JP7155216B2 - Mobile body control device and control method - Google Patents

Description

The present invention relates to a mobile body control device and control method.

Various technologies are available for AGV (Automated Guided Vehicle), which is mainly used for industrial purposes and is a mobile body (vehicle) that can run (move) autonomously without human operation. Proposed. In autonomous movement of AGVs, maps created from images taken by cameras are often used for route planning. Such image-based map representation is suitable for route planning because it is easy to represent movable areas. On the other hand, since the resolution of the map is determined by the resolution of the image data, the accuracy of self-localization and positioning of the AGV based on the map largely depends on the resolution of the image data. For this reason, methods have also been proposed for correcting the position/orientation of the AGV, in which a certain amount of error may occur.

A technique for correcting the position/orientation of an AGV is disclosed, for example, in US Pat. Patent Literature 1 discloses a vehicle that autonomously moves along a route from a starting point to a destination. The vehicle sets the overall route from the starting point to the destination prior to autonomous movement. Specifically, for example, only the starting point and the destination are plotted, and the route between the starting point and the destination is automatically determined based on the movement ability of the vehicle and the processing ability of the control device installed in the vehicle. is set to During autonomous movement, a vehicle specifies its own (vehicle) position in a digital map and moves to a destination along a route based on the specified self position. However, since route setting and position identification involve certain errors, the target position/attitude at the destination may differ from the actual position/attitude when the vehicle reaches the vicinity of the destination. Therefore, in Patent Document 1, the vehicle stops once when it reaches the vicinity of the destination. A stopped vehicle uses sensors to detect environmental data around the stop position, and compares the detected environmental data with the target position/attitude at the destination. Based on the result of the comparison, the vehicle automatically moves so that the position/orientation deviation of the vehicle is within a predetermined allowable value. However, in order to correct the position/orientation of the vehicle, the process of stopping the vehicle, detecting environmental data around the stop position, and moving the vehicle is repeated. For this reason, in moving from the starting point to the destination, in addition to the fact that the proportion of time required to correct the position/attitude of the vehicle increases, the acceleration is usually kept low so as not to impact the load on the platform. In addition, the travel time of the vehicle, which is required to travel at a low speed, will further increase.

U.S. Pat. No. 9,244,463

SUMMARY OF THE INVENTION It is an object of the present invention to provide a control apparatus and a control method for a mobile body that can improve the accuracy of self-position estimation of the mobile body and improve the efficiency of self-position estimation.

According to the present invention, in a moving object that has a sensor that detects the presence or absence of surrounding objects and that moves autonomously from a starting point to a destination, scan data detected by the sensor and the moving area of the moving object are detected. a storage device for storing image map data, a local map generation unit for generating local map data around the destination from the scan data, and moving the moving object from the starting point to the vicinity of the destination based on the image map data A controller for continuously switching from movement control based on image map data to movement control based on local map data during movement.

Further, according to the present invention, there is provided a control method for autonomously moving a moving body having a sensor for detecting the presence or absence of surrounding objects from a starting point to a destination, comprising scan data detected by the sensor and a step of storing image map data of an area in which the mobile object moves in the mobile object; a step of generating local map data around the destination from the scan data; a step of moving the moving body to the vicinity of the destination, and the moving body continuously switching from movement control based on the image map data to movement control based on the local map data, and moving the moving body from the vicinity of the destination to the destination and moving the object.

Since the control device has a storage device, the scan data detected by the sensor and the image map data of the moving area of the moving body are stored in advance before the moving body starts moving from the starting point to the destination. I can let you. While the mobile body is moving from the departure point to the vicinity of the destination, the local map generation unit can generate local map data of the vicinity of the destination from the scan data stored in the storage device. can. Therefore, it is no longer necessary to stop the moving object in the vicinity of the destination just to generate the local map data. As a result, the self-position estimation of the mobile body can be efficiently performed, and the travel time from the departure point to the destination of the mobile body can be shortened.

According to the method for controlling a moving body, the moving body can start moving from the starting point to the destination after storing the scan data detected by the sensor and the image map data of the area in which the moving body moves. can. A moving object that has started to move generates local map data around the destination from the scan data while it is being moved to the vicinity of the destination. Therefore, the mobile body does not need to stop around the destination just to generate the local map data. As a result, the mobile body can efficiently estimate its own position, and can shorten the travel time from the departure point to the destination of the mobile body. Furthermore, from the departure point to the vicinity of the destination, the image map data is used to move, and when the destination location is reached, the image map data is continuously switched to the local map data, and the destination map data is used. move up to A moving body that has been switched to use the local map data uses the scan data to perform movement control, and then moves from the vicinity of the destination to the destination. As a result, it is possible to move from the vicinity of the destination to the destination while improving the accuracy of self-position estimation of the mobile body.

INDUSTRIAL APPLICABILITY According to the control device and control method of a moving body according to the present invention, it is possible to improve the accuracy of self-position estimation of a moving body and improve the efficiency of self-position estimation.

FIG. 1 shows a schematic side view of a moving object according to an embodiment. FIG. 2 shows a schematic plan view of the interior of the factory where the moving body according to the embodiment moves. FIG. 3 shows a block diagram of the configuration of the mobile body control device. FIG. 4 schematically shows image map data and point cloud data generated by a moving object. FIG. 4A schematically shows the relationship between image map data and point cloud data for the same object, and FIG. 4B schematically shows the relationship between point data acquired at each position. . FIG. 5 schematically shows generation of local map data. FIG. 6 shows a method of controlling a moving object as a flow chart.

Hereinafter, with reference to the accompanying drawings, a control device and a control method for a moving body according to embodiments will be described. Similar or corresponding elements are denoted by the same reference numerals, and overlapping descriptions are omitted. Figures may be scaled to facilitate understanding

FIG. 1 shows a schematic side view of a mobile object 10 according to an embodiment. Here, as an example of the moving body 10, a vehicle that is used for industrial purposes in a factory 100 (see FIG. 2) or the like and that can run (move) autonomously without human driving operation is shown. It is

Specifically, the moving body 10 is an AGV. The mobile body 10 controls a vehicle body 11, one or more wheels 12, one or more rotary encoders 13, an arm 14, a sensor 15, a camera 16, and autonomous travel of the mobile body 10. and a control device 20 for The controller 20 is communicatively connected to several components of the mobile unit 10, either by wire or wirelessly, to control these components. Note that the moving body 10 may further include other components without being limited to the above configuration.

Wheels 12 for movement are provided on the lower side of the vehicle body 11, and the wheels 12 are connected to a driving device (not shown) such as a servomotor for rotating the wheels. A rotary encoder 13 is arranged adjacent to each wheel 12 to detect the number of revolutions of the wheel 12 . The rotary encoder 13 is communicably connected to the control device 20 by wire or wirelessly in order to transmit the detected number of revolutions to the control device 20 .

The arm 14 is, for example, a multi-axis multi-joint type robot and is attached to the top of the vehicle body 11 . A hand 18, a gripper, a chuck, or the like for holding an article such as a tool T or a work W (both of which are shown in FIG. 2) is provided at the tip of the arm 14. As shown in FIG. A camera 16 is provided on the tip side of the arm 14 . The camera 16 is a CMOS camera or a CCD camera, but is not limited to this and may be a color camera or a monochrome camera. The camera 16 is communicably connected to the control device 20 by wire or wirelessly. As a result, the camera 16 can transmit the acquired image to the control device 20, and the control device 20 instructs the driving device (not shown) of the arm 14 based on the image acquired by the camera 16. can be sent.

A sensor 15 such as a laser sensor is attached to the front side of the vehicle body 11 to detect the presence or absence of an object around the moving body 10 . Note that the sensor 15 may be attached around or in the center of the vehicle body 11 . The sensor 15 can measure the presence or absence of an object around the moving body 10 and the distance to the object, for example, based on the time it takes for the laser emitted from the sensor 15 to hit the object and return. In addition, the sensor 15 is communicably connected to the control device 20 by wire or wirelessly in order to transmit data such as the measured distance to the object to the control device 20 . In the following description, it is assumed that the sensor 15 is attached to the front side of the vehicle body 11. However, the sensor 15 is not limited to this. Other positions may be attached. Furthermore, although the sensor 15 is described as being a laser sensor, it is not limited to this, and other types of sensors such as a depth camera may be provided.

FIG. 2 shows a schematic plan view of the inside of the factory 100 in which the moving body 10 moves. A mobile body 10 according to the present embodiment moves within a factory 100 in which one or more machine tools 50 are provided. The factory 100 is provided with one or more machine tools 50 , one or more stockers 60 , one or more tables 70 , and a factory management system 90 . In addition, the factory 100 may be provided with other equipment without being limited to these. Further, in the following description, the moving body 10 is described as moving within the factory 100, but is not limited to this, and may be configured to move within other facilities such as a warehouse.

A machining center is provided as a machine tool 50 in the factory 100 . For this reason, the machine tool 50 includes a spindle 51 for machining the work W with the tools T, and a tool magazine 52 for storing a plurality of tools T. As shown in FIG. A stocker 60 for storing works W or other articles such as tools is arranged at a predetermined place in the factory. A tool T or other article such as a workpiece W is also placed on the table 70 . Here, although it has been described that a machining center is provided as the machine tool 50, the present invention is not limited to this, and a machine tool other than the machining center may be provided. Furthermore, here, the machine tool 50 has been described as including the spindle 51 and the tool magazine 52, but the machine tool is not limited to this and may further include other components.

A factory management system 90 is also provided in the factory 100 for controlling some components (equipment) in the factory 100 . The factory management system 90 includes a PLC (Programmable Logic Controller), a PC (Personal Computer), a server, a tablet, or the like. Also, the factory management system 90 has a processor, a storage unit, a display device, an input device, and the like. Factory management system 90 is communicatively connected to the components that need to be controlled in factory 100, either by wires or wirelessly.

The interior of the factory 100 is partitioned by one or more walls 80, and the moving body 10 is partitioned by the walls 80 so as not to collide with equipment arranged in the factory 100 such as the walls 80 and the machine tools 50. move across the floor. Specifically, the moving body 10 autonomously moves between the machine tool 50, the stocker 60, and the table 70, and conveys the work W, the tool T, or other articles therebetween. is configured to Factory management system 90 can send various instructions including a destination to mobile 10 , and mobile 10 can move within factory 100 based on the instructions from factory management system 90 .

FIG. 3 shows a block diagram of the configuration of the control device 20 of the moving body 10. As shown in FIG. The control device 20 includes a processor 30 as a control section, a storage device 40 and an interface 45 . The control device 20 may be configured including a PLC, a PC, or the like. The processor 30 is composed of, for example, one or a plurality of CPUs, etc., and controls movement of the moving body 10 as described later. The storage device 40 includes, for example, one or more hard disk drives, ROM (read only memory) and/or RAM (random access memory). Furthermore, the interface 45 is configured by, for example, an I/O port. These components of the control device 20 are connected to each other by a bus (not shown).

The control device 20 may further include other components, and specifically includes a display device such as a liquid crystal display and/or a touch panel, and an input device such as a mouse, keyboard and/or touch panel. may

The processor 30 includes a local map generation unit 31, a movement route switching unit 32, a position estimation unit 33, a location registration unit 34, and a speed control unit 35 as components for controlling movement of the mobile body 10. ing. These components are specifically executed by the processor 30 and a circuit or operating system incorporated in the mobile body 10, or the like. As an operating system, various operating systems developed for robots may be used, such as ROS (Robot Operating System) managed by the Open Source Robotics Foundation in the United States. In addition, it may be executed using a program incorporated in the moving body 10 without being limited to these. The program may be directly recorded in the processor 30 or may be executed by calling the program stored in the storage device 40 from the processor 30 .

The storage device 40 stores scan data 130 and image map data 120 generated by the control device 20 before the mobile body 10 starts moving from the starting point to the destination. The storage device 40 stores not only the scan data 130 and the generated image map data 120 that were measured in advance immediately before movement control, but also the data 130 and 140 that were measured and generated in the past movement control. The stored scan data 130 and image map data 120 are indexed with time, place, etc., and a searchable database is constructed in the storage device 40 using these indexes.

Here, the image map data 120 is information of the entire environment in the moving route of the moving body 10 for determining the self position of the moving body 10 and the moving amount (speed) and moving direction toward the destination of the moving body 10. is. Specifically, the information of the entire environment is information obtained by dividing the entire environment into fine grids and classifying each grid into three categories: "obstacle", "no obstacle", and "unobserved". The image map data 120 must be generated in advance before the mobile body 10 autonomously moves to the destination, and is generally generated using the SLAM (Simultaneous Localization and Mapping) method. According to the SLAM technique, 1) the self-position of the moving body 10 is estimated. 2) At the same time as estimating the self-position of the mobile body 10, the environment of the entire factory 100 is sensed from the estimated self-position. 3) Classify the grid in the sensed range as "obstacle" or "no obstacle". 4) The mobile body 10 moves to another point in the factory 100, estimates its own position, and senses the environment of the entire factory 100 from the estimated self position. 5) The moving body 10 moves within the factory 100 and repeats 1) to 4) until a sufficient range for generating the image map data 120 is covered. Through such steps, the mobile body 10 generates the image map data 120 . Here, image map data 120 is generated based on data acquired by the sensor 15 provided on the mobile body 10 . At this time, the movement of the mobile body 10 within the factory 100 may be manually operated by the operator, or the mobile body 10 may autonomously travel based on map data previously input to the mobile body 10, or The moving route may be automatically calculated based on the image map being created, and the moving body 10 may travel autonomously. The generated image map data is stored in the storage device 40 .

The scan data 130 is a set (point group) of points scanned (measured) at a constant frequency/interval by the sensor 15 of the moving body 10 . Specifically, the moving body 10 moves within the factory 100, and at each point (position) within the factory 100, from the sensor 15, the machine tool 50, the stocker 60, and the table 70 within the factory 100 are detected at regular intervals. and an object such as a wall 80 is irradiated with a laser. By measuring the time it takes for the laser that hits the object to return, the interval (distance) between the moving body 10 and these objects can be measured. At each position in the factory 100, the moving body 10 acquires point data 132 within a range that can be irradiated therefrom. By aggregating (aligning) the point data 132 thus measured, the shape of each surface of each object placed in the factory 100 can be recognized as the scan data 130 that is an aggregate of the point data 132 . A technique such as ICP (Iterative Closest Point) is used to align the point data 132 . On the other hand, the scan data 130 does not include data of areas not detected by the sensor 15 (for example, a mere space in which no object is arranged). Normally, the scan data 130 is acquired together with the self-position (here, the laser-irradiated position) data of the moving body 10, so the coordinate values (u, v, w coordinates) with respect to the center of gravity of the moving body 10 Each point data 132 of the scan data 130 obtained as can be coordinate-transformed into coordinate values (x, y, z coordinates) with respect to a reference point in the factory 100, for example. The accuracy of the scan data 130 acquired in this way depends on the resolution of the sensor 15 . The generated scan data 130 is stored in the storage device 40 .

4A and 4B schematically show image map data 120 and scan data 130 generated by the moving body 10 in the factory 100. FIG. In the example shown in the figure, the mobile body 10 is moving along the wall 80 in the factory 100, and the mobile body 10 from time T1 to T2 and further to T3 are collectively shown in the same figure. It is shown. The control device 20 of the moving body 10 generates image map data 120 based on the scan data inside the factory 100 acquired by the sensor 15 at each time (each position). FIG. 4A shows image map data 120 as an "obstacle" corresponding to the wall 80 (black square portion in the figure). The data corresponding to "no obstacle" and "unobserved" are included in the image map data 120 together with the data regarding "obstacle" although they are not explicitly shown in the drawing.

In FIG. 4B, in order to show the relationship of the point data 132 acquired at each time (each position), the position of the traveling direction (U direction) of the moving body 10 in the figure is aligned, and then the figure The point data 132 for each time shown in 4(A) are shown separately. Similarly, the figure also shows the moving object 10 at each time. As shown in the figure, since the range of point data 132 that can be measured at each time (each position) is spatially limited, the point data 132 acquired at each position is aggregated to generate scan data 130. . At this time, as shown in FIG. 4A, the point data 132 do not match perfectly even for the same object (position) in the factory 100, and errors may occur between the point data 132. FIG. Therefore, techniques such as ICP are aligned to minimize the error.

With the scan data 130 and image map data 120 stored in the storage device 40 , for example, when a movement command is received from an operator or the factory management system 90 , the moving body 10 moves to the departure point on the image map data 120 . Generate the entire route from the coordinate value to the coordinate value of the destination. In addition, the coordinate values of the destination may be a position input in advance or a position instructed by the factory management system 90 as the destination. The moving body 10 that has generated the entire route starts autonomous movement by controlling the drive circuit 17 arranged in the vehicle body 11 to rotate the wheels 12 while referring to the image map data 120 . As shown in FIG. 3, the control device 20 includes a local map generation unit 31. The local map generation unit 31 performs scanning from the starting point until reaching the vicinity of the destination. From the data 130, local map data 140 around the destination can be generated.

Here, the local map data 140 can be generated by using the scan data 130 at the nearest position from the destination as reference data and integrating only the scan data 130 around the destination. Specifically, the control device 20 searches for the scan data 130 of the moving body 10 stored in the storage device 40 (registered in the database), and scans the scan data 130 at the shortest position from the destination. is specified, and scan data 130 within a predetermined range is extracted from the specified scan data 130 . Based on the scan data 130 at the shortest position from the destination, the scan data 130 within a predetermined range are aligned based on the ICP method or the like, and integrated data is used as local map data 140 .

FIG. 5 shows an example of an extraction method. Here, the local map data 140 is generated by extracting only the scan data 130 located within the radius d from the identified self-position of the moving body 10 . Based on the scan data 130 corresponding to the self-position at the shortest position from the destination, and by using only the scan data 130 within a predetermined range from the self-position, when generating the local map data 140 Accumulation of errors can be suppressed. Furthermore, since the local map data 140 extracts only the scan data 130 around the destination, the number of data to be processed can be reduced. Thereby, the time for self-position estimation of the mobile body 10 can be shortened.

In the following description, the scan data 130 around the destination is the scan data 130 located within a radius d from the specified self-position, but the present invention is not limited to this. For example, scan data 130 within a range of a predetermined angle (predetermined azimuth) in plan view with respect to the moving direction of the moving body 10 and within a radius d from the specified self-position of the moving body 10 is extracted. may be Also, the predetermined range from the specified self-position for extracting the scan data 130 may be appropriately determined according to the amount of objects placed around the destination, the size of the space, and the like.

When the moving body 10 reaches the vicinity of the destination, the movement path switching unit 32 of the control device 20 can continuously switch the data referred to by the moving body 10 from the image map data 120 to the local map data 140. The position estimator 33 uses the scan data 130 to estimate the self-position of the mobile object 10 . Specifically, the coordinate values at the current location of the mobile object 10 are obtained by comparing (aligning) the scan data 130 and the local map data 140 at the current location of the mobile object 10 . Thereby, the control device 20 of the moving body 10 can use one or both of the local map data 140 and the image map data 120 to control movement from the vicinity of the destination to the destination. The position estimation unit 33 uses one or both of the local map data 140 in which the coordinate values of the current location of the mobile object 10 are registered and the image map data 120 to position the mobile object. Specifically, by calculating the deviation from the overall route generated in advance, the amount of movement and the azimuth (direction) of the mobile object 10 for moving to the destination along the overall route are calculated. do.

When high-precision positioning is performed in this embodiment (present invention), the coordinate values of the destination in the local map data 140 are obtained in the location registration unit 34 after the image map data 120 is created. Specifically, after the moving object 10 has moved to the destination, the scan data 130 near the coordinates of the current location on the image map data 120 is acquired from the database, and the local map data 140 is generated using the scan data 130 of the surroundings. Generate. By aligning the scan data 130 at the current location with the generated local map data 140, the coordinate values at the current location on the local map data 140 are calculated, and the coordinate values on the image map data 120 and the local map data 140 are calculated. Register the coordinate values at the current location in the location registration unit 34 . As for the coordinate values, not only the image map data 120 but also the coordinate values on the scan data 130 can be registered.

The speed control unit 35 sets the moving speed of the moving body 10 based on the calculated movement amount of the moving body 10 . Further, the speed control unit 35 sets the rotation speed of each wheel 12 from the set moving speed, and transmits it to the wheels 12 via the drive circuit 17 (see FIGS. 2 and 3). Further, the speed control unit 35, for example, sets the moving speed of the moving body 10 immediately after switching the data referred to by the moving body 10 to the local map data 140 to be equal to the speed immediately before switching the data referred to by the moving body 10 to a predetermined value. If the difference is equal to or greater than the threshold value, the movement speed is corrected to reduce the difference, for example, by reducing the movement speed or increasing the speed to the extent that large acceleration does not occur.

The action and effects of the present invention will be described based on the flowchart of FIG.

In step S10, the activated moving body 10 moves within the factory 100, and the self-position within the factory 100, that is, the position (x, y, z coordinate values) with respect to the reference point within the factory 100 and the attitude (orientation) data with respect to the reference coordinate system (xyz coordinate system). Further, in step S20, image map data 120 is generated from the data acquired by the sensor 15 at the position where the self-location data was acquired, and the sensor 15 is used to scan the objects installed and arranged in the factory 100. to generate scan data 130 . Steps S10 and S20 are repeated until the area necessary for autonomous movement of the moving body 10 is covered. The completed image map data 120 and scan data 130 are stored in the storage device 40 . In addition, for example, when the data 120 and 130 including the moving route are already registered in the database of the storage device 40, steps S10 and S20 may be omitted.

In step S<b>30 , the moving object 10 generates an entire route from the coordinate values of the departure point to the coordinate values of the destination on the image map data 120 . The moving body 10 that has generated the overall route controls the drive circuit 17 arranged in the vehicle body 11 while referring to the image map data 120 to start autonomous movement. In step S40, the control device 20 determines whether or not to use the local map data 140 based on the generated overall route and image map data 120 before or at the same time as the start of autonomous movement of the mobile body 10. do. If the local map data 140 is not used, the moving body 10 refers only to the image map data 120 and moves to the destination in step S50.

If the local map data 140 is to be used, the process proceeds to step S60, and the mobile body 10 generates the local map data 140 after leaving the starting point until reaching the vicinity of the destination. Since this eliminates the need to stop around the destination, the self-position estimation of the moving body 10 can be performed efficiently, and the time required for moving the moving body 10 from the departure point to the destination can be shortened. can.

The local map data 140 can be generated by using the scan data 130 at the nearest position from the destination as reference data and extracting only the scan data 130 around the destination. For example, the control device 20 searches the self-position data of the mobile body 10 stored in the storage device 40 (registered in the database), and specifies the scan data 130 at the shortest position from the destination. At the same time, scan data 130 within a predetermined range is extracted from the identified scan data 130 . As a result, accumulation of errors in the local map data 140 can be suppressed. Also, since the local map data 140 extracts only the scan data 130 around the destination, the amount of data to be processed can be reduced, and the time required for self-position estimation of the mobile body 10 can be shortened.

In step S70, even after the local map data 140 is generated, the moving body 10 moves to the vicinity of the destination by referring only to the image map data 120. FIG. In step S<b>80 , the control device of the moving body 10 that has arrived around the destination switches the map data to be referenced from the image map data 120 to the local map data 140 . As a result, the moving object 10 can perform self-position estimation and positioning using the scan data, and the accuracy of the self-position estimation of the moving object is improved before moving from the vicinity of the destination to the destination. be able to.

In step S90, if the moving speed of the moving body 10 immediately after switching the data referenced by the moving body 10 to the local map data 140 differs from the speed immediately before switching by a predetermined threshold or more, the speed control unit 35 For example, the movement speed is reduced, or corrected so as to increase to the extent that large acceleration does not occur. As a result, it is possible to suppress an increase in the acceleration of the mobile body 10 and, for example, to suppress an impact on a load on the platform of the mobile body 10 .

In step S100, the mobile body 10 continues to move to the destination with reference to the local map data 140, and upon arrival at the destination, the mobile body 10 stops in step S110.

By controlling the mobile body through the above method, it is possible to improve the accuracy of self-position estimation of the mobile body and improve the efficiency of self-position estimation.

Although embodiments of the control device and control method for a moving body have been described, the present invention is not limited to the above embodiments. Various modifications of the above-described embodiments are included in the embodiments of the present invention within the scope of those skilled in the art.

REFERENCE SIGNS LIST 10 moving body 15 sensor 20 control device 30 processor (control unit)
31 local map generator 40 storage device 120 image map data 130 scan data 140 local map data

Claims (6)

A moving object that has a sensor that detects the presence or absence of surrounding objects and moves autonomously from a starting point to a destination,
a storage device that stores scan data detected by the sensor and image map data of an area in which the moving object moves;
a local map generation unit that generates local map data around the destination from the scan data from the departure point until the destination is reached ;
The movement of the moving object is controlled based on the image map data from the starting point to the vicinity of the destination, and in the vicinity of the destination, local map data obtained by integrating only the scan data of the vicinity of the destination is used. A control unit having a movement path switching unit that switches while continuously moving to movement control based on
A mobile body control device comprising: 2. The mobile body control device according to claim 1, wherein said local map data is generated from said mobile body's self-position in the vicinity of said destination and said scan data. In the movement control around the destination, if the moving speed of the moving object obtained based on the position and route of the moving object is different from the moving speed immediately before the moving object by a predetermined threshold or more, 3. The moving body control device according to claim 1, further comprising a speed control unit that changes the moving speed so that the speed difference is reduced. A control method for autonomously moving a moving body having a sensor that detects the presence or absence of surrounding objects from a starting point to a destination,
a step of storing in the moving body the scan data detected by the sensor and the image map data of the area in which the moving body moves;
generating local map data around the destination from the scan data from the starting point until the destination is reached ;
moving the moving body from the starting point to the vicinity of the destination based on the image map data;
In the vicinity of the destination, the movement control based on the image map data is switched to the movement control based on the local map data while continuously moving, and the moving object is moved from the vicinity of the destination to the destination. a step of moving;
A control method for a moving object, comprising: 5. The mobile body control method according to claim 4, wherein said local map data is generated from said mobile body's self-position in the vicinity of said destination and said scan data. In the movement control around the destination, if the moving speed of the moving object obtained based on the position and route of the moving object is different from the moving speed immediately before the moving object by a predetermined threshold or more, 6. The method of controlling a moving body according to claim 4, further comprising the step of changing said moving speed so that the speed difference is reduced.

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