JP7153747B2 - Control systems, control methods, programs and sheet sets - Google Patents

Description

The present invention relates to a control system, control method, program and sheet set.

There is a system in which multiple sheets on which coordinate patterns are printed are arranged and a self-propelled device reads the patterns to control the movement of the trolley.

Patent Document 1 discloses that a plurality of mats are arranged and a self-propelled device runs on the mats.

WO2018/025467

When creating a system that avoids obstacles on multiple sheets arranged side by side, it is conceivable to freely combine multiple sheets in order to obtain a running environment that is not monotonous. However, in this case, since the seat arrangement is not known, it becomes difficult to grasp where and what kind of driving environment there is. Further, if the user inputs the layout of the sheets in advance, the burden on the user is heavy.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to more easily manage a map according to the arrangement of a plurality of sheets when a plurality of sheets are arranged in combination.

In order to solve the above problems, a control system according to the present invention includes a plurality of sheets on which a coordinate-encoded pattern is printed and arranged, a moving body, and coordinates generated from the pattern read by the moving body. sheet movement detection means for detecting the movement of the moving body from above the previous sheet to above the current sheet based on the acquired coordinates; and above the current sheet is detected, the relative position of the current sheet with respect to the previous sheet is detected based on the coordinates acquired with respect to the movement to the current sheet, and the detected relative position of the map updating means for updating a map showing the arrangement of the plurality of seats based on the positions; and movement control means for controlling the movement of the moving body based on the map.

Further, according to the present invention, there is provided a control method for a system including a plurality of sheets on which patterns encoded with coordinates are printed and arranged, and a moving body, and obtaining coordinates generated from the pattern read by the moving body. detecting movement of the moving body from above the previous sheet to above the current sheet based on the acquired coordinates; and detecting movement of the moving body above the current sheet. detecting the relative position of the current sheet with respect to the previous sheet based on the coordinates obtained for movement to the current sheet; A step of updating a map indicating the arrangement of seats, and a step of controlling the operation of the moving body based on the map.

Further, the program according to the present invention includes coordinate acquisition means for acquiring coordinates generated from a pattern read by a moving body on one of a plurality of sheets arranged and printed with patterns having encoded coordinates; Sheet movement detection means for detecting movement of a moving body from above the previous sheet to above the current sheet based on the acquired coordinates, when movement of the moving body above the current sheet is detected detecting the relative position of the current sheet with respect to the previous sheet based on the coordinates obtained for movement to the current sheet; and detecting the relative positions of the plurality of sheets based on the detected relative positions. The computer is caused to function as map updating means for updating a map showing the arrangement and movement control means for controlling the movement of the moving object based on the map.

Further, the sheet set according to the present invention includes a plurality of sheets printed with a coordinate-encoded pattern, arranged side by side, and on which a moving body travels. When the movement of the moving body from one of the plurality of sheets onto another sheet is detected by the coordinates generated by reading the pattern, the coordinates generated regarding the movement to the other sheet are generated. A map indicating the arrangement of the plurality of sheets and used for controlling the moving body is updated based on the relative position of the other sheet with respect to the one sheet, which is obtained according to the coordinates obtained.

According to the present invention, when a plurality of sheets are arranged in combination, a map corresponding to the arrangement of the plurality of sheets can be managed more easily.

In one aspect of the present invention, the map updating means stores information about an object on the current sheet stored in association with the current sheet when a movement of the moving body onto the current sheet is detected. and updating the map based on the detected relative position and the obtained information of the object.

In one aspect of the present invention, the control system acquires information about events associated with a plurality of seats on which the moving object currently travels or is placed in the map, and the acquired event information may further include event control means for executing a process according to any one of the information.

In one aspect of the present invention, the control system includes a piece printed with a pattern encoded with coordinates different from those of the plurality of sheets and arranged to be connected to the sheets, and a pattern read by the moving body. are coordinates on the piece, the conversion means converts the coordinates to coordinates on the sheet based on a conversion rule, wherein the conversion means converts the coordinates generated from Determining the conversion rule for converting the coordinates on the piece to the coordinates on the sheet when the coordinates generated from the read pattern change from the coordinates on the plurality of sheets to the coordinates on the piece. good too.

It is a figure which shows an example of the control system concerning embodiment of this invention. It is a figure which shows the hardware constitutions of a control system. It is a figure which shows an example of a truck. It is a figure which shows an example of the sheet|seat in which a trolley is arrange|positioned. FIG. 4 is a diagram showing an example of assignment of sheets to coordinate space; 3 is a block diagram showing functions realized by the control system; FIG. FIG. 4 is a flow chart showing an example of processing of the control system; It is a figure explaining the movement between the seats of a trolley. It is a figure which shows an example of the map updated by movement of a trolley. FIG. 11 is a diagram showing another example of updated maps; It is a figure explaining exchange of a sheet|seat. FIG. 10 is a diagram illustrating updating of a map when a sheet is replaced; FIG. 10 is a flowchart showing an example of processing by an event management unit; It is a figure which shows an example of event information. It is a figure which shows an example of the piece stuck on the sheet|seat. FIG. 5 is a flow diagram showing an example of processing of a coordinate conversion unit;

An embodiment of the present invention will be described below with reference to the drawings. Those appearing components having the same function are denoted by the same reference numerals, and the description thereof is omitted. In an embodiment of the present invention, a self-propelled mobile device travels on a plurality of sheets according to user's operation.

FIG. 1 is a diagram showing an example of a control system according to an embodiment of the invention. The control system according to the present invention includes a device control device 10, carriages 20a and 20b, a controller 17, and a cartridge 18. Carriages 20a and 20b are self-propelled mobile devices with cameras 24 and both have the same functionality. These carriages 20a and 20b are hereinafter referred to as carriages 20 unless otherwise specified. The device control device 10 controls the cart 20 via radio. The device control apparatus 10 has a recess 32 , and when the carriage 20 is fitted into the recess 32 , the device control apparatus 10 charges the carriage 20 . The controller 17 is an input device that acquires user's operations, and is connected to the device control device 10 by a cable. The cartridge 18 incorporates non-volatile memory.

FIG. 2 is a diagram showing an example of the hardware configuration of the control system according to the embodiment of the invention. The device control device 10 includes a processor 11 , a storage section 12 , a communication section 13 and an input/output section 14 . Carriage 20 includes processor 21 , storage unit 22 , communication unit 23 , camera 24 and two motors 25 . The device control device 10 may be a dedicated device optimized for controlling the carriage 20, or may be a general-purpose computer.

The processor 11 operates according to programs stored in the storage unit 12 and controls the communication unit 13, the input/output unit 14, and the like. The processor 21 operates according to programs stored in the storage unit 22, and controls the communication unit 23, the camera 24, the motor 25, and the like. The program is stored in a computer-readable storage medium such as a flash memory in the cartridge 18 and provided, but may be provided via a network such as the Internet.

The storage unit 12 is composed of a DRAM and a non-volatile memory built in the device control device 10, a non-volatile memory in the cartridge 18, and the like. The storage unit 22 is composed of a DRAM, a nonvolatile memory, and the like. Storage units 12 and 22 store the above programs. The storage units 12 and 22 store information and calculation results input from the processors 11 and 21, the communication units 13 and 23, and the like.

The communication units 13 and 23 are composed of integrated circuits, antennas, and the like for communicating with other devices. The communication units 13 and 23 have a function of communicating with each other according to, for example, the Bluetooth (registered trademark) protocol. Under the control of processors 11 and 21, communication units 13 and 23 input information received from other devices to processors 11 and 21 and storage units 12 and 22, and transmit information to other devices. Note that the communication unit 13 may have a function of communicating with other devices via a network such as a LAN.

The input/output unit 14 includes a circuit that acquires information from an input device such as the controller 17, and a circuit that controls output devices such as an audio output device and an image display device. The input/output unit 14 acquires an input signal from an input device and inputs information obtained by converting the input signal to the processor 11 and the storage unit 12 . Further, the input/output unit 14 causes the speaker to output the sound and the display device to output the image based on the control of the processor 11 or the like.

The motor 25 is a so-called servomotor whose rotation direction, rotation amount and rotation speed are controlled by the processor 21 . One wheel 254 is assigned to each of the two motors 25 , and the motor 25 drives the assigned wheel 254 .

The camera 24 is arranged to photograph the area below the carriage 20, and photographs the pattern printed on the sheet 31 or piece 33 (see FIGS. 4 and 15) on which the carriage 20 is placed. In this embodiment, the sheet 31 and piece 33 are printed with a pattern that can be recognized in the infrared frequency range, and the camera 24 captures the infrared image.

FIG. 3 is a diagram showing an example of the truck 20. As shown in FIG. FIG. 3 is a bottom view of the truck 20. As shown in FIG. Truck 20 further includes power switch 250 , switch 222 and two wheels 254 .

FIG. 4 is a diagram showing an example of a seat 31 on which the carriage 20 is arranged. The plurality of sheets 31 are arranged so as to be in contact with each other at their boundaries when viewed two-dimensionally. Each of the plurality of sheets 31 is printed with an image that can be visually recognized by the user, and further printed with a pattern that can be photographed by the camera 24 .

The pattern printed on the sheet 31 or the like will be described in more detail. Unit patterns of a predetermined size (for example, 0.2 mm square) are arranged in a matrix on the sheet 31 . Each unit pattern is an image in which the coordinates of the position where the pattern is arranged are encoded. The sheet 31 is assigned an area corresponding to the size of the sheet 31 in the coordinate space that can be represented by the encoded coordinates.

FIG. 5 is a diagram showing an example of assignment of the sheets 31 to the coordinate space. As shown in FIG. 5, the coordinate areas of each sheet 31 are assigned so as to be spread out within the coordinate space.

In the control system according to this embodiment, the camera 24 of the cart 20 captures a unit pattern printed on the sheet 31 or the like, and the cart 20 or the device control device 10 decodes the unit pattern to obtain coordinates. Thereby, the position of the carriage 20 on the seat 31 or the like is recognized. The cart 20 or the device control device 10 also calculates the orientation of the cart 20 by detecting the orientation of the unit pattern in the image captured by the camera 24 .

In this embodiment, by using the pattern printed on the sheet 31 or the like, the position of the carriage 20 on the sheet 31 or the like can be recognized with high accuracy without using another device such as a stereo camera.

On the plurality of sheets 31, as images that can be visually recognized by the user, a course along which the trolley 20 can travel, and objects such as a fire station 41, a police station 42, a house 43, and a warehouse 44 are printed. In this control system, the user operates the controller 17, and the carriage 20 runs on the seat 31 according to the operation. The device control device 10 also controls the truck 20 so that it does not run outside the course, and operates according to objects such as the fire station 41 . In place of the course, a prohibited area in which the truck 20 cannot travel may be printed.

In this embodiment, when a plurality of seats 31 are arranged and the carriage 20 is placed on one of them, the control system can determine how the plurality of seats 31 are arranged and how the seats 31 are arranged. does not recognize where the course and objects are arranged, but recognizes their arrangement according to the movement of the carriage 20.例文帳に追加The operation of this control system will be described below.

FIG. 6 is a block diagram showing functions realized by the control system. The control system functionally includes a current position acquisition unit 51, a seat identification unit 52, a map update unit 53, a travel control unit 54, an event management unit 55, a coordinate conversion unit 56, a seat information storage unit 61, and an event information storage unit 62. including. The current position acquisition unit 51, the seat identification unit 52, the map update unit 53, the travel control unit 54, the event management unit 55, and the coordinate conversion unit 56 are mainly stored in the storage unit 12 by the processor 11 included in the device control device 10. It is implemented by executing a program to control the carriage 20 via the communication unit 13 . Some of the functions such as the current position acquisition unit 51 are such that the processor 21 included in the cart 20 executes a program stored in the storage unit 22 and exchanges data with the device control device 10 via the communication unit 23. , the camera 24 and the motor 25 are controlled. The sheet information storage section 61 and the event information storage section 62 are implemented by the storage section 12 included in the device control device 10 . The sheet information storage unit 61 is a kind of database that stores information about each of the plurality of sheets 31 , and the event information storage unit 62 is a kind of database that stores information on events associated with the sheets 31 .

The current position acquisition unit 51 recognizes a pattern in which coordinates are encoded from the image captured by the camera 24, and detects the coordinates at which the truck 20 is positioned and the orientation of the truck 20 from the coordinates indicated by the pattern.

The seat identification unit 52 identifies the seat 31 on which the carriage 20 is currently traveling based on the acquired coordinates. Also, the sheet specifying unit 52 detects whether or not the carriage 20 has moved from the previous sheet 31 to the current sheet 31 based on the acquired coordinates.

When it is detected that the carriage 20 has moved from the previous seat 31 to the current seat 31, the map updating unit 53 updates the current seat relative to the previous seat 31 based on the coordinates acquired before and after the movement. The relative positions of the seats 31 are detected, and a map showing the placement of the plurality of seats 31 is updated based on the relative positions. The map contains information of objects placed on a plurality of sheets 31 whose placement is stored in the map. When it is detected that the carriage 20 has moved from the previous seat 31 to the current seat 31, the map update unit 53 updates the map on the seat 31 stored in association with the current seat 31 in the seat information storage unit 61. Obtaining information of the object and updating the information of the object in the map based on the detected relative position and the obtained information of the object.

The travel control unit 54 controls the motion of the truck 20 based on the coordinates of the truck 20 and the map.

The event management unit 55 acquires event information associated with a plurality of seats 31 on which the carriage 20 has traveled at present or in the past and is arranged in the map, and responds to any of the acquired event information. Execute the process.

When the detected coordinates of the carriage 20 are not within the sheet 31, the coordinate conversion unit 56 converts the coordinates to coordinates with the sheet 31 as a reference based on the conversion rule, and also converts the orientation based on the conversion rule. to convert.

The processing performed by this control system will be described in more detail below. FIG. 7 is a flow diagram showing an example of processing of the control system.

First, the current position acquisition unit 51 acquires the current coordinates and orientation of the cart 20 based on the pattern captured by the camera 24 (step S101).

Next, the seat specifying unit 52 specifies the seat 31 on which the carriage 20 is currently traveling based on the acquired coordinates (step S102). More specifically, the sheet specifying unit 52 determines whether the obtained coordinates are included in the area among a plurality of areas assigned to the sheet 31 in the coordinate space, and determines whether the determined area corresponds to the determined area. The seat 31 to be moved is specified as the seat 31 currently traveling. The seat identification unit 52 also determines whether the seat 31 on which the carriage 20 is currently traveling has changed from the most recently identified seat 31 (step S103).

If the seat 31 on which the carriage 20 is traveling has changed (Y in step S103), the map update unit 53 updates the coordinates last acquired for the previous seat 31 and the coordinates acquired for the current seat 31 , the relative positions of the previous sheet 31 and the current sheet 31 are specified (step S104). Here, in addition to the above two coordinates, the map update unit 53 updates the orientation of the carriage 20 on the previous seat 31 or the current seat 31, and the time from the acquisition of the previous coordinates to the acquisition of the current coordinates. A relative position may be detected based on the amount of rotation of the motor 25 .

Further, the map updating unit 53 acquires the information of the object and course placed on the current sheet 31 from the sheet information storage unit 61, and updates the map stored in the storage unit 12 (step S105). Here, the map includes sheet layout information, object layout information, and course information. The sheet arrangement information is information indicating the arrangement of the plurality of seats 31 on which the carriage 20 has traveled so far and which are arranged side by side. The object placement information is information indicating the placement of objects on the plurality of sheets 31 . The course information is information indicating courses that can be traveled on the plurality of seats 31 . If the seat 31 on which the carriage 20 is traveling does not change (N in step S103), the processing in steps S104 and S105 is skipped.

Then, based on the coordinates of the carriage 20, the traveling control unit 54 determines whether the carriage 20 has reached the object arranged in the map (step S106). Whether or not the carriage 20 has arrived may be determined by whether or not the coordinates of the carriage 20 are within the determination area corresponding to the object. The determination area may be the area of the object to be printed, the area surrounding the object, or the area in the course adjacent to the object.

When the coordinates of the carriage 20 indicate that the carriage 20 has reached the object (Y in step S106), the travel control unit 54 controls the carriage 20 to perform a motion determined according to the object ( step S107). If the coordinates of the carriage 20 do not indicate that the carriage 20 has reached the object (N in step S106), the travel control unit 54 skips step S107. The travel control unit 54 also moves the truck 20 based on the position of the truck 20 on the course and the input from the controller 17 (step S108).

An example of map updating is further described. FIG. 8 is a diagram for explaining movement of the carriage 20 between the seats 31. As shown in FIG. In the example of FIG. 8, the truck 20 moves from the seat 31a to the seat 31b where the fire station 41 is arranged. FIG. 9 is a diagram showing an example of a map updated by movement of the carriage 20. As shown in FIG. In FIG. 9, the seat 31a is placed in the map before the carriage 20 moves to the seat 31b. As the carriage 20 moves to the seat 31b, the map updating unit 53 updates the map so as to reflect the information of the seat 31b indicated by the dashed-dotted line. Information on the fire station 41 arranged on the sheet 31b and information on courses that can be traveled on the sheet 31b (in the example of FIG. 8, an area without any objects) are also reflected in the map.

The map updating unit 53 may obtain the relative position of the sheet 31b with respect to the sheet 31a on the assumption that the side of the sheet 31a that is the source of movement and the side of the destination of the sheet 31b that is the movement destination are adjacent to each other. The side of the movement source is the side of the sheet 31a that is closest to the coordinates (source coordinates) detected last on the sheet 31a, and the side of the movement destination is the coordinates (destination coordinates) detected first on the sheet 31b. is the side of sheet 31b closest to . The map updating unit 53 also detects the orientation of the sheet 31b based on the adjacent sides, and updates the map based on the relative position and orientation.

In this way, by updating the map based on the change in the coordinates when moving from one sheet 31 to another sheet 31, the map can be managed without requiring the user to input the layout of the sheets 31, and the map can be displayed. It becomes possible to control the truck 20 using In addition, since the map includes information such as objects as well as simple courses, it is possible to increase variations in movement and operation of the trolley 20 .

FIG. 10 is a diagram showing another example of updated maps. FIG. 10 shows an example in which parts of the mutually facing sides of the sheets 31c and 31d face each other. As shown in FIG. 10 , the map updating unit 53 may calculate the relative positions by considering the case where only part of the mutually facing sides of the two sheets 31 are adjacent to each other. In this case, the map update unit 53 may obtain the relative position of the sheet 31d such that the point indicated by the source coordinates and the point indicated by the destination coordinates are opposed to each other across the sides of the sheets 31c and 31d. Further, the map updating unit 53 may obtain the predicted position from the position indicated by the movement source coordinates, and obtain the relative position so that the position indicated by the movement destination coordinates and the predicted position match. Here, the map updating unit 53 obtains a position moved in the direction of the cart 20 by a distance indicated by the rotation amount of the motor 25 from the acquisition of the movement source coordinates to the acquisition of the movement destination coordinates as the predicted position.

Further, when the seat 31 reflected on the map after running once is replaced and then the replaced seat 31 is traveled, the map updating unit 53 updates the information on the seat 31 before replacement with the information on the seat 31 after replacement. can be overwritten with

11A and 11B are diagrams for explaining replacement of the seat 31. FIG. FIG. 12 is a diagram for explaining how the map is updated when the seat 31 is replaced. FIG. 11 is a diagram showing a state in which the carriage 20 has returned to the seat 31a after the state shown in FIG. 8, and the seat 31b has been replaced with the seat 31g. If the sheet 31g whose relative position is determined by detecting the movement of the carriage 20 between the sheets 31 overlaps another sheet 31b that already exists in the map, the map updating unit 53 updates the sheet 31g. After deleting the sheet arrangement information on the seat 31b, the object position information, and the course information from the map, the map is updated with information on the new seat 31g. As a result, it is possible to prevent erroneous execution of processing based on sheets 31b that are not actually arranged due to replacement.

Further, when the sheet 31 to be newly arranged in the map has already been arranged in another part of the map, the map updating section 53 can delete the information about the already arranged sheet 31. good. This is because if there is no sheet 31 to which the same coordinate area is assigned, the sheet 31 is newly arranged. However, if there can be a plurality of sheets 31 to which the same coordinate area is assigned, this deletion process need not be performed.

Next, event management based on the arrangement of the sheets 31 will be described. FIG. 13 is a flowchart showing an example of processing by the event management unit 55. As shown in FIG. The event management unit 55 acquires a list of valid events based on the information stored in the map (step S201).

FIG. 14 is a diagram showing an example of event information stored in the event information storage unit 62. As shown in FIG. In the example of FIG. 14, events are stored in association with objects. The objects associated with an event are the objects required by that event. For each event stored in the event information storage unit 62, the event management unit 55 puts the event into a valid event list when all objects associated with the event are arranged in the map as object placement information. Add to In the example of FIG. 14, for example, the event "fire" is valid when the fire station 41 and the house 43 are arranged in the map. Event “fire” is an event that requires fire station 41 and house 43 .

Since the objects are arranged on the sheet 31 and associated with each other, it can be said that the event is associated with the map. Also, events may be associated directly with maps rather than objects. In this case, the event management unit 55 adds the event to the valid event list when the sheet 31 associated with the event is arranged in the map. Note that the event management unit 55 does not have to add already executed events to the valid event list.

When the valid event list is obtained, the event management unit 55 selects one event from one or more events belonging to the list (step S202). Here, an event may be selected randomly, or none of the events may be selected. The event management unit 55 then executes the program of the selected event (step S203).

As a result, one of the events in which the necessary objects are arranged on the map can be executed at some timing. In addition, since the event that occurs when the user arranges the sheets 31 changes, it is possible to prevent the user from feeling monotonous.

Although the arrangement of the sheet 31 has been described so far, a piece 33 smaller than the sheet 31 may be arranged so as to be connected to the sheet 31 . FIG. 15 is a diagram showing an example of the piece 33 attached on the sheet 31. As shown in FIG. The piece 33 is, for example, a sticker and is attached onto the sheet 31 . Thereby, the area on the sheet 31 and the piece 33 are connected. In the example of FIG. 15, the piece 33 is attached so as to overlap the boundary between the sheet 31i and the sheet 31j.

Piece 33 is assigned a coordinate area different from sheet 31 . When the truck 20 is traveling on the piece 33, the traveling control unit 54 may execute control using the relative position of the object on the sheet 31 and the course. In this case, it is difficult to control if the coordinates on the piece 33 are used as they are. Therefore, the coordinate conversion unit 56 converts the coordinates on the piece 33 acquired by the current position acquisition unit 51 into coordinates on the sheet 31, and inputs the converted coordinates as the coordinates used by the travel control unit 54. FIG. The conversion will be described below.

FIG. 16 is a flow chart showing an example of processing of the coordinate conversion section 56. As shown in FIG. First, it is determined whether the coordinates acquired from the pattern by the current position acquisition unit 51 are the coordinates on the piece 33 (step S301). More specifically, the coordinate conversion unit 56 determines that the obtained coordinates are coordinates on the piece 33 when the obtained coordinates are within the coordinate area assigned to the piece 33 . Here, if the coordinates obtained from the pattern are not the coordinates on the piece 33 (N in step S301), the processing ends without performing the following processing.

If the coordinates obtained from the pattern are the coordinates on the piece 33 (Y in step S301), the coordinate conversion unit 56 determines whether the coordinate conversion rule has already been determined for the piece 33 (step S302). .

If the coordinate conversion rule has not been determined (N in step S302), the coordinate conversion unit 56 converts the coordinates on the piece 33 to the sheet 33 based on the latest coordinates on the sheet 31 and the current coordinates on the piece 33. A conversion rule for conversion to coordinates on 31 is determined (step S303). If the coordinate conversion rule has already been determined for this piece 33 (Y in step S302), the process of step S303 is skipped.

The determination of the conversion rule in step S303 will be further described. In the following description, it is assumed that the source coordinates are the coordinates on the last detected sheet 31 and the destination coordinates are the coordinates on the piece 33 that is first acquired. Based on the position indicated by the source coordinates, the orientation of the carriage 20, and the amount of rotation of the motor 25 from the acquisition of the source coordinates to the acquisition of the destination coordinates, the coordinate conversion unit 56 temporarily converts the position on the sheet 31. Calculate the predicted coordinates of the current position when traveling The coordinate conversion unit 56 calculates the tilt of the sticker with respect to the sheet 31 based on the position indicated by the predicted coordinates and the position indicated by the destination coordinates matching and the change in orientation from the orientation at the destination coordinates to the orientation at the destination coordinates. A transformation formula for coordinates is generated so that is reflected, and the transformation formula is determined as a transformation rule.

When the conversion rule is determined, the coordinate conversion unit 56 converts the current coordinates into coordinates on the sheet 31 based on the determined conversion rule (step S304). As a result, even when traveling on the pieces 33, it is possible to control the movement of the carriage 20 in consideration of the objects on the sheet 31, the course, and the like.

Here, the piece 33 may be connected so as to be laterally adjacent to the sheet 31 . In this case, the sheet 31 may be provided with a mating portion having approximately the same thickness as the sheet 31 and into which the piece 33 is fitted. The fitting portion may be an opening provided in the sheet 31 and having a shape corresponding to the piece 33 , or may be provided at an end portion of the sheet 31 in plan view and having a shape corresponding to a part of the piece 33 . It may be uneven.

In this case, the mating portion limits the degree of freedom in relative position and orientation. Therefore, the coordinate transformation unit 56 may determine the transformation rule by selecting the parameters of the transformation formula based on the movement source coordinates and the movement destination coordinates. For example, the coordinate transformation unit 56 may determine the parameters of the transformation formula corresponding to the piece 33 (for example, the coordinates and orientation of the reference position within the piece 33) depending on which piece 33 the movement destination coordinates are assigned to. In addition, the coordinate conversion unit 56 determines the parameters of the conversion formula corresponding to the matching portion (for example, the sheet 31 at the position corresponding to the reference position of the piece 33) depending on which matching portion the movement source coordinates are included in. ) may be determined. If the orientation of the coordinate axes on the sheet 31 and the orientation of the coordinate axes on the piece 33 can be regarded as the same due to the fitting portion, the orientation may be omitted as a parameter.

A coordinate system common to the plurality of sheets 31 arranged in the map may be used for the control of the travel control unit 54 . In this case, when the map update unit 53 updates the map for the new sheet 31, the coordinate conversion unit 56 converts the coordinates on the new sheet 31 to the coordinates on the map, as in the case of the piece 33. A conversion formula may be determined. Alternatively, the coordinate conversion section 56 may directly convert the coordinates on the piece 33 to the coordinates on the map.

Claims (8)

a plurality of sheets on which coordinate-encoded patterns are printed and arranged;
a mobile object;
Coordinate acquisition means for acquiring coordinates generated from the pattern read by the moving object;
sheet movement detection means for detecting movement of the moving body from above the previous sheet to above the current sheet based on the acquired coordinates;
Detecting the relative position of the current sheet with respect to the previous sheet based on the coordinates obtained for movement to the current sheet when movement of a moving body over the current sheet is detected. , map updating means for updating a map indicating the arrangement of the plurality of sheets based on the detected relative positions;
a movement control means for controlling the movement of the moving object based on the map;
including
The map updating means acquires information on the object on the detected sheet stored in association with the current sheet when movement of the moving object onto the current sheet is detected, and updating a map based on the obtained relative position and the obtained information of the object;
control system. a plurality of sheets on which coordinate-encoded patterns are printed and arranged;
a mobile object;
Coordinate acquisition means for acquiring coordinates generated from the pattern read by the moving object;
sheet movement detection means for detecting movement of the moving body from above the previous sheet to above the current sheet based on the acquired coordinates;
Detecting the relative position of the current sheet with respect to the previous sheet based on the coordinates obtained for movement to the current sheet when movement of the moving body over the current sheet is detected. , map updating means for updating a map showing the arrangement of the plurality of sheets based on the detected relative positions;
a movement control means for controlling the movement of the moving object based on the map;
a piece on which a pattern encoded with coordinates different from those of the plurality of sheets is printed and arranged so as to be connected to the sheets;
conversion means for converting the coordinates to the coordinates on the sheet based on a conversion rule when the coordinates generated from the pattern read by the moving body are the coordinates on the piece;
When the coordinates generated from the pattern read by the moving body change from the coordinates on the plurality of sheets to the coordinates on the piece, the conversion means converts the coordinates on the piece to the coordinates on the sheet. determining the conversion rule to convert;
control system. In the control system according to claim 1 or 2,
Acquiring event information associated with a plurality of sheets arranged in the map on which the moving object currently travels or in the past, and performing processing according to any of the acquired event information further comprising an event control means for executing
control system. A control method for a system including a plurality of sheets on which a coordinate-encoded pattern is printed and arranged, and a moving body,
obtaining coordinates generated from the pattern read by the moving object;
detecting movement of a moving body from above the previous sheet to above the current sheet based on the obtained coordinates;
Detecting the relative position of the current sheet with respect to the previous sheet based on the coordinates obtained for movement to the current sheet when movement of the moving body over the current sheet is detected. , updating a map indicating the placement of the plurality of seats based on the detected relative positions;
controlling the movement of the moving object based on the map;
including
When movement of the moving object above the current sheet is detected, information about an object on the sheet stored in association with the current sheet is acquired, and the detected relative position and the the map is updated based on the retrieved object information, or
A piece printed with a pattern in which the coordinates generated from the pattern read by the moving body are different from those of the plurality of sheets, the piece being arranged so as to be connected to the sheet. If the coordinates are coordinates, the coordinates are converted to the coordinates on the sheet based on the conversion rule, and the coordinates generated from the pattern read by the moving body are converted from the coordinates on the plurality of sheets to the coordinates on the piece. , the conversion rule is determined to convert the coordinates on the piece to the coordinates on the sheet,
control method. Coordinate acquisition means for acquiring coordinates generated from a pattern read by a moving body on one of a plurality of sheets on which a coordinate-encoded pattern is printed and arranged;
sheet movement detection means for detecting movement of the moving body from above the previous sheet to above the current sheet based on the acquired coordinates;
Detecting the relative position of the current sheet with respect to the previous sheet, based on the coordinates obtained for the movement to the current sheet, when the movement of the moving body above the current sheet is detected. map updating means for updating a map showing the arrangement of the plurality of seats based on the detected relative positions;
movement control means for controlling the movement of the moving body based on the map;
make the computer function as
The map updating means acquires information of an object on the detected sheet stored in association with the current sheet when movement of the moving object onto the current sheet is detected, and updating a map based on the obtained relative position and the obtained information of the object;
program. Coordinate acquisition means for acquiring coordinates generated from a pattern read by a moving body on one of a plurality of sheets on which a coordinate-encoded pattern is printed and arranged;
sheet movement detection means for detecting movement of the moving body from above the previous sheet to above the current sheet based on the acquired coordinates;
Detecting the relative position of the current sheet with respect to the previous sheet, based on the coordinates obtained for the movement to the current sheet, when the movement of the moving body above the current sheet is detected. map updating means for updating a map showing the arrangement of the plurality of sheets based on the detected relative positions;
movement control means for controlling the movement of the moving body based on the map; and
A piece printed with a pattern in which coordinates generated from the pattern read by the moving body are different from those of the plurality of sheets, the piece being arranged so as to be connected to the sheet. conversion means for converting the coordinates into coordinates on the sheet based on a conversion rule when the coordinates are coordinates;
make the computer function as
When the coordinates generated from the pattern read by the moving body change from the coordinates on the plurality of sheets to the coordinates on the piece, the conversion means converts the coordinates on the piece to the coordinates on the sheet. determining the conversion rule to convert;
program. A sheet set including a plurality of sheets printed with a coordinate-encoded pattern, arranged side by side, and on which a moving object travels,
When the movement of the moving body from one of the plurality of sheets onto another sheet is detected by the coordinates generated by reading the pattern, the coordinates generated regarding the movement to the other sheet are generated. of the plurality of sheets based on the relative position of the other sheet with respect to the one sheet obtained according to the coordinates obtained according to the coordinates of the plurality of sheets, and the information of the object on the sheet stored in association with the other sheet. updating a map indicating placement and used to control the vehicle;
sheet set. A sheet set including a plurality of sheets printed with a coordinate-encoded pattern, arranged side by side, and on which a moving object travels,
When the movement of the moving body from one of the plurality of sheets onto another sheet is detected by the coordinates generated by reading the pattern, the coordinates generated regarding the movement to the other sheet are generated. updating a map indicating the arrangement of the plurality of sheets and used for controlling the moving body based on the relative position of the other sheet with respect to the one sheet, which is obtained according to the coordinates obtained according to the
A piece printed with a pattern in which coordinates generated from the pattern read by the moving body are different from those of the plurality of sheets, the piece being arranged so as to be connected to the sheet. If the coordinates are coordinates, the coordinates are converted to coordinates on the sheet based on the conversion rule,
When the coordinates generated from the pattern read by the moving body change from the coordinates on the plurality of sheets to the coordinates on the piece, the conversion rule converts the coordinates on the piece to the coordinates on the sheet. is determined,
sheet set.

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