the mobile device (10, 10A, 10B). contains information in the range of Therefore, the mobile devices (10, 10A, 10B) can move according to a wider range of integrated map information.

In the mobile device (10, 10A, 10B) of the eighth aspect, in any one of the first to seventh aspects, the transmission range (50, 50A, 50B) is a predetermined range.

According to this aspect, the possibility of erroneous detection occurring can be reduced.

In the mobile device (10, 10A, 10B) of the ninth aspect, in any one of the first to seventh aspects, the transmission range (50, 50A, 50B) is determined by the first division method. In the first division method, the detection range by the object detection unit (3) is divided into moving devices (10, 10A, 10B) and one or more moving devices (10, 10A, 10B) that exist in the detection range and are different from the moving devices (10, 10A, 10B). It is a method of equally dividing the device (10, 10A, 10B).

According to this aspect, the possibility of erroneous detection occurring can be reduced.

In the mobile device (10, 10A, 10B) of the tenth aspect, in any one of the first to seventh aspects, the transmission range (50, 50A, 50B) is determined by the second division method. In the second division method, the detection range by the object detection unit (3) is divided into moving devices (10, 10A, 10B) and one or more moving devices (10, 10A, 10B) existing in the detection range. It is a method of unequally dividing between devices (10, 10A, 10B).

According to this aspect, the possibility of erroneous detection occurring can be reduced.

A mobile system (100) of the eleventh aspect includes a plurality of mobile devices (10, 10A, 10B) and a host system (300). Each of the plurality of moving devices (10, 10A, 10B) includes a moving main body (1), an object detection section (3) provided in the main body (1), a wave transmission limiting section (31), a map It includes an information generator (21), a map information transmitter (9), and a map information receiver (9). An object detection unit (3) transmits an investigation wave from a wave transmission unit (5), and a wave reception unit (6) receives a reflected wave of the investigation wave reflected by the object, thereby detecting the object. do. A wave transmission limiter (31) limits a wave transmission range (50, 50A, 50B) in which the wave transmitter (5) transmits the search wave. A map information generator (21) generates map information in the wave transmission range (50, 50A, 50B) based on the detection result of the object detector (3). A map information transmission section (9) transmits the map information generated by the map information generation section (21) to the host system (300). A map information receiving unit (9) receives integrated map information from a host system (300). The integrated map information integrates the map information generated by the map information generator (21) and the map information generated by the mobile devices (10, 10A, 10B) different from the mobile devices (10, 10A, 10B). Information. A host system (300) includes an integrated map information generator (311) and an integrated map information transmitter (320). An integrated map information generator (311) generates integrated map information by integrating the map information generated by the map information generators (21) of the mobile devices (10, 10A, 10B). An integrated map information transmission unit (320) transmits the integrated map information generated by the integrated map information generation unit (311) to a plurality of mobile devices (10, 10A, 10B). The moving devices (10, 10A, 10B) move according to the integrated map information received by the map information receiving section (9).

According to this aspect, the transmission wave limiter (31) of the mobile device (10, 10A, 10B) limits the transmission wave range (50, 50A, 50B), thereby reducing the possibility of erroneous detection. . Also, the mobile devices (10, 10A, 10B) move according to the integrated map information, and the integrated map information is generated by integrating the map information of the plurality of mobile devices (10, 10A, 10B). Therefore, the mobile device (10, 10A, 10B) can move according to the integrated map information including the range other than the transmission range of the mobile device (10, 10A, 10B).

A control method for a mobile device (10, 10A, 10B) according to a twelfth aspect includes a transmission range determination step, a transmission step, and a detection step. In the wave transmission range determination step, the wave transmission range (50, 50A, 50B) is determined so as to limit the wave transmission range (50, 50A, 50B) in which the wave transmitting unit (5) transmits the search wave. In the wave-transmitting step, the wave-transmitting section (5) transmits the probe wave to the wave-transmitting range (50, 50A, 50B). In the detection step, the object is detected by the wave receiving section (6) receiving the reflected wave of the search wave reflected by the object.

According to this aspect, it is possible to determine to limit the transmission range (50, 50A, 50B) of the search wave by the transmission range determination step. The mobile device (10, 10A, 10B) in which the probe wave transmitted from the wave transmitting unit (5) of the mobile device (10, 10A, 10B) exists outside the wave transmission range (50, 50A, 50B) ) is less likely to be received by mobile devices (10, 10A, 10B). Therefore, it is possible to reduce the possibility of erroneous detection occurring in the mobile devices (10, 10A, 10B).

A program according to a thirteenth aspect is a program for causing a computer system to execute a wave transmission range determination step, a wave transmission step, and a detection step. In the wave transmission range determination step, the wave transmission range (50, 50A, 50B) is determined so as to limit the wave transmission range (50, 50A, 50B) in which the wave transmitting unit (5) transmits the search wave. In the wave-transmitting step, the probe wave is transmitted from the wave-transmitting section (5) to the wave-transmitting ranges (50, 50A, 50B). In the detection step, the object is detected by the wave receiving section (6) receiving the reflected wave of the search wave reflected by the object.

According to this aspect, it is possible to determine to limit the transmission range (50, 50A, 50B) of the search wave by the transmission range determination step. The mobile device (10, 10A, 10B) in which the probe wave transmitted from the wave transmitting unit (5) of the mobile device (10, 10A, 10B) exists outside the wave transmission range (50, 50A, 50B) ) is less likely to be received by mobile devices (10, 10A, 10B). Therefore, it is possible to reduce the possibility of erroneous detection occurring in the mobile devices (10, 10A, 10B).

REFERENCE SIGNS LIST 1 main unit 3 object detection unit 5 wave transmission unit 6 wave reception unit 9 communication unit (map information transmission unit, map information reception unit)
10, 10A, 10B mobile device 21 map information generation unit 31 transmission limiter 32 acquisition unit 50, 50A, 50B transmission range 51, 51A, 51B limit range 100 mobile system 300 host system 311 integrated map information generation unit 320 communication unit (Integrated map information transmission unit)

Claims (7)

A moving device including a moving main body,
an object detection unit provided in the main body for transmitting a search wave from a wave transmission unit and detecting the object by receiving a reflected wave of the search wave reflected by the object by a wave receiving unit; ,
a wave transmission limiter that limits a wave transmission range, which is an angle range in which the wave transmission unit transmits the search wave;
an acquisition unit that acquires, from the outside, restriction information regarding a restriction range in which the search wave is not transmitted;
The transmission limiter limits the transmission range based on the limit information,
The limited range is an angular range including a position where a moving device different from the moving device exists ,
a map information generation unit that generates first map information in the transmission range based on the detection result of the object detection unit;
a map information transmission unit that transmits the first map information generated by the map information generation unit to the outside;
a map information receiving unit that receives second map information generated by a mobile device different from the mobile device.
the second map information generated by a mobile device different from the mobile device includes map information of at least part of the restricted range;
move in accordance with integrated map information obtained by integrating the first map information generated by the map information generation unit and the second map information received by the map information reception unit;
mobile device. further comprising the map information receiving unit for receiving integrated map information provided from the outside,
The integrated map information is information obtained by integrating the first map information generated by the map information generation unit and the second map information generated by a mobile device different from the mobile device,
Move according to the integrated map information received by the map information receiving unit
The mobile device of claim 1 . The map information transmission unit transmits the first map information to a host system,
The map information receiving unit receives the integrated map information from the host system.
3. A mobile device according to claim 2. the transmission range is a predetermined range
A mobile device according to any one of claims 1 to 3. The transmission range is determined by equally dividing the detection range by the object detection unit between the mobile device and one or more mobile devices existing in the detection range and different from the mobile device.
A mobile device according to any one of claims 1 to 3. The transmission range is determined by unequally dividing a detection range by the object detection unit between the mobile device and one or more mobile devices existing in the detection range and different from the mobile device.
A mobile device according to any one of claims 1 to 3. A mobile system including a plurality of mobile devices and a host system,
each of the plurality of mobile devices,
a moving main body;
an object detection unit provided in the main body for transmitting a search wave from a wave transmission unit and detecting the object by receiving a reflected wave of the search wave reflected by the object by a wave receiving unit; ,
an acquisition unit that externally acquires restriction information regarding a restriction range, which is an angular range in which the search wave is not transmitted and includes a position in which a mobile device different from each of the plurality of mobile devices exists;
a transmission wave limiting unit that limits a wave transmission range, which is an angular range in which the wave transmission unit transmits the search wave, based on the limit information;
a map information generation unit that generates first map information in the transmission range based on the detection result of the object detection unit;
a map information transmission unit configured to transmit the first map information generated by the map information generation unit to the host system;
A map that receives, from the host system, integrated map information obtained by integrating the first map information generated by the map information generating unit and the second map information generated by a mobile device different from each of the plurality of mobile devices. an information receiving unit;
the second map information generated by a mobile device different from each of the plurality of mobile devices includes map information of at least a portion of the restricted range;
The upper system is
an integrated map information generator for generating the integrated map information by integrating the map information generated by the map information generators of the plurality of mobile devices;
an integrated map information transmission unit configured to transmit the integrated map information generated by the integrated map information generation unit to the plurality of mobile devices.
Each of the plurality of moving devices moves according to the integrated map information received by the map information receiving unit.
A moving system characterized by:

Images