WO2024014194A1

WO2024014194A1 - Route setting method, program, and route setting system

Info

Publication number: WO2024014194A1
Application number: PCT/JP2023/021231
Authority: WO
Inventors: 裕介木内; 克将北島; 泰義横小路; 勇一田▲崎▼; 光永野
Original assignee: 三菱重工業株式会社; 国立大学法人神戸大学
Priority date: 2022-07-12
Filing date: 2023-06-07
Publication date: 2024-01-18
Also published as: JP2024010564A

Abstract

The objective of the present invention is to guide a mobile body to an appropriate position. This route setting method includes: a step for detecting, by means of a terminal having a movable position, position information of an object in a terminal coordinate system serving as a reference for detection performed by the terminal; a step for performing coordinate conversion between the terminal coordinate system and a mobile body coordinate system serving as a reference for movement of the mobile body, to calculate first position information indicating a position of the object in the mobile body coordinate system from the position information of the object in the terminal coordinate system; and a step for setting a route toward the object, in the mobile body coordinate system, on the basis of the first position information.

Description

Route setting method, program and route setting system

The present disclosure relates to a route setting method, program, and route setting system.

There is a known technology for automatically setting a moving route for a moving object. For example, in Patent Document 1, a user specifies an area to be processed by an unmanned aircraft by marking a point on a map displayed on a terminal, and the unmanned aircraft moves to that area. Are listed. In this way, by the user specifying the destination of the moving object, the moving object can be guided to the destination.

Patent No. 6979961

However, in Patent Document 1, since points can only be specified on a predetermined map, there is a possibility that the moving object cannot be guided to an appropriate position depending on the situation, for example.

The present disclosure solves the above-mentioned problems, and aims to provide a route setting method, program, and route setting system that can guide a moving object to an appropriate position.

A route setting method according to the present disclosure includes the steps of: detecting, by a positionally movable terminal, position information of an object in a terminal coordinate system that serves as a reference for detection by the terminal; First position information indicating the position of the object in the mobile body coordinate system is calculated from the position information of the object in the terminal coordinate system by performing coordinate transformation with a mobile body coordinate system that is a reference. and setting a route toward the target object in the moving body coordinate system based on the first position information.

A program according to the present disclosure includes the steps of: detecting, using a positionally movable terminal, position information of an object in a terminal coordinate system that serves as a reference for detection by the terminal; calculating first position information indicating the position of the object in the moving object coordinate system from the position information of the object in the terminal coordinate system by performing coordinate transformation with a moving object coordinate system, , setting a route toward the object in the moving body coordinate system based on the first position information.

A route setting system according to the present disclosure includes a terminal whose position can be moved and a moving object, wherein the terminal detects position information of an object in a terminal coordinate system that is a reference for detection. The movable body includes a target object detection unit, and the movable body is configured to detect the target object in the movable body coordinate system, which is set based on first position information indicating the position of the target object in the movable body coordinate system that is a reference for movement of the movable body. The first position information includes a route acquisition unit that acquires a route toward the target object, and the first position information is obtained by performing coordinate transformation between the terminal coordinate system and the moving body coordinate system, and thereby determining the position of the target object in the terminal coordinate system. It is calculated from information.

According to the present disclosure, a moving object can be guided to an appropriate position.

FIG. 1 is a schematic diagram of a route setting system according to this embodiment. FIG. 2 is a schematic diagram of the configuration of the moving body. FIG. 3 is a schematic block diagram of the information processing device. FIG. 4 is a schematic block diagram of a control device for a moving body. FIG. 5 is a schematic block diagram of the terminal. FIG. 6 is a schematic diagram illustrating detection of an object by a terminal. FIG. 7 is a schematic diagram of an image showing the object. FIG. 8 is a schematic diagram illustrating an example of detection using a reference portion as a reference. FIG. 9 is a schematic diagram illustrating route setting. FIG. 10 is a flowchart illustrating the processing flow of the route setting system. FIG. 11 is a schematic diagram for explaining an example of coordinate transformation in the second embodiment. FIG. 12 is a schematic diagram illustrating the detection area. FIG. 13 is a schematic diagram illustrating an example of route setting. FIG. 14 is a schematic diagram illustrating an example of route setting.

Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Note that the present disclosure is not limited to this embodiment, and if there are multiple embodiments, the present disclosure also includes a configuration in which each embodiment is combined.

(First embodiment)
(route setting system)
FIG. 1 is a schematic diagram of a route setting system according to this embodiment. As shown in FIG. 1, the route setting system 1 according to the present embodiment includes a mobile object 10, a management device 12, an information processing device 14, and a terminal 16. The route setting system 1 is a system that sets a travel route for a mobile body 10 belonging to a facility W and controls the movement of the mobile body 10. The equipment W is equipment that is subject to physical distribution management, such as a warehouse. In the route setting system 1, the moving body 10 picks up a target object P placed within the area AR of the equipment W and transports it. The area AR is, for example, the floor surface of the equipment W, and is an area where the target object Q is installed and the moving body 10 moves. In this embodiment, the object P is a conveyance object in which cargo is loaded on a pallet. However, the object P is not limited to one in which luggage is loaded on a pallet, but may be in any form, for example, it may be only luggage without a pallet.

In this embodiment, the moving body 10 is moved toward the target object P installed in the installation area AR0, and the target object P is picked up. The installation area AR0 is set in advance as an area where the object P is to be installed. The installation area AR0 is divided, for example, by white lines, and the position (coordinates), shape, and size of the installation area AR0 are set in advance. In the example of this embodiment, the installation area AR0 is an area in which a plurality of objects P are allowed to be freely installed, and the position and orientation of the objects P within the installation area AR0 are It is not known in advance by the management device 12 or the information processing device 14. Therefore, in this embodiment, the terminal 16 detects the position and orientation of the target object P within the installation area AR0, and based on the position and orientation of the target object P detected by the terminal 16, movement toward the target object P is performed. Set a route for the body 10. However, the object P to which the moving body 10 moves is not limited to being placed within the predetermined installation area AR0, and may be placed at any position within the equipment W. Even in this case, the position and orientation of the object P need not be known in advance by the moving body 10, the management device 12, or the information processing device 14.

Here, the coordinate system that serves as a reference when moving the moving body 10 is referred to as a moving body coordinate system C. The moving body coordinate system C is a coordinate system based on a fixed reference position, and includes, for example, an X direction that is one direction along the area AR and a direction that is along the area AR and intersects with the direction X. It is a two-dimensional coordinate system with the Y direction. Therefore, for example, the position in the moving object coordinate system C refers to the coordinates in the moving object coordinate system C (position in the X direction and the Y direction), and the direction in the moving object coordinate system C refers to the Refers to the yaw angle (rotation angle) when the direction is 0°. However, the moving body coordinate system C is not limited to a two-dimensional coordinate system in the X direction and the Y direction, but may be a three-dimensional coordinate system in the X direction, Y direction, and Z direction (vertical direction), for example. .

(mobile object)
FIG. 2 is a schematic diagram of the configuration of the moving body. The moving body 10 is a device that is automatically movable and capable of transporting the object P. Furthermore, in this embodiment, the moving body 10 is a forklift, and more specifically, a so-called AGV (Automated Guided Vehicle) or AGF (Automated Guided Forklift). However, the moving body 10 is not limited to a forklift that transports the object P, and may be any device that can move automatically.

As shown in FIG. 2, the moving body 10 includes a vehicle body 20, wheels 20A, straddle legs 21, a mast 22, a fork 24, a sensor 26A, and a control device 28. The straddle legs 21 are a pair of shaft-shaped members that are provided at one end of the vehicle body 20 in the longitudinal direction and protrude from the vehicle body 20. The wheels 20A are provided at the tip of each straddle leg 21 and on the vehicle body 20. That is, although a total of three wheels 20A are provided, the position and number of wheels 20A may be arbitrary. The mast 22 is movably attached to the straddle leg 21 and moves in the longitudinal direction of the vehicle body 20. The mast 22 extends along the up-down direction (direction Z here) orthogonal to the front-back direction. The fork 24 is attached to the mast 22 so as to be movable in the Z direction. The fork 24 may also be movable in the lateral direction of the vehicle body 20 (in a direction intersecting the vertical and longitudinal directions) with respect to the mast 22 . The fork 24 has a pair of

claws

24A and 24B. The

claws

24A and 24B extend from the mast 22 toward the front of the vehicle body 20. The claw 24A and the claw 24B are arranged apart from each other in the lateral direction of the mast 22. Hereinafter, in the front-rear direction, the direction on the side where the fork 24 is provided in the movable body 10 will be referred to as the front direction, and the direction on the side where the fork 24 is not provided will be referred to as the rear direction.

The sensor 26A detects at least one of the position and orientation (posture) of an object existing around the vehicle body 20. It can also be said that the sensor 26A detects at least one of the position of the object with respect to the moving body 10 and the orientation of the object with respect to the moving body 10. In this embodiment, the sensor 26A is provided at the front end of each straddle leg 21 and on the rear side of the vehicle body 20. However, the position where the sensor 26A is provided is not limited to this, and may be provided at any position, and the number of sensors provided may be arbitrary.

The sensor 26A is, for example, a sensor that irradiates laser light. The sensor 26A irradiates a laser beam while scanning in one direction (in this case, the lateral direction), and detects the position and orientation of the object from the reflected light of the irradiated laser beam. That is, the sensor 26A can be said to be a so-called two-dimensional (2D)-LiDAR (Light Detection And Ranging). However, the sensor 26A is not limited to the above, and may be a sensor that detects an object by any method, for example, it may be a so-called three-dimensional (3D)-LiDAR that scans in multiple directions. , a so-called one-dimensional (1D)-LiDAR that is not scanned, or a camera.

The control device 28 controls the movement of the mobile body 10. The control device 28 will be described later.

(Management device)
The management device 12 is a system that manages logistics at the facility W. The management device 12 sets, for example, the work content of the movable body 10 and the control content of mechanisms other than the movable body 10 (for example, elevators and doors) provided in the equipment W. Although the management device 12 is a WCS (Warehouse Control System) or a WMS (Warehouse Management System) in this embodiment, it is not limited to the WCS and WMS, but may be any system, for example, other production management systems. Any backend system is fine. The location where the management device 12 is provided is arbitrary, and it may be provided within the equipment W or may be provided at a location away from the equipment W to manage the equipment W from a remote location.

(Information processing device)
FIG. 3 is a schematic block diagram of the information processing device. The information processing device 14 is a device that processes information related to the movement of the mobile object 10 and the like. The information processing device 14 is, for example, an FCS (Fleet Control System), but is not limited thereto, and may be any device that processes information regarding the movement of the mobile body 10. Although the information processing device 14 is provided in the equipment W in this embodiment, it may be provided at any location. The information processing device 14 is a computer, and includes a communication section 30, a storage section 32, and a control section 34, as shown in FIG. The communication unit 30 is a module used by the control unit 34 to communicate with external devices such as the management device 12 and the mobile object 10, and may include, for example, an antenna. Although the communication method by the communication unit 30 is wireless communication in this embodiment, the communication method may be arbitrary. The storage unit 32 is a memory that stores various information such as calculation contents and programs of the control unit 34, and includes, for example, a main storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory), and an HDD ( At least one external storage device such as a hard disk drive.

The control unit 34 is an arithmetic device, and includes, for example, an arithmetic circuit such as a CPU (Central Processing Unit). The control section 34 includes a reference route setting section 36. The control unit 34 reads a program (software) from the storage unit 32 and executes it, thereby realizing the reference route setting unit 36 and executes its processing. Note that the control unit 34 may execute the process using one CPU, or may include a plurality of CPUs and execute the process using the plurality of CPUs. Further, the reference route setting section 36 may be realized by a hardware circuit. Further, the program for the control unit 34 stored in the storage unit 32 may be stored in a recording medium readable by the information processing device 14.

The reference route setting unit 36 sets a reference route for the moving object 10. The reference route is a route that connects locations whose positions in the moving object coordinate system C are known. For example, in the area AR, waypoints are set for each position (coordinate), and the reference route is set to connect the waypoints. The waypoint is set according to the layout of the equipment W.

Note that in this embodiment, the management device 12 and the information processing device 14 are separate devices, but they may be an integrated device. That is, the management device 12 may have at least some of the functions of the information processing device 14, and the information processing device 14 may have at least some of the functions of the management device 12.

(Moving body control device)
Next, the control device 28 of the moving body 10 will be explained. FIG. 4 is a schematic block diagram of a control device for a moving body. The control device 28 is a device that controls the moving body 10. The control device 28 is a computer, and includes a communication section 40, a storage section 42, and a control section 44, as shown in FIG. The communication unit 40 is a module used by the control unit 44 to communicate with external devices such as the information processing device 14 and the terminal 16, and may include, for example, an antenna. The communication method by the communication unit 40 is wireless communication in this embodiment, but any communication method may be used. The storage unit 42 is a memory that stores various information such as calculation contents and programs of the control unit 44, and includes at least one of a RAM, a main storage device such as a ROM, and an external storage device such as an HDD. Including one.

The control unit 44 is a calculation device, and includes a calculation circuit such as a CPU, for example. The control unit 44 includes an object information acquisition unit 50, a self-position acquisition unit 52, a route acquisition unit 54, and a movement control unit 56. The control unit 68 realizes the object information acquisition unit 50, self-position acquisition unit 52, route acquisition unit 54, and movement control unit 56 by reading a program (software) from the storage unit 66 and executing it. Execute the process. Note that the control unit 44 may execute these processes using one CPU, or may include a plurality of CPUs and execute the processes using the plurality of CPUs. Further, at least a portion of the object information acquisition section 50, self-position acquisition section 52, route acquisition section 54, and movement control section 56 may be realized by a hardware circuit. Further, the program for the control unit 44 stored in the storage unit 42 may be stored in a recording medium readable by the control device 28.

The object information acquisition unit 50 acquires position information of the object P to which the moving body 10 moves. The self-position acquisition unit 52 acquires position information of the mobile object 10. The route acquisition unit 54 acquires information on the route along which the mobile object 10 moves. The movement control unit 56 controls movement mechanisms such as a drive unit and steering of the moving body 10 to control movement of the moving body 10. The specific contents of these processes will be described later.

(terminal)
The terminal 16 is a device whose position can be moved. In the example of this embodiment, the terminal 16 is a terminal carried by the user U, and its position is moved when the user U moves. However, the terminal 16 is not limited to being a terminal carried by the user U, but may be mounted on a movable device. For example, the terminal 16 may be mounted on a flying object such as a so-called drone, a vehicle moving on the ground, a robot, or the like. In this case, the terminal 16 and the device equipped with the terminal 16 may be remotely controlled by the user U.

FIG. 5 is a schematic block diagram of the terminal. As shown in FIG. 5, the terminal 16 includes an input section 60, a display section 62, a communication section 64, a storage section 66, a control section 68, and a sensor 69.

The sensor 69 detects at least one of the position and orientation of objects existing around the terminal 16. It can also be said that the sensor 69 detects at least one of the position of the object relative to the terminal 16 and the orientation of the object relative to the terminal 16. The sensor 69 is, for example, a sensor that emits laser light. The sensor 69 irradiates a laser beam while scanning in one direction (in this case, the lateral direction), and detects the position and orientation of the object from the reflected light of the irradiated laser beam. In other words, the sensor 26A can be said to be a so-called two-dimensional LiDAR. However, the sensor 69 is not limited to the above, and may be a sensor that detects an object by any method, for example, it may be a so-called three-dimensional LiDAR that scans in multiple directions, or may not be scanned. , so-called one-dimensional LiDAR, or a camera.

The input unit 60 is a mechanism that receives user input, and may be, for example, a touch panel. The display unit 62 is a display that displays images. The communication unit 64 is a communication module that communicates with external devices such as the mobile object 10 and the information processing device 14, and is, for example, an antenna. Although the terminal 16 communicates with an external device by wireless communication, wired communication may be used, and any communication method may be used. The storage unit 66 is a memory that stores various information such as calculation contents and programs of the control unit 68, and includes, for example, a main storage device such as RAM (Random Access Memory) and ROM (Read Only Memory), and an HDD ( At least one external storage device such as a Hard Disk Drive. The program for the control unit 68 stored in the storage unit 66 may be stored in a recording medium readable by the terminal 16.

The control unit 68 is a calculation device, and includes a calculation circuit such as a CPU, for example. The control section 68 includes a target object detection section 70, a display control section 72, a target object setting section 74, and a target object information transmission section 76. The control unit 68 realizes the object detection unit 70, the display control unit 72, the object setting unit 74, and the object information transmission unit 76 by reading the program (software) from the storage unit 66 and executing it. Execute those processes. Note that the control unit 68 may execute these processes using one CPU, or may include a plurality of CPUs and execute the processes using the plurality of CPUs. Furthermore, at least a portion of the object detection section 70, display control section 72, object setting section 74, and object information transmission section 76 may be realized by a hardware circuit. Further, the program for the control unit 68 stored in the storage unit 66 may be stored in a recording medium that can be read by the terminal 16.

The target object detection unit 70 controls the sensor 69 and causes the sensor 69 to detect the position information of the target object P. The display control section 72 controls the display section 62 and causes the display section 62 to display an image. The target object setting section 74 sets a target object P to which the moving body 10 will move from among the objects P detected by the target object detection section 70 . The object information transmitting section 76 transmits, via the communication section 64, the position information of the object P, which is the destination of the moving object 10, to the moving object 10. The specific contents of these processes will be described later.

(Route setting system processing)
The process of moving the moving object 10 to the target object P by the route setting system 1 will be described below.

(Object detection)
FIG. 6 is a schematic diagram illustrating detection of an object by a terminal. The object detection unit 70 of the terminal 16 detects position information of the object P. The position information of the target object P is information indicating the position and orientation of the target object P. Specifically, the target object detection unit 70 causes the sensor 69 to detect the target object P, and calculates the position information of the target object P from the detection result by the sensor 69. That is, for example, when the sensor 39 is LiDAR, the object detection unit 70 causes the sensor 39 to irradiate a laser beam toward the object P, and detects the reflected light from the object P received by the sensor 39. Obtain as a group. The target object detection unit 70 calculates position information of the target object P based on a point group of reflected light from the target object P.

In this embodiment, the user U identifies an object P that is a candidate for work. The user U then moves to the vicinity of the specified object P and operates the terminal 16. Thereby, the target object detection unit 70 causes the sensor 69 to detect the specified target object P, and acquires the position information of the specified target object P. Note that when the terminal 16 is installed in the device, the user U, for example, moves the device close to the object P to detect the position information of the object P by remote control.

Although the method for specifying the candidate object P may be arbitrary, in this embodiment, the user U specifies the object P within the installation area AR0 as the candidate object P. Therefore, as shown in the example of FIG. 6, the user U moves close to the object P in the installation area AR and causes the terminal 16 to detect the position information of the object P in the installation area AR. In the example of FIG. 6, three objects PA, PB, and PC are specified as candidate objects P (here, objects P in the installation area AR0), and the terminal 16 identifies the objects PA, PB, and PC. , and detect the location information for each of the PCs. However, the number of candidate objects P is not limited to three and may be arbitrary. Further, the vicinity of the target object P is any position where the terminal 16 can detect the position information of the target object P (for example, any position where the reflected light of the laser beam from the target object P can be received at a predetermined intensity or higher). It may be.

Here, the terminal 16 detects the position and orientation of the object P with respect to the terminal 16. That is, the position information of the object P detected by the terminal 16 is not the position and orientation of the object P in the moving body coordinate system C, but the position of the object P in the terminal coordinate system CA with the position of the terminal 16 as a reference. and direction. In the example of FIG. 6, the terminal coordinate system CA is a two-dimensional coordinate system of the Xa direction, which is a predetermined horizontal direction based on the position of the terminal 16, and the Ya direction, which is a horizontal direction perpendicular to the Xa direction. . Therefore, for example, the position in the terminal coordinate system CA refers to the coordinates in the terminal coordinate system CA (position in the Xa direction and the Ya direction), and the direction in the terminal coordinate system CA refers to the Za direction (orthogonal to the Xa direction and the Ya direction). Refers to the yaw angle (rotation angle) when the Xa direction is 0° when viewed from the vertical direction. However, the moving body coordinate system C is not limited to being a two-dimensional coordinate system in the Xa direction and the Ya direction, but may be a three-dimensional coordinate system in the Xa direction, Ya direction, and Za direction, for example.

(Display of object)
FIG. 7 is a schematic diagram of an image showing the object. The display control section 72 of the terminal 16 causes the display section 62 to display an image showing the object P in the terminal coordinate system CA, based on the position information of the object P acquired by the object detection section 70. That is, the display control unit 72 causes the display unit 62 to display an image of the object P at the position and orientation indicated by the position information of the object P. For example, in the example of this embodiment, since the position information of the objects PA, PB, and PC has been acquired, the display control unit 72 controls the position information of the objects PA, PB, and PC in the terminal coordinate system CA, as shown in FIG. The display unit 62 displays an image showing the . It is preferable that the display control unit 72 causes the display unit 62 to display images of the objects PA, PB, and PC viewed from the Za direction.

(Determining the object to be moved)
The target object setting unit 74 of the terminal 16 determines the target object P to which the mobile body 10 will move from among the target objects P that are candidates, that is, among the target objects P whose position information has been detected. The target object setting unit 74 determines the target object P specified by the user U among the candidate objects P as the target object P to be the movement destination. In this case, for example, the user U specifies a destination object P from among the objects P displayed on the display unit 62. That is, the terminal 16 receives the designation of the target object P by the user U while the image of the target object P is displayed, and determines the target object P designated by the user U as the target object P to be moved.

However, the method for determining the target object P to be moved is not limited to the above. For example, the display control unit 72 of the terminal 16 does not display the image of the target object P on the display unit 62, but displays the detection result of the target object P by the sensor 69 itself (here, a point cloud) on the display unit 62. You can let me. In this case, the user U visually recognizes the image of the detection result of the target object P and specifies the coordinates (position in the terminal coordinate system CA) corresponding to the target object P to be moved. Then, the target object setting unit 74 determines the coordinates specified by the user U as the target object P to be moved.

Furthermore, in the above description, the target object P to be moved to is determined from among the plurality of candidate objects P, but this process is not essential. For example, the terminal 16 may detect the position information of one target object P, and that target object P may be set as the target object P to be moved.

(Transmission of object position information)
The object information transmitting unit 76 of the terminal 16 transmits the position information of the object P determined as the movement destination to the moving body 10. In the present embodiment, the object information transmitting unit 76 transmits position information of the target object P, which is a movement destination, in the terminal coordinate system CA to the moving body 10.

(Obtaining object position information)
The object information acquisition unit 50 of the moving body 10 acquires the position information of the object P, which is the destination of movement, from the terminal 16. In the present embodiment, the object information acquisition unit 50 acquires position information of the object P, which is the movement destination, in the terminal coordinate system CA.

(Obtaining location information of a moving object)
The self-location acquisition unit 52 of the mobile body 10 acquires current position information of the mobile body 10 . The position information of the moving body 10 is information indicating the position and orientation of the moving body 10. The self-position acquisition unit 52 acquires position information of the mobile body 10 in the mobile body coordinate system C. The self-position acquisition unit 52 can use any method to acquire the position information of the moving body 10, but for example, in this embodiment, the equipment W is provided with a detection body (not shown), and the self-position acquisition unit 52 acquires the position information of the mobile body 10. Based on the detection, position information of the moving object 10 is acquired. Specifically, the moving object 10 detects its own position and orientation in the moving object coordinate system C by irradiating a laser beam toward a detection object and receiving the reflected light of the laser beam by the detection object. However, the method for acquiring the position information of the moving object 10 is not limited to using a detection object, and may also use, for example, SLAM (Simultaneous Localization and Mapping).

(Acquisition of position information of object in moving body coordinate system)
As described above, while the position information of the object P indicates the position and orientation of the object P in the terminal coordinate system CA, the mobile object 10 moves while detecting its own position in the mobile object coordinate system C. . Therefore, in this embodiment, by performing coordinate transformation between the moving object coordinate system C and the terminal coordinate system CA, the position information of the object P in the moving object coordinate system C can be obtained from the position information of the object P in the terminal coordinate system CA. First position information, which is position information, is calculated. The first position information is information indicating the position and orientation of the object P in the moving body coordinate system C.

Although the object information acquisition unit 50 may perform coordinate transformation between the moving body coordinate system C and the terminal coordinate system CA using any method, for example, the object information acquisition unit 50 may perform coordinate transformation between the moving body coordinate system C and the terminal coordinate system CA. Coordinate transformation may be performed by acquiring the coordinates. In this case, the object information acquisition unit 50 converts the position and orientation of the object P in the terminal coordinate system CA to the position and orientation of the object P in the moving object coordinate system C using the acquired correspondence. , is the first position information of the object P in the moving body coordinate system C.

FIG. 8 is a schematic diagram illustrating an example of detection using a reference part as a reference. Any method may be used to obtain the correspondence between the mobile body coordinate system C and the terminal coordinate system CA. For example, as shown in FIG. 8, a reference part M whose position and orientation in the moving object coordinate system C are known may be provided in the equipment W in advance. The reference portion M is, for example, a marker provided in the area AR, but may be any marker whose position and orientation in the moving object coordinate system C are known. In this case, the user U causes the terminal 16 to detect the object P using this reference portion M as a reference. As a result, the terminal coordinate system CA becomes a coordinate system based on the reference part M, so that the terminal 16 can determine the position and orientation of the object P with respect to the reference part M using the position information of the object P in the terminal coordinate system CA. can be detected as The object information acquisition unit 50 acquires information on the position and orientation of the reference part M in the moving body coordinate system C as a correspondence relationship, and based on this correspondence relationship, determines the position of the target object P in the terminal coordinate system CA. First position information of the object P in the moving object coordinate system C is calculated from the information (position and orientation of the object P with respect to the reference part M). Note that the method for acquiring the correspondence relationship (the position and orientation of the reference part M in the moving body coordinate system C) by the object information acquisition unit 50 may be arbitrary; The information may be read out, or the information may be obtained through communication from other devices such as the terminal 16 or the information processing device 14.

The method of detecting the object P using the reference part M as a reference by the terminal 16 may be arbitrary. For example, as shown in FIG. 8, the object detection unit 70 of the terminal 16 may cause the sensor 69 to detect the reference portion M, and calculate the position and orientation of the reference portion M from the detection result. Then, the target object detection unit 70 causes the sensor 69 to detect the target object P, and from the detection result of the position and orientation of the target object P with respect to the terminal 16 and the position and orientation of the terminal 16 with respect to the reference part M, the reference part The position and orientation of the object P with respect to M are calculated. For example, the user U may place the terminal 16 at a predetermined position and orientation with respect to the reference part M, and the position and orientation of the terminal 16 in that state may be used as the reference point of the terminal coordinate system CA. In this case, for example, the target object detection unit 70 calculates the position and orientation of the target object P with respect to the reference part M based on the detection result of the position and orientation of the target object P with respect to the terminal 16 and the reference point.

(route setting)
FIG. 9 is a schematic diagram illustrating route setting. The route acquisition unit 54 of the moving object 10 obtains a route R1 toward the object P in the moving object coordinate system C, which is set based on first position information indicating the position and orientation of the object P in the moving object coordinate system C. do. In this embodiment, the route acquisition unit 54 sets the route R1 by itself based on the first position information. For example, the route acquisition unit 54 calculates a position B having a predetermined position and orientation with respect to the object P in the moving object coordinate system C based on the first position information, and calculates a position B in the moving object coordinate system C. The route to B is set as route R1. The position B can be said to be the position and orientation at which the moving body 10 can pick up the object P, assuming that the object P is arranged at the position and orientation shown in the first position information. In the example of FIG. 9, the route acquisition unit 54 acquires the reference route R0 from the current position to the standby position A. The standby position A is, for example, a position set in advance as a waypoint, and the position may be arbitrary. The route acquisition unit 54 may acquire the reference route R0 from the current position to the standby position A from the information processing device 14, or may set the reference route R0 from the current position to the standby position A by itself. Then, the route acquisition unit 54 sets the route from standby position A to position B as route R1.

As shown in FIG. 9, the movement control unit 56 of the moving body 10 moves the moving body 10 to the standby position A according to the reference route R0 acquired by the route acquisition unit 54. Then, the movement control unit 56 moves the moving body 10 from the standby position A to the position B according to the route R1 set by the route acquisition unit 54, and picks up the object P. Note that the mobile body 10 moves along the reference route R0 and the route R1 while sequentially confirming its own position in the mobile body coordinate system C by the self-position acquisition unit 52.

In the above example, the moving body 10 moved to the standby position A according to the reference route R0, and then moved from the standby position A to the position B according to the route R, but the present invention is not limited thereto. For example, the movement to the standby position A is not essential; for example, the route acquisition unit 54 sets a route R from the current position of the moving body 10 to the position B, and the movement control unit 56 sets the route R from the current position to the position B. The moving body 10 may be moved.

FIG. 10 is a flowchart explaining the processing flow of the route setting system. As shown in FIG. 10, in this process, the object detection unit 70 of the terminal 16 detects the position information of the candidate object P in the terminal coordinate system CA by the operation of the user U (step S10), The object setting section 74 sets the object P as the movement destination from among the candidate objects P according to the user U's designation (step S12), and the object information transmission section 76 sets the object P as the movement destination. The location information of the target object P in the terminal coordinate system CA is transmitted to the moving body 10 (step S14).

The object information acquisition unit 50 of the mobile object 10 calculates first position information of the object P in the mobile object coordinate system C from the position information of the object P in the terminal coordinate system CA acquired from the terminal 16 (step S16 ), the route acquisition unit 54 sets a route R1 toward the object P based on the first position information of the object P in the moving object coordinate system C (step S18). The movement control unit 56 moves the moving body 10 according to the route R1 (step S20).

As explained above, in this embodiment, the terminal 16 detects the position information of the target object P, and the route R1 toward the target object P is set based on the detected position information of the target object P. Therefore, since the route can be set based on the actual position information of the object P, the moving body 10 can be guided to an appropriate position according to the situation. Furthermore, since the process of having the moving object 10 detect the object P is no longer essential, it is possible to specify the object P as the movement destination without waiting until the moving object 10 finishes detecting the object P. becomes. Furthermore, by converting the position information of the object P detected by the terminal 16 into the moving object coordinate system C, it is possible to specify the position of the object P in the coordinate system that the moving object 10 can recognize. , the moving body 10 can be appropriately guided.

In the above description, the mobile object 10 calculates the first position information of the object P in the mobile object coordinate system C based on the position information of the object P in the terminal coordinate system CA detected by the terminal 16. was. Similarly, in the above description, the moving body 10 has set the route R1 toward the object P based on the first position information. However, the entity that calculates the first location information and the entity that sets the route R1 are not limited to the mobile object 10, and at least one of the first location information and the route R1 is transmitted to the terminal 16 or the information processing device 14. It may be calculated by That is, the object information acquisition unit 50 that calculates the first position information and the route acquisition unit 54 that sets the route R1 are not limited to being implemented by the moving object 10, but may be implemented by the information processing device 14 or the terminal 16. may be done. In this case, for example, the terminal 16 or the information processing device 14 may calculate the first position information, and the mobile object 10 may set the route R1 based on the calculated first position information. For example, the terminal 16 or the information processing device 14 may calculate the first location information and set the route R1 based on the first location information. In this case, the mobile object 10 acquires information on the route R1 set by the terminal 16 or the information processing device 14, and moves along the acquired route R1.

(Second embodiment)
Next, a second embodiment will be described. In the second embodiment, the position information of the object P in the terminal coordinate system CA detected by the terminal 16 and the position information of the object P in the moving object coordinate system C detected by the moving object 10 are used to coordinate the This embodiment differs from the first embodiment in that conversion is performed. Descriptions of parts in the second embodiment that have the same configuration as those in the first embodiment will be omitted.

(Coordinate transformation)
FIG. 11 is a schematic diagram for explaining an example of coordinate transformation in the second embodiment. In the second embodiment, the object information acquisition unit 50 of the moving body 10 detects position information of the object P. Specifically, as shown in the upper left diagram of FIG. 11, the object information acquisition unit 50 causes the sensor 26A of the moving body 10 to detect the object P, and from the detection result by the sensor 26A, the moving body coordinate system is determined. The position information of the object P at C is calculated. Further, the object information acquisition unit 50 acquires position information of the object P in the terminal coordinate system CA, which is detected by the terminal 16, as shown in the upper right diagram of FIG. The object information acquisition unit 50 acquires position information of the object P detected by the moving object 10 (position information in the moving object coordinate system C) and position information of the object P detected by the terminal 16 (terminal coordinate system CA). coordinate transformation between the terminal coordinate system CA and the mobile object coordinate system C is performed based on the position information (position information).

The method of coordinate transformation based on the position information of the target object P detected by the moving body 10 and the terminal 16 may be arbitrary, but in this embodiment, it is performed by the method shown below. First, the object information acquisition unit 50 associates the object P detected by the moving object 10 with the object P detected by the terminal 16. In other words, the object information acquisition unit 50 associates the detection results of the mobile object 10 and the detection results of the terminal 16 for the same object P. The object information acquisition unit 50 associates the detection result by the mobile object 10 with the detection result by the terminal 16 for each object P. Note that the method of associating the objects P with each other may be arbitrary. For example, the object information acquisition unit 50 uses the position information of the object P in the terminal coordinate system CA detected by the terminal 16 to determine the position of the object P in the moving body coordinate system C. Calculate information. Then, the object information acquisition unit 50 calculates the difference between the calculated position information of the object P in the moving object coordinate system C and the position information of the object P in the moving object coordinate system C detected by the moving object 10. Objects P that are equal to or less than the value may be regarded as the same object P and may be associated with each other. The predetermined value here may be set as appropriate.

The object information acquisition unit 50 performs coordinate transformation on the associated object P based on the position information detected by the moving object 10 and the terminal 16. In the example of the present embodiment, the object information acquisition unit 50 calculates the homogeneous transformation matrix T, which is the correspondence between the terminal coordinate system CA and the moving object coordinate system C, by the optimization calculation shown in the following equation (1). calculate.

Here, q _i and Ψ _i in equation (1) are the position and orientation of the object P detected by the moving body 10, and p _i and φ _i are the position of the object P detected by the terminal 16. , is the direction. i is the identifier of the associated object P. That is, "i=1,...N", where N indicates the total number of associated objects P. Further, w is a weight parameter indicating how much importance is given to either positional deviation or angular deviation, and may be set as appropriate.

If T shown in formula (1) is expressed by the following formula (2), T can be calculated by calculating x, y, and θ that minimize the evaluation function E of formula (1). Note that since the partial differential becomes zero at the point where the evaluation function E is minimized, the simultaneous equations to be satisfied by the solution to be found are as shown in the following equation (3). However, the horizontal line above the symbol represents the average.

Here, as shown in equation (1), x and y can be expressed explicitly using θ, so by finding θ, x, y, and θ can be found, and T can be calculated. θ can be calculated, for example, by the Newton-Raphson method.

In the example of FIG. 11, while the terminal 16 was able to detect the objects PA, PB, and PC, the mobile body 10 at the standby position A was unable to detect the objects PC, and detected the objects PA, PB. Detected only. In this case, the object information acquisition unit 50 determines the correspondence between the moving object coordinate system C and the terminal coordinate system CA (T in the above example) from the detection results of the objects PA and PB of the moving object 10 and the terminal 16. Calculate. That is, as long as the terminal 16 and the moving body 10 detect at least one same object P, even if the number of detected objects P is different, the relationship between the moving body coordinate system C and the terminal coordinate system CA is Correspondence can be calculated.

(route setting)
In the example of FIG. 11, the object information acquisition unit 50 causes the moving body 10 to detect the position information of the object P at the standby position A. The object information acquisition unit 50 of the moving object 10 determines the moving object coordinate system C and the terminal coordinates from the position information of the object P detected by the moving object 10 and the position information of the object P detected by the terminal 16. The correspondence relationship (T in the above example) with the system CA is calculated. Then, as shown in the lower diagram of FIG. 11, the object information acquisition unit 50 coordinately transforms the position information of the object P in the terminal coordinate system Ca detected by the terminal 16 using the calculated correspondence relationship. Then, first position information of the object P in the moving object coordinate system C is calculated. The route acquisition unit 54 sets a route R1 to the target object P, that is, a route R1 from the standby position A to the position B here, based on the first position information of the target object P calculated in this way. do.

As described above, in the second embodiment, coordinate transformation is performed based on the position information of the target object P detected by the moving object 10 and the terminal 16. Since the detection accuracy of the target object P by the moving body 10 is often higher than the detection accuracy of the target object P by the terminal 16, by performing coordinate transformation using the method of the second embodiment, the detection accuracy of the target object P in the mobile body coordinate system C is The route R1 can be appropriately set by setting the first position information of the object P with high precision. Furthermore, in this embodiment, the moving body 10 and the terminal 16 detect a common object P and perform coordinate transformation. In other words, by using the same reference as the object P, even if the distance measurement characteristics of the sensor of the moving object 10 and the sensor of the terminal 16 are different, the detection results of the sensor of the moving object 10 and the sensor of the terminal 16 can be accurately determined. Can be compared. Note that the reference object P is a pallet with a standardized shape (with a known shape) that is transported by the moving body 10 in the example of this embodiment, but any object with a known shape can be used as a reference. It may be used as a target object P.

Further, in the example of FIG. 11, the route R1 is a route toward the target object PA, but according to the method of the second embodiment, a route toward the target object PC that the moving object 10 could not be detected can also be set. That is, in this case, the object information acquisition unit 50 calculates the correspondence relationship (T) using the detection results of the objects PA and PB, and uses this correspondence relationship to calculate the position information of the object PC in the terminal coordinate system CA. By converting, the position information of the target object PC in the moving body coordinate system C can be calculated, and a route to the target object PC can be set.

(Other example 1)
In the second embodiment, the moving body 10 detects the position information of the target object P, but if the approximate position of the target object P is not known in advance, the search range becomes wider, so the detection load is reduced. There is a risk that the price will increase. On the other hand, as shown in this example, a detection region ROI, which is a range to be detected by the moving body 10, is set based on the position information of the target object P detected by the terminal 16, and the detection region ROI is set in the moving body 10. It is preferable to detect the position information of the target object P by detecting the . Thereby, the detection load can be suppressed. This will be explained in detail below.

FIG. 12 is a schematic diagram illustrating the detection area. In this example, the object information acquisition unit 50 of the moving body 10 uses the position information of the object P in the terminal coordinate system CA detected by the terminal 16 to calculate the moving body coordinate system. First position information of the object P at C is calculated. The object information acquisition unit 50 sets a detection region ROI as shown in FIG. 12 based on the first position information of the object P in the moving body coordinate system C. For example, the object information acquisition unit 50 may set an area of a predetermined size including the position indicated by the first position information as the detection area ROI. The object information acquisition unit 50 detects position information of the object P by causing the sensor 26A to detect the detection region ROI. Then, the object information acquisition unit 50 acquires the position information of the object P detected by the moving body 10 and the position information of the object P detected by the terminal 16 in the same manner as in the second embodiment described above. From this, the correspondence relationship (T in the above example) between the moving object coordinate system C and the terminal coordinate system CA is calculated. The object information acquisition unit 50 calculates first position information of the object P in the moving object coordinate system C by performing coordinate transformation on the position information of the object P in the terminal coordinate system CA using the calculated correspondence relationship. fix. The route acquisition unit 54 sets a route R1 toward the object P based on the position information of the object P in the moving body coordinate system C recalculated in this way.

(Other example 2)
In the above description, the moving object 10 is moved to the object P according to the route R1 set using the position information of the object P detected by the moving object 10 and the terminal 16. However, the present invention is not limited to this, and the position of the object P detected by the mobile object 10 and the terminal 16 after approaching the object P along the route R1 set using only the position information of the object P detected by the terminal 16. The next route R2 may be set using the information, and the moving object 10 may be made to reach the target object P according to the route R2. This will be explained in detail below.

FIG. 13 is a schematic diagram illustrating an example of route setting. In this example, a route R1 toward the object P is set using the same method as in the first embodiment, that is, using only the position information of the object P detected by the terminal 16. The movement control unit 56 of the moving body 10 moves the moving body 10 toward the object P according to the route R1. Here, the object information acquisition unit 50 of the moving object 10 causes the sensor 26A to detect the object P in a state where the moving object 10 is located on the route R1, and detects the object P in the moving object coordinate system C. Calculate the location information of. Note that the object information acquisition unit 50 may cause the sensor 26A to detect the object P at any position on the route R1, for example, may cause the sensor 26A to detect the object P sequentially while moving along the route R1, or may cause the sensor 26A to detect the object P at any position on the route R1. When reaching a predetermined distance from the end point (position B) of R1, the object P may be detected by stopping. Note that also in this example, the detection region ROI may be set based on the first position information and the sensor 26A may be caused to detect the detection region ROI.

The object information acquisition unit 50 uses the same method as in the second embodiment from the position information of the object P detected by the moving object 10 on the route R1 and the position information of the object P detected by the terminal 16. Then, the correspondence between the moving object coordinate system C and the terminal coordinate system CA is calculated. Then, the object information acquisition unit 50 coordinates transforms the position information of the object P in the terminal coordinate system CA detected by the terminal 16 using the calculated correspondence relationship, and positions the object P in the moving object coordinate system C. Information (second position information) is calculated. The route acquisition unit 54 sets a route R2 toward the object P based on the second position information of the object P in the moving body coordinate system C calculated in this way. That is, the route acquisition unit 54 calculates a position D that is a predetermined position and orientation with respect to the target object P based on the second position information of the target object P, and sets the route to the position D as the route R2. . The position D can be said to be the position and orientation at which the moving body 10 can pick up the object P, assuming that the object P is arranged in the position and orientation shown in the second position information. Once the route R2 is set, the movement control unit 56 switches from the route R1 to the route R2 and moves toward the object P along the route R2.

In this way, in this example, after approaching the object P using only the detection results of the terminal 16, the object P is further approached using the detection results of the mobile body 10 and the terminal 16. Therefore, according to this example, the moving body 10 starts moving without waiting until the object P has been detected, and switches to route R2 as soon as the moving object 10 is detected, so that the object P can be detected with high precision. I can approach you.

In addition, in the description of the second embodiment, the process of calculating the correspondence between the moving body coordinate system C and the terminal coordinate system CA, the process of calculating the position information of the object P in the moving body coordinate system C, and the process of calculating the correspondence between the moving body coordinate system C and the terminal coordinate system CA, Although the mobile body 10 performs the processing for setting R1 and R2, the present invention is not limited thereto, and the terminal 16 or the information processing device 14 may perform the processing.

(Third embodiment)
Next, a third embodiment will be described. The third embodiment differs from the first embodiment in that after approaching the object P along the route R1, a route R3 is set to approach the object P using only the detection results of the moving body 10. In the third embodiment, descriptions of parts that have the same configuration as the first embodiment will be omitted. Note that the third embodiment is also applicable to the second embodiment.

FIG. 14 is a schematic diagram illustrating an example of route setting. In the third embodiment, a route R1 toward the object P is set using the same method as in the first embodiment, that is, using only the position information of the object P detected by the terminal 16. The movement control unit 56 of the moving body 10 moves the moving body 10 toward the object P according to the route R1. In the third embodiment, the object information acquisition unit 50 of the moving object 10 causes the sensor 26A to detect the object P while the moving object 10 is located on the route R1, and detects the object P in the moving object coordinate system C. Calculate the position information of the target object P at . Note that the object information acquisition unit 50 may cause the sensor 26A to detect the object P at any position on the route R1, for example, may cause the sensor 26A to detect the object P sequentially while moving along the route R1, or may cause the sensor 26A to detect the object P at any position on the route R1. When reaching a predetermined distance from the end point (position B) of R1, the object P may be detected by stopping. In addition, also in the third embodiment, as shown in other example 1 of the second embodiment, the detection region ROI may be set based on the first position information and the sensor 26A may detect the detection region ROI. .

The object information acquisition unit 50 sets a route R3 toward the object P based on the position information of the object P in the moving object coordinate system C detected by the moving object 10. That is, the route acquisition unit 54 calculates a position E that is a predetermined position and orientation with respect to the object P based on the position information of the object P in the moving object coordinate system C detected by the moving object 10, The route to that position E is set as route R3. The position E can be said to be the position and orientation at which the moving body 10 can pick up the object P, assuming that the object P is arranged at the position and orientation shown in the position information detected by the moving body 10. Once the route R3 is set, the movement control unit 56 switches from the route R1 to the route R3 and moves toward the target object P along the route R3.

In this manner, in the third embodiment, after approaching the object P using only the detection results of the terminal 16, the object P is further approached using the detection results of the mobile object 10 and the terminal 16. Therefore, according to the third embodiment, the moving body 10 starts moving without waiting until the target object P has been detected, and switches to the route R3 at the moment when the moving body 10 can detect the target object P, thereby detecting the target object P with high precision. You can approach P. In particular, when the mobile object 10 heads toward the object PC that could not be detected, it will head toward the object PC using only the detection results of the terminal 16, so the accuracy of the route R1 toward the object PC becomes low. It ends up. On the other hand, in the third embodiment, when the moving body 10 starts moving on the route R1 and reaches a position where the target object PC can be detected, it switches to the route R3 based on the detection of the moving body 10. You can switch to a highly accurate route to the PC.

Furthermore, the third embodiment is also applicable to the second embodiment. For example, in the third embodiment, after the moving object 10 is moved along the route R1 set using the position information of the object P detected by the moving object 10 and the terminal 16, the object P detected by the moving object 10 is moved. The route R3 may be set based on the position information of the target object P, and the route may be switched to the route R3. For example, in the third embodiment, after approaching the object P on the route R1 set using only the position information of the object P detected by the terminal 16, the object P detected by the moving object 10 and the terminal 16 A route set using only the position information of the object P detected by the moving body 10 after switching to the route R2 set using the position information of the object P and moving closer to the object P on the route R2. You may switch to R3. In this way, by combining the second embodiment, it is possible to approach with high precision using a route that combines the detection of the terminal 16 and the moving object 10, and to approach with even higher precision using the route R3 based on the detection of the moving object 10 alone.

Note that in the description of the third embodiment, the process of setting the route R3 is performed by the mobile body 10, but the process is not limited thereto, and the terminal 16 or the information processing device 14 may perform the process.

(effect)
A route setting method according to a first aspect of the present disclosure includes the steps of: detecting, by a positionally movable terminal 16, position information of an object P in a terminal coordinate system CA, which is a reference for detection by the terminal 16; By performing coordinate transformation between CA and the moving object coordinate system C, which is the reference for the movement of the moving object 10, the position of the object P in the moving object coordinate system C can be determined from the position information of the object P in the terminal coordinate system CA. and a step of setting a route R1 toward the target object P in the moving body coordinate system C based on the first position information.

According to the present disclosure, a route can be set based on the position information of the actual object P detected by the terminal 16, so the moving object 10 can be guided to an appropriate position according to the situation. Furthermore, by converting the position information of the object P detected by the terminal 16 into the moving object coordinate system C, it is possible to specify the position of the object P in the coordinate system that the moving object 10 can recognize. , the moving body 10 can be appropriately guided.

The route setting method according to the second aspect of the present disclosure is the route setting method according to the first aspect, in which the step of detecting the position information of the target object P uses a reference whose position in the moving object coordinate system C is known. In the step of causing the terminal 16 to detect the position information of the object P using the part M as a reference and calculating the first position information, based on the position of the reference part M in the moving object coordinate system C, the terminal coordinate system CA and Coordinate transformation with the moving body coordinate system C is performed. By performing coordinate transformation using the reference part M, the approximate position of the object P in the moving body coordinate system C can be estimated. This makes it possible to easily associate the position of the object P expressed in the terminal coordinate system CA with the object P expressed in the moving object coordinate system C, and it is possible to appropriately guide the moving object 10. . In other words, high accuracy is not required for detecting the position of the reference part M by the terminal 16, and if the approximate positional relationship between the coordinate systems can be grasped by the reference part M, it will assist in the subsequent high-precision correspondence between the coordinate systems. This is preferable because it can be done.

The route setting method according to the third aspect of the present disclosure is the route setting method according to the first aspect or the second aspect, which includes a step of causing the moving object 10 to detect position information of the target object P in the moving object coordinate system C. In the step of calculating the first position information, the position information of the object P in the terminal coordinate system CA detected by the terminal 16 and the position information of the object P in the mobile object coordinate system C detected by the mobile object 10 are calculated. Based on the position information, coordinate transformation between the terminal coordinate system and the moving body coordinate system is performed. According to the present disclosure, in order to perform coordinate transformation based on the position information of the target object P detected by the mobile body 10 and the terminal 16, the first position information of the target object P in the mobile body coordinate system C is set with high precision. Thus, route R1 can be appropriately set.

A route setting method according to a fourth aspect of the present disclosure is the route setting method according to any one of the first to third aspects, and includes a step of setting a detection region ROI based on first position information; The step further includes a step of obtaining position information of the target object P in the mobile body coordinate system C by detecting the detection region ROI, and in the step of calculating the first position information, the target object P in the terminal coordinate system CA is In the step of recalculating the first position information based on the position information of the object P and the position information of the object P in the moving body coordinate system C, and setting the route R1, the recalculated first position information is used. Based on this, a route RI is set. According to the present disclosure, by setting the detection region ROI from the position information of the target object P detected by the terminal 16 and having the moving body 10 detect the detection region ROI, the route R1 can be appropriately determined while suppressing the detection load. Can be set to

A route setting method according to a fifth aspect of the present disclosure is the route setting method according to any one of the first to fourth aspects, in which the mobile object 1 , based on the step of detecting the position information of the target object P in the mobile body coordinate system C, the position information of the target object P in the terminal coordinate system CA, and the position information of the target object P in the mobile body coordinate system C, a step of calculating second position information indicating the position of the target object P in the mobile body coordinate system C; a step of setting a route R2 toward the target object P in the mobile body coordinate system C based on the second position information; further including. According to the present disclosure, it is possible to start moving without waiting until the moving object 10 finishes detecting the object P, and switch to route R2 as soon as the moving object 10 is detected to approach the object P with high precision. .

A route setting method according to a sixth aspect of the present disclosure is the route setting method according to any one of the first to fifth aspects, in which the mobile object , a step of detecting the position information of the object P in the moving body coordinate system C, and based on the position information of the target object P in the moving body coordinate system C, a route R3 toward the target object P in the moving body coordinate system C is detected. configuring. According to the present disclosure, it is possible to start moving without waiting until the moving object 10 finishes detecting the object P, and switch to the route R3 as soon as the moving object 10 is detected to approach the object P with high precision. .

The route setting method according to the seventh aspect of the present disclosure is the route setting method according to any one of the first to sixth aspects, and further includes a step of setting the moving body 10 to move according to the set route. According to the present disclosure, the mobile body 10 can be moved to an appropriate position depending on the situation.

The program according to the eighth aspect of the present disclosure includes the steps of: detecting, by a positionally movable terminal 16, position information of an object P in a terminal coordinate system CA, which is a reference for detection by the terminal 16; , by performing coordinate transformation with the moving object coordinate system C, which serves as a reference for the movement of the moving object 10, from the position information of the object P in the terminal coordinate system CA, the position of the object P in the moving object coordinate system C is obtained. The computer is caused to execute the steps of calculating first position information and setting a route R1 toward the object P in the moving body coordinate system C based on the first position information. According to the present disclosure, the moving body 10 can be guided to an appropriate position depending on the situation.

The route setting system 1 according to the ninth aspect of the present disclosure includes a terminal 16 that is movable in position and a mobile object 10. The terminal 16 includes an object detection unit 70 that detects position information of the object P in the terminal coordinate system CA, which serves as a reference for detection. The moving object 10 follows a route toward the object P in the moving object coordinate system C, which is set based on first position information indicating the position of the object P in the moving object coordinate system C, which serves as a reference for movement of the moving object 10. It includes a route acquisition unit 54 that acquires R1. The first position information is calculated from the position information of the object P in the terminal coordinate system CA by performing coordinate transformation between the terminal coordinate system CA and the moving body coordinate system C. According to the present disclosure, the moving body 10 can be guided to an appropriate position depending on the situation.

Although the embodiment of the present disclosure has been described above, the embodiment is not limited by the content of this embodiment. Further, the above-mentioned components include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those that are in a so-called equivalent range. Furthermore, the components described above can be combined as appropriate. Furthermore, various omissions, substitutions, or changes of the constituent elements can be made without departing from the gist of the embodiments described above.

10 Mobile object 12 Management device 14 Information processing device 16 Terminal 50 Object information acquisition section 52 Self-position acquisition section 54 Route acquisition section 56 Movement control section 70 Object detection section 72 Display control section 74 Object setting section 76 Object information transmission Part C Mobile body coordinate system Ca Terminal coordinate system P Target object R1 Route

Claims

Detecting, by a positionally movable terminal, position information of an object in a terminal coordinate system that serves as a reference for detection by the terminal;
By performing coordinate transformation between the terminal coordinate system and the moving object coordinate system that serves as a reference for movement of the moving object, the position information of the object in the terminal coordinate system can be used to calculate the position information of the object in the moving object coordinate system. calculating first position information indicating the position;
setting a route toward the object in the moving object coordinate system based on the first position information;
including,
How to set the route.
In the step of detecting the position information of the object, the terminal detects the position information of the object with reference to a reference part whose position in the moving body coordinate system is known;
2. The step of calculating the first position information performs coordinate transformation between the terminal coordinate system and the moving object coordinate system based on the position of the reference part in the moving object coordinate system. How to set the route.
further comprising the step of causing the moving body to detect position information of the object in the moving body coordinate system,
The step of calculating the first position information is based on the position information of the object in the terminal coordinate system detected by the terminal and the position information of the object in the mobile object coordinate system detected by the mobile object. 3. The route setting method according to claim 1, further comprising performing coordinate transformation between the terminal coordinate system and the moving body coordinate system.
setting a detection area based on the first location information;
further comprising the step of obtaining position information of the object in the moving body coordinate system by causing the moving body to detect the detection area,
In the step of calculating the first position information, the first position information is recalculated based on the position information of the object in the terminal coordinate system and the position information of the object in the mobile body coordinate system. ,
3. The route setting method according to claim 1, wherein in the step of setting the route, the route is set based on the recalculated first position information.
After moving along the route set based on the first position information, causing the moving body to detect position information of the object in the moving body coordinate system;
Calculate second position information indicating the position of the object in the mobile body coordinate system based on the position information of the target object in the terminal coordinate system and the position information of the target object in the mobile body coordinate system. step and
3. The route setting method according to claim 1, further comprising the step of setting a route toward the object in the moving body coordinate system based on the second position information.
After moving along the route set based on the first position information, causing the moving body to detect position information of the object in the moving body coordinate system;
further comprising the step of setting a route toward the target object in the mobile body coordinate system based on position information of the target object in the mobile body coordinate system.
The route setting method according to claim 1 or claim 2.
The route setting method according to claim 1 or 2, further comprising the step of setting the mobile object to move according to the set route.
Detecting, by a positionally movable terminal, position information of an object in a terminal coordinate system that serves as a reference for detection by the terminal;
By performing coordinate transformation between the terminal coordinate system and the moving object coordinate system that serves as a reference for movement of the moving object, the position information of the object in the terminal coordinate system can be used to calculate the position information of the object in the moving object coordinate system. calculating first position information indicating the position;
setting a route toward the object in the moving object coordinate system based on the first position information;
make the computer execute
program.
A route setting system including a terminal whose position can be moved and a mobile object,
The terminal includes an object detection unit that detects position information of the object in a terminal coordinate system that is a reference for detection,
The moving object obtains a route toward the object in the moving object coordinate system that is set based on first position information indicating the position of the object in the moving object coordinate system that is a reference for movement of the moving object. includes a route acquisition unit to
The first position information is calculated from the position information of the object in the terminal coordinate system by performing coordinate transformation between the terminal coordinate system and the moving object coordinate system,
Routing system.