JP2022070559A - Mobile body, mobile control system, mobile control method and program - Google Patents

Abstract

To detect a target properly and use an appropriate path to the target.SOLUTION: The mobile body is a mobile body that moves automatically and includes: a first path information acquisition unit in which information on a first path that traverses an installation area to a second direction intersecting a first direction is acquired on the first direction side of the installation area where a target is installed; a detection control unit that causes a sensor provided on the mobile body to detect the position and posture of the target while the mobile body is moving along the first path; a second path information acquisition unit that acquires information on the second path to the target position that is set based on the position and posture of the target and has a predetermined position and posture with respect to the target; and a mobile control unit that moves the mobile body along the second path.SELECTED DRAWING: Figure 1

Description

The present invention relates to a moving body, a moving control system, a moving body control method and a program.

For example, a technique for automatically moving a moving object such as a forklift to a target position is known. Patent Document 1 describes that the approach trajectory to the target is determined based on the position information of the target detected by the range sensor provided on the moving body.

Japanese Patent No. 6492024

However, the position detection of the target using the sensor may fail with a certain probability, so it is required to properly detect the target and use an appropriate path (orbit) to the target. There is.

The present disclosure solves the above-mentioned problems, and provides a moving body, a movement control system, a moving body control method and a program capable of appropriately detecting a target and using an appropriate path to the target. The purpose is to provide.

In order to solve the above-mentioned problems and achieve the object, the moving body according to the present disclosure is a moving body that moves automatically, and is the first direction side of the installation area where the target is installed. A first pass information acquisition unit that acquires information on the first pass that crosses the installation area in the second direction that intersects the first direction, and a moving body that is provided on the moving body while the moving body is moving along the first pass. A detection control unit that causes the sensor to detect the position and posture of the target, and a target position set based on the position and posture of the target up to a predetermined position and posture with respect to the target. It includes a second pass information acquisition unit that acquires information on two passes, and a movement control unit that moves the moving body along the second pass.

In order to solve the above-mentioned problems and achieve the object, the mobile control system 1 according to the present disclosure includes the mobile body and an information processing device that transmits / receives information to / from the mobile body.

In order to solve the above-mentioned problems and achieve the object, the method for controlling a moving body according to the present disclosure is a method for controlling a moving body that moves automatically, and is the first method rather than an installation area where a target is installed. On the directional side, a step of acquiring information on a first pass that crosses the installation area in a second direction that intersects the first direction, and while the moving body is moving along the first path, the moving body A step of causing a provided sensor to detect the position and posture of the target object, and a second step up to a target position set based on the position and attitude of the target object, which is a predetermined position and attitude with respect to the target object. It includes a step of acquiring path information and a step of moving the moving body along the second path.

In order to solve the above-mentioned problems and achieve the object, the program according to the present disclosure is a program for causing a computer to execute a control method for an automatically moving moving object, rather than an installation area where a target is installed. On the first direction side, a step of acquiring information on a first path that crosses the installation area in a second direction that intersects the first direction, and the movement while the moving body is moving along the first path. Up to the step of causing a sensor provided on the body to detect the position and posture of the target, and the target position set based on the position and posture of the target, which is a predetermined position and posture with respect to the target. The computer is made to execute a step of acquiring the information of the second pass and a step of moving the moving body along the second pass.

According to the present disclosure, the target can be appropriately detected and an appropriate path to the target can be used.

FIG. 1 is a schematic diagram of a movement control system according to the first embodiment. FIG. 2 is a schematic diagram of the configuration of the moving body. FIG. 3 is a schematic block diagram of the management system. FIG. 4 is a schematic block diagram of the information processing apparatus. FIG. 5 is a schematic block diagram of a moving body control device. FIG. 6 is a schematic diagram illustrating the detection of the position and posture of the target object. FIG. 7 is a schematic diagram illustrating the second path. FIG. 8 is a flowchart illustrating a movement control flow of the moving body according to the first embodiment. FIG. 9 is a block diagram showing another example of the information processing apparatus. FIG. 10 is a schematic diagram showing another example of the orientation of the moving body when moving. FIG. 11 is a flowchart showing a setting flow of the second path according to the second embodiment. FIG. 12 is a schematic diagram illustrating a case where a single arc path is set as the second path. FIG. 13 is a schematic diagram illustrating a case where the double arc path is set as the second path. FIG. 14 is a schematic diagram for explaining the interference determination. FIG. 15 is a schematic diagram for explaining the interference determination. FIG. 16 is a flowchart illustrating a flow of interference determination in the third embodiment.

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the present invention is not limited to this embodiment, and when there are a plurality of embodiments, the present invention also includes a combination of the respective embodiments.

(First Embodiment)
(Overall configuration of mobile control system)
FIG. 1 is a schematic diagram of a movement control system according to the first embodiment. As shown in FIG. 1, the movement control system 1 according to the first embodiment includes a moving body 10, a management system 12, and an information processing device 14. The movement control system 1 is a system that controls the movement of the moving body 10 belonging to the equipment W. Equipment W is equipment that is managed by physical distribution, such as a warehouse. In the movement control system 1, the moving body 10 picks up and conveys the target object P arranged in the area AR of the equipment W. The area AR is, for example, the floor surface of the equipment W, and is an area where the target object P is installed or the moving body 10 moves. In the present embodiment, the target object P is a transport target object in which a load is loaded on a pallet. The target object P has an opening Pb formed in the front surface Pa into which a fork 24, which will be described later, of the moving body 10 is inserted. However, the target object P is not limited to the one in which the luggage is loaded on the pallet, and may be in any form, and may be, for example, only the luggage without the pallet. Hereinafter, one direction along the region AR is referred to as a direction X, and a direction along the region A and intersecting the direction X is referred to as a direction Y. In this embodiment, the direction Y is a direction orthogonal to the direction X. The direction X and the direction Y may be said to be horizontal. Further, the direction orthogonal to the direction X and the direction Y, that is, the vertical direction is defined as the direction Z.

A plurality of installation areas AR0 are provided in the area AR in the equipment W. The installation area AR0 is an area where the target object P is installed. The installation area AR0 is preset as an area in which the target object P should be installed. The installation area AR0 is divided by, for example, a white line, and the position (coordinates), shape, and size of the installation area AR0 are set in advance. In the installation area AR0, the target object P is arranged so that the front surface Pa faces the direction X side. In the example of FIG. 1, the target object P is installed so that the axis PX orthogonal to the front surface Pa when viewed from the direction Z is along the direction X, that is, the direction of the target object P does not deviate from the installation area AR0. It is arranged in the area AR. However, the target object P is not limited to the axis PX being along the direction X, and the axis PX may be installed so as to be inclined from the direction X, that is, to be deviated from the installation area AR. For example, the target object P is preferably arranged in the installation area AR0 so that the inclination angle between the axis PX and the direction X is 45 degrees or less.

In the present embodiment, the installation area AR0 is provided in the area AR which is the floor of the equipment W, but is not limited to this, and may be provided, for example, in the loading platform of the vehicle in which the target object P is carried into the equipment W. good. Further, in the present embodiment, the installation area AR0 is partitioned for each target object P, and one target object P is arranged in the installation area AR0, but the present invention is not limited to this. For example, the installation area AR0 may be set so that a plurality of target objects P are installed as free spaces. Further, in the example of FIG. 1, the installation area AR0 is rectangular, but the shape and size may be arbitrary. Further, the number of installation areas AR0 provided in the area AR may be arbitrary.

The moving body 10 is a device that can be automatically moved. In the present embodiment, the moving body 10 is a forklift, and more specifically, a so-called AGF (Automated Guided Forklift). As shown in FIG. 1, the moving body 10 moves on the area AR in the equipment W. The moving body 10 moves from the first position A1 to the second position A2 according to the first pass R1 (original path), and detects the position and posture of the target object P by the sensor 26 described later. The position of the target object P here refers to the coordinates in the two-dimensional plane along the direction X and the direction Y, and the posture of the target object P is the target when viewed from a direction orthogonal to the direction X and the direction Y. Refers to the direction (rotation angle) of the object P. When the moving body 10 reaches the second position A2, the moving body 10 moves from the second position A2 to the target position A3 according to the second path R2 (global path) set based on the position and posture of the target object P to reach the target. Pick up the object P. The target position A3 is a position and a posture that is a predetermined position and a posture with respect to the target object P. In the present embodiment, the target position A3 can be said to be a position and a posture in which the moving body 10 can pick up the target object P. For example, at the target position A3, the fork 24 of the moving body 10 described later can be inserted into the opening Pb of the target object P by going straight without the moving body 10 moving laterally. It may be a position and a posture. In this case, the moving body 10 goes straight from the target position A3, picks up the target object P, and transports the target object P to another place. The first pass R1 and the second pass R2 shown in FIG. 1 are examples. The details of the movement of the moving body 10 according to the first pass R1 and the second pass R2 will be described later.

(Mobile)
FIG. 2 is a schematic diagram of the configuration of the moving body. As shown in FIG. 2, the moving body 10 includes a vehicle body 20, a mast 22, a fork 24, a sensor 26, and a control device 28. The vehicle body 20 includes wheels 20A. The mast 22 is provided at one end of the vehicle body 20 in the front-rear direction. The mast 22 extends along the vertical direction (here, the direction Z) orthogonal to the front-rear direction. The fork 24 is movably attached to the mast 22 in the direction Z. The fork 24 may be movable with respect to the mast 22 in the lateral direction (direction intersecting the vertical direction and the front-rear direction) of the vehicle body 20. 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 claws 24A and the claws 24B are arranged apart from each other in the lateral direction of the mast 22. Hereinafter, among the front-rear directions, the direction on the side of the moving body 10 where the fork 24 is provided is referred to as the front direction, and the direction on the side where the fork 24 is not provided is referred to as the rear direction.

The sensor 26 detects at least one of the positions and postures of the objects existing around the vehicle body 20. It can be said that the sensor 26 detects the position of the object with respect to the moving body 10 and the posture of the object with respect to the moving body 10. In the present embodiment, the sensors 26 are provided at the mast 22 and the four corners of the vehicle body 20, that is, at the left and right ends on the front side and the left and right ends on the rear side of the vehicle body 20. However, the position where the sensor 26 is provided is not limited to this, and the sensor 26 may be provided at any position, and the number of the sensors 26 may be arbitrary. For example, the safety sensor provided on the moving body 10 may be diverted as the sensor 26. By diverting the safety sensor, it is not necessary to install a new sensor.

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

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

(Management system)
FIG. 3 is a schematic block diagram of the management system. The management system 12 is a system for managing the physical distribution in the equipment W. The management system 12 is WMS (Warehouse Management System) in the present embodiment, but is not limited to WMS and may be any system, and may be, for example, a back-end system such as another production management system. The position where the management system 12 is provided is arbitrary and may be provided in the equipment W, or may be provided at a position away from the equipment W and manage the equipment W from a distant position. The management system 12 is a computer, and as shown in FIG. 3, includes a communication unit 30, a storage unit 32, and a control unit 34.

The communication unit 30 is a module used by the control unit 34 to communicate with an external device such as an information processing device 14, and may include, for example, an antenna. The communication method by the communication unit 30 is wireless communication in this embodiment, but the communication method may be arbitrary. The storage unit 32 is a memory for storing various information such as calculation contents and programs of the control unit 34, and is, for example, a RAM (Random Access Memory), a main storage device such as a ROM (Read Only Memory), and an HDD ( Includes at least one of external storage devices such as Hard Disk Drive).

The control unit 34 is an arithmetic unit, that is, a CPU (Central Processing Unit). The control unit 34 includes a work decision unit 36. The control unit 34 realizes the work determination unit 36 by reading a program (software) from the storage unit 32 and executing the program (software), and executes the process. The control unit 34 may execute the process by one CPU, or may include a plurality of CPUs and execute the process by the plurality of CPUs. Further, the work determination unit 36 may be realized by a hardware circuit. Further, the program for the control unit 34 stored by the storage unit 32 may be stored in a recording medium readable by the management system 12.

The work determination unit 36 determines the target object P to be transported. Specifically, the work determination unit 36 determines the work content indicating the information of the target object P to be transported, for example, based on the input work plan. It can be said that the work content is information that identifies the target object P to be transported. In the example of the present embodiment, the work content determines as the work content which target P in which facility is to be transported by when and where. That is, the work determination unit 36 provides information indicating the equipment in which the target object P is stored, the target object P, the destination of the target object P, and the transportation time of the target object P. Is. The work determination unit 36 transmits the determined work content to the information processing device 14 via the communication unit 30.

(Information processing device)
FIG. 4 is a schematic block diagram of the information processing apparatus. The information processing device 14 is a so-called ground system, which is provided in the equipment W and at least calculates information related to the movement of the moving body 10. The information processing device 14 is a computer, and as shown in FIG. 4, includes a communication unit 40, a storage unit 42, and a control unit 44. The communication unit 40 is a module used by the control unit 44 to communicate with an external device such as a management system 12 or a mobile body 10, and may include, for example, an antenna. The communication method by the communication unit 40 is wireless communication in this embodiment, but the communication method may be arbitrary. The storage unit 42 is a memory that stores various information such as calculation contents and programs of the control unit 44. For example, 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 an arithmetic unit, that is, a CPU. The control unit 44 includes a work content acquisition unit 50, a moving body selection unit 52, and a first pass acquisition unit 54. The control unit 44 reads a program (software) from the storage unit 42 and executes it to realize the work content acquisition unit 50, the moving body selection unit 52, and the first pass acquisition unit 54, and executes those processes. do. The control unit 44 may execute these processes by one CPU, or may include a plurality of CPUs and execute the processes by the plurality of CPUs. Further, at least a part of the work content acquisition unit 50, the moving body selection unit 52, and the first pass acquisition unit 54 may be realized by a hardware circuit. Further, the program for the control unit 44 stored by the storage unit 42 may be stored in a recording medium readable by the information processing apparatus 14.

(Work content acquisition department and moving object selection department)
The work content acquisition unit 50 acquires information on the work content determined by the management system 12, that is, information on the target object P to be transported. The work content acquisition unit 50 identifies the installation area AR0 in which the target object P is installed from the information of the target object P in the work content. For example, the target object P and the installation area AR0 in which the target object P is installed are stored in association with each other in the storage unit 42, and the work content acquisition unit 50 reads the information from the storage unit 42. By doing so, the installation area AR0 is specified. The moving body selection unit 52 selects the target moving body 10. The moving body selection unit 52 selects the target moving body 10 from, for example, a plurality of moving bodies belonging to the equipment W. The moving body selection unit 52 may select the target moving body 10 by any method. For example, based on the installation area AR0 specified by the work content acquisition unit 50, the target object P in the installation area AR0 The moving body 10 suitable for transportation may be selected as the target moving body 10.

(1st pass acquisition department)
The first pass acquisition unit 54 acquires the information of the first pass R1 up to the installation area AR0 specified by the work content acquisition unit 50. The first pass R1 is set in advance for each installation area AR0, for example. The first pass acquisition unit 54 acquires, for example, the first pass R1 set for the installation area AR0 specified by the work content acquisition unit 50 from the storage unit 42. Hereinafter, the first pass R1 will be specifically described.

As shown in FIG. 1, the first pass R1 is a trajectory that crosses the installation area AR0 (target object P) along the direction Y on the direction X side of the installation area AR0 (target object P) to which the moving body 10 heads. It has become. More specifically, the first pass R1 includes a detection orbit R1a and an approach orbit R1b connected to the detection orbit R1a.

As shown in FIG. 1, the detection track R1a is a track that crosses the installation area AR0 (target object P) along the direction Y on the direction X side of the installation area AR0 (target object P). The detection track R1a is preferably set so that the distance in the direction X to the installation area AR0 is within a predetermined distance. The predetermined distance here is a distance at which the position and posture of the target object P in the installation area AR0 can be detected by the sensor 26 of the moving body 10 moving in the detection track R1a. More specifically, in the present embodiment, the detection orbit R1a is an orbit from the first position A1 to the second position A2. The first position A1 is set as a position on the direction X side of the installation area AR0 and on the direction opposite to the direction Y of the installation area AR0. The second position A2 is set as a position on the direction X side of the installation area AR0 and on the direction Y side of the installation area AR0. In the present embodiment, the first position A1 and the second position A2 are set so that the distance in the direction X to the installation area AR0 is within a predetermined distance, and the first position A1 and the second position A2 are set. The positions (X coordinates) in the direction X with A2 are the same. The detection trajectory R1a is set as a straight track along the direction Y from the first position A1 to the second position A2. However, the positions (X coordinates) of the first position A1 and the second position A2 in the direction X do not have to match. Further, the detection track R1a is not limited to a straight track, and may be a track that draws an arbitrary trajectory from the first position A1 to the second position A2.

As shown in FIG. 1, the approach track R1b is a track from the second position A2 toward the installation region AR0. More specifically, the approach orbit R1b is an orbit from the second position A2 to the set position A3z. The set position A3z is assumed that the position and posture of the target object P in the installation area AR0 satisfy a predetermined state (the target object P is ideally arranged with respect to the installation area AR0). It is a position and a posture that becomes a predetermined position and a posture with respect to the target object P. That is, the set position A3z is a position and a posture in which the moving body 10 can pick up the target object P, assuming that the position and the posture of the target object P satisfy a predetermined state, and the position and the posture of the target object P. Can be said to be the target position A3 when a predetermined state is satisfied. In the example of FIG. 1, the approach trajectory R1b is a straight track from the second position A2 to the intermediate position ASB0 on the opposite side of the direction Y from the second position A2, and a curved trajectory from the intermediate position ASB0 to the set position A3z. ,including. It is preferable that the linear orbit from the second position A2 to the intermediate position ASB0 overlaps the detection orbit R1a.

Although not shown, the first pass R1 may include an orbit from the movement start position of the moving body 10 to the first position A1.

However, the first pass R1 is not limited to the above orbit. For example, the first pass R1 may not include the approach trajectory R1b. That is, the first pass R1 may include at least the detection orbits R1a from the first position A1 to the second position A2.

The first pass R1 is preset based on the map information of the equipment W. The map information of the equipment W is information including position information such as obstacles (pillars, etc.) installed in the equipment W and passages on which the moving body 10 can travel, and the moving body 10 can move within the area AR. It can be said that it is information indicating a specific area. Further, the first pass R1 may be set based on the information of the vehicle specifications of the moving body 10 in addition to the map information of the equipment W. The vehicle specification information is a specification that affects the path on which the moving body 10 can move, such as the size of the moving body 10 and the minimum turning radius. When the first pass R1 is set based on the information of the vehicle specifications, the first pass R1 may be set for each moving body. The first pass R1 may be set by a person based on map information, vehicle specification information, or the like, or may be automatically set by a device such as the information processing device 14 based on map information, vehicle specification information, or the like. May be set to. When automatically setting the first pass R1, for example, a point (waypoint) that you want to pass may be specified. In this case, while passing the point that you want to pass, the shortest and obstacle (wall, etc.) It is possible to set the first pass R1 while avoiding the fixed object).

The first pass acquisition unit 54 may set the first pass R1 without reading the preset first pass R1. In this case, the first pass acquisition unit 54 is the first position from the current position of the moving body 10 based on the position information of the target moving body 10, the position information of the installation area AR0, and the map information of the equipment W. A route to the set position A3z, which is the destination, may be generated as the first path R1 via A1 and the second position A2.

The information processing apparatus 14 transmits the acquired information of the first pass R1 to the target moving body 10 via the communication unit 40. Since the first pass R1 is a route toward the installation area AR0, it can be said that it is information regarding the movement of the moving body 10.

(Control device for moving objects)
Next, the control device 28 of the moving body 10 will be described. FIG. 5 is a schematic block diagram of a moving body control device. The control device 28 controls the moving body 10. The control device 28 moves the moving body 10 to the target position A3 along the second path R2 set based on the detection result of the position and the posture of the target object P by the sensor 26 of the moving body 10 and moves the moving body. Have 10 pick up the target P. The control device 28 is a computer, and as shown in FIG. 5, includes a communication unit 60, a storage unit 62, and a control unit 64. The communication unit 60 is a module used by the control unit 64 to communicate with an external device such as the information processing device 14, and may include, for example, an antenna. The communication method by the communication unit 40 is wireless communication in this embodiment, but the communication method may be arbitrary. The storage unit 62 is a memory that stores various information such as calculation contents and programs of the control unit 64. For example, 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 64 is an arithmetic unit, that is, a CPU. The control unit 64 includes a first path information acquisition unit 70, a movement control unit 72, a detection control unit 74, and a second path information acquisition unit 76. The control unit 64 realizes the first path information acquisition unit 70, the movement control unit 72, the detection control unit 74, and the second path information acquisition unit 76 by reading the program (software) from the storage unit 62 and executing the program (software). And execute those processes. The control unit 64 may execute these processes by one CPU, or may include a plurality of CPUs and execute the processes by the plurality of CPUs. Further, at least a part of the first path information acquisition unit 70, the movement control unit 72, the detection control unit 74, and the second path information acquisition unit 76 may be realized by a hardware circuit. Further, the program for the control unit 64 stored by the storage unit 62 may be stored in a recording medium readable by the control device 28.

(1st pass information acquisition department)
The first pass information acquisition unit 70 acquires the information of the first pass R1. The first pass information acquisition unit 70 may acquire the information of the first pass R1 from the information processing apparatus 14 when the moving body 10 is selected as a work target, or may be stored in the storage unit 62 in advance. The information of the first pass R1 may be read out.

(Movement control unit)
The movement control unit 72 controls the movement of the moving body 10 by controlling a moving mechanism such as a driving unit and steering of the moving body 10. The movement control unit 72 moves the moving body 10 according to the first pass R1 acquired by the first pass information acquisition unit 70. The movement control unit 72 moves the moving body 10 from the current position of the moving body 10 to the second position A2 via the first position A1 so as to pass through the first pass R1. The movement control unit 72 moves the moving body 10 so as to pass through the first pass R1 by sequentially grasping the position information of the moving body 10. The method of acquiring the position information of the moving body 10 is arbitrary. For example, in the present embodiment, the equipment W is provided with a detection body (not shown), and the movement control unit 72 of the moving body 10 is based on the detection of the detection body. Acquire position and posture information. Specifically, the moving body 10 irradiates a laser beam toward the detection body, receives the reflected light of the laser light by the detection body, and detects its own position and posture in the equipment W. The position of the moving body 10 here is the two-dimensional coordinates of the direction X and the direction Y in the area A of the equipment W, and also in the following, the position is the two-dimensional coordinates in the area A unless otherwise explained. Point to. The posture of the moving body 10 is the direction (rotation angle) of the moving body 10 when viewed from the direction Z orthogonal to the direction X and the direction Y. Further, the method of acquiring the position and posture information of the moving body 10 is not limited to using the detector, and for example, SLAM (Slmultaneous Localization and Mapping) may be used.

(Detection control unit)
FIG. 6 is a schematic diagram illustrating the detection of the position and posture of the target object. As shown in FIG. 6, the detection control unit 74 is moving the moving body 10 between the first position A1 and the second position A2 along the first pass R1, that is, while moving the detection trajectory R1a. , The sensor 26 is made to detect the position and the posture of the target object P, and the detection result of the position and the posture of the target object P by the sensor 26 is acquired. The detection control unit 74 causes the sensor 26 to detect the side opposite to the direction X while the moving body 10 is moving between the first position A1 and the second position A2, thereby determining the position and posture of the target object P. Let it be detected. For example, the detection control unit 74 causes the sensor 26 facing in the direction opposite to the direction X to execute the detection.

For example, in the case where the sensor 26 irradiates the laser beam, the detection control unit 74 shifts the sensor 26 laterally (horizontally) while the moving body 10 is moving between the first position A1 and the second position A2. While scanning, the sensor 26 irradiates the laser beam LT. The target object P on the X-direction side of the moving body 10 reflects the laser beam LT from the sensor 26. The sensor 26 receives the reflected light from the target object P. The detection control unit 74 calculates the position and orientation of the target object P based on the reflected light from the target object P received by the sensor 26. The detection control unit 74 determines the position and orientation of the target object P from the direction in which the reflected light from the target object P comes toward the sensor 26, the time from irradiating the laser beam LT until the reflected light is received, and the like. Can be calculated. Further, for example, assuming that a set of individual measurement points (individual reflected light received) acquired by the sensor 26 is a point cloud, the detection control unit 74 calculates the position and orientation of the target object P based on the point cloud. It's okay.

The detection control unit 74 controls the sensor 26 so that the sensor 26 starts detection when the moving body 10 reaches the first position A1, and the sensor 26 stops the detection when the moving body 10 reaches the second position A2. You can do it. That is, the detection control unit 74 may cause the sensor 26 to detect the position and posture of the target object P over the entire period from the position at the first position A1 to the arrival at the second position A2. However, the detection control unit 74 is not limited to having the sensor 26 detect the sensor 26 over the entire period from the first position A1 to the second position A2, and from being located at the first position A1 until reaching the second position A2. It suffices to have the sensor 26 detect at least once during the period, and it is more preferable to have the sensor 26 detect the sensor 26 multiple times during the period. Furthermore, the detection control unit 74 continues the detection until the sensor 26 succeeds in detecting the position and posture of the target P while the moving body 10 is moving between the first position A1 and the second position A2. If the detection is successful, the detection may be stopped.

In the present embodiment, the movement control unit 72 moves the moving body 10 from the movement start position to the second position A2 via the first position A1 along the first pass R1 in the first position. The moving body 10 is moved in A1 without stopping. Furthermore, when the moving body 10 is moved along the first pass R1, the movement control unit 72 sets the moving speed of the moving body 10 from the first position A1 to the second position A2 to the first position A1. It does not change from the moving speed of the moving body 10. However, the movement control unit 72 may temporarily stop the moving body 10 at the first position A1. Further, the movement control unit 72 may make the moving speed of the moving body 10 from the first position A1 to the second position A2 slower than the moving speed of the moving body 10 from the first position A1 to the second position A2. good. By slowing down the moving speed of the moving body 10 from the first position A1 to the second position A2, the position and posture of the target object P can be appropriately detected.

Hereinafter, the information indicating the position and posture of the target object P detected by the sensor 26 will be appropriately referred to as position / posture information. It can be said that the detection control unit 74 acquires the position / attitude information detected by the sensor 26.

(2nd pass information acquisition department)
FIG. 7 is a schematic diagram illustrating the second path. The second pass information acquisition unit 76 acquires the information of the second pass R2 set based on the position / attitude information detected by the sensor 26. The second pass R2 is an orbit from the second position A2 to the target position A3, which is set based on the position / attitude information of the target object P. However, the second pass R2 is not limited to the orbit having the second position A2 as the start position, and may be, for example, an orbit from the start position deviated from the second position A2 to the target position A3. In this case, the moving body 10 may move along a preset trajectory (for example, the first pass R1) to the start position of the second pass R2. The first pass R1 and the second pass R2 shown in FIG. 7 are examples.

In the present embodiment, the second pass information acquisition unit 76, that is, the moving body 10 itself sets the second pass R2 based on the position / attitude information detected by the sensor 26. The second pass information acquisition unit 76 sets the target position A3 from the position and posture of the target object P. For example, the second pass information acquisition unit 76 can pick up the target object P from the position and posture of the target object P (the fork 24 can be inserted into the opening Pb of the target object P by going straight) and the position and position. The posture is calculated and set as the target position A3. As an example, a portion that is translated by 1000 mm in the axial direction of the opening Pb of the target object P from the entrance of the opening Pb may be set as the target position A3. Then, the second pass information acquisition unit 76 sets the trajectory from the second position A2, which is the start position, to the set target position A3 as the second pass R2.

In the present embodiment, the second pass information acquisition unit 76 sets the second pass R2 so as to include the linear trajectory R2a and the arc trajectory R2b based on the position and posture of the target object P. The linear orbit R2a is an orbit that draws a linear locus. The straight track R2a is a track from the second position A2, which is the start position of the second pass R2, to the intermediate position ASB. The intermediate position ASB is located between the first position A1 and the second position A2 on the first pass R1. That is, the linear orbit R2a is an orbit that overlaps the first pass R1 (more specifically, the detection orbit R1a) from the second position A2 to the intermediate position ASB, and the traveling direction is opposite to the detection orbit R1a. The arc orbit R2b is an orbit including an orbit that draws a locus on the arc. Assuming that the radius of the arcuate locus in the arc orbit R2b is the turning radius r, the second path information acquisition unit 76 sets the turning radius r and is based on the set turning radius r and the position and attitude of the target object P. , Arc orbit R2b is set. The turning radius r may be arbitrarily set from, for example, vehicle specifications.

The arc orbit R2b is an orbit connected to the straight orbit R2a, and is an orbit from the intermediate position ASB to the target position A3. Therefore, the arc orbit R2b is an orbit that travels on the side opposite to the X direction, in other words, on the side approaching the installation region AR0 (target AR0) in the direction orthogonal to the Y direction. In the example of FIG. 7, the arc orbit R2b is an arc-shaped orbit from the intermediate position ASB to the intermediate position between the intermediate position ASB and the target position A3, and a linear orbit from the intermediate position to the target position A3. including. However, the arc orbit R2b may be an arc-shaped orbit in the entire section from the intermediate position ASB to the target position A3. That is, the arc-shaped orbit R2b may be composed of an arc-shaped orbit and a linear orbit, or may be composed of only the arc-shaped orbit. The arc orbit R2b preferably does not include an orbit (non-linear orbit) that draws a locus other than an arc and a straight line.

(Other examples of calculation of the second pass)
The method of setting the second pass R2 is not limited to the above. For example, the second pass information acquisition unit 76 may calculate the second pass R2 by model predictive control (MPC). Hereinafter, an example of the calculation method of the second pass R2 by the model prediction control will be described.

The control input u (k) of the moving body 10 is represented by the following equation (1).

Here, v (k) is a speed command value of the moving body 10, φ (k) is a yaw rate command value of the moving body 10, and k represents a discrete-time index. The control input U (k) of the moving body 10 for each discrete time is expressed by the following equation (2). In addition, N is a prediction interval (Predictive horizon).

The second path information acquisition unit 76 solves the optimization problem shown in the following equation (3), and u (k), u (k + 1), ..., U (k + N-1), which are the optimum solutions for the control input. To calculate the second pass R2. As a method for solving this optimization problem, known techniques such as a sequential quadratic programming method and an interior point method can be used.

When calculating the second pass R2 in this way, for example, the constraint conditions shown in the following equations (4) to (8) are given.

Here, x is the coordinates of the moving body 10 in the direction X, y is the coordinates of the moving body 10 in the direction Y, θ is the inclination angle of the moving body 10 with respect to the reference axis, and L is the moving body. It is a wheelbase that indicates the distance between the front wheels and the rear wheels of the body 10. _vMAX and _φMAX are preset upper limits of speed and yaw rate.

(Interference judgment of the second pass)
The second pass information acquisition unit 76 acquires the second pass R2 as described above. However, when the moving body 10 moves along the second pass R2 set in this way, the moving body 10 may interfere with an obstacle in the equipment W. Therefore, the second pass information acquisition unit 76 may determine whether the moving body 10 interferes with an obstacle when the moving body 10 passes through the set second pass R2. The method of determining the interference is arbitrary, but for example, the second pass information acquisition unit 76 calculates the map information while calculating the area where the moving body 10 enters from the second pass R2 and the vehicle specifications of the moving body 10. The position of the obstacle may be acquired from the above, and it may be determined whether or not the obstacle exists in the area where the moving body 10 enters. In this case, the second path information acquisition unit 76 determines that if an obstacle exists in the area where the moving body 10 enters, it determines that it interferes with the obstacle, and the obstacle exists in the area where the moving body 10 enters. If not, it is determined that it does not interfere with the obstacle.

When the second pass information acquisition unit 76 determines that it does not interfere with the obstacle, the second pass R2 is adopted, and the movement control unit 72 moves the moving body 10 using the second pass R2. .. On the other hand, when the second pass information acquisition unit 76 determines that it interferes with an obstacle, the second pass R2 is not adopted and another second pass R2 is set. The second pass information acquisition unit 76 sets another second pass R2 on the condition that the turning radius r of the arc track R2b is reduced by a predetermined value as a constraint condition. The turning radius r refers to the radius of the locus on the arc of the arc trajectory R2b. The second pass information acquisition unit 76 repeats the interference determination with the obstacle by using the second pass R2 that has been reset. The second pass information acquisition unit 76 repeats this process until the turning radius r becomes smaller than the preset minimum turning radius. The second pass information acquisition unit 76 determines that it is impossible to generate the second pass R2 when it interferes with an obstacle even if the turning radius r is smaller than the minimum turning radius, and gives a notification to that effect. Let me do it. That is, it can be said that the second pass information acquisition unit 76 generates the second pass R2 in which the turning radius r is equal to or more than a predetermined value (here, the minimum turning radius or more).

However, the above-mentioned flow of interference determination with obstacles is not essential. For example, the second pass information acquisition unit 76 may set the second pass R2 on the condition that it does not pass through the position of an obstacle in advance.

(Move along the second pass)
In the present embodiment, the movement control unit 72 temporarily stops the movement of the moving body 10 when the moving body 10 arrives at the second position A2. Then, when the moving body 10 stops at the second position A2, the second pass information acquisition unit 76 starts the calculation and acquires the second pass R2. When the second pass R2 is acquired, the movement control unit 72 moves the moving body 10 from the second position A2 to the target position A3 so as to pass through the second pass R2. Specifically, the movement control unit 72 turns back at the second position A2, and from the second position A2 to the intermediate position ASB, along the straight line orbit R2a of the second pass R2, with the detection orbit R1a of the first pass R1. Moves the moving body 10 in the opposite direction, that is, in the direction opposite to the direction Y. Then, when the intermediate position ASB is reached, the movement control unit 72 switches from the linear orbit R2a to the arc orbit R2b, that is, changes the traveling direction, and moves the moving body 10 to the target position A3 along the arc orbit R2b. Let me. The movement control unit 72 is not limited to stopping the movement of the moving body 10 at the second position A2. In this case, for example, the second path information acquisition unit 76, once the position / orientation information of the target object P is acquired, is moving from the first position A1 to the second position A2, that is, before arriving at the second position A2. , The second pass R2 is acquired. Then, when the moving body 10 arrives at the second position A2 through the first pass R1, the movement control unit 72 switches from the first pass R1 to the second pass R2 without stopping at the second position A2. The moving body 10 is moved from the second position A2 through the second pass R2.

When the moving body 10 arrives at the target position A3, the movement control unit 72 advances the moving body 10 straight from the target position A3, inserts the fork 24 into the opening Pb of the target object P, and picks up the target object P. The movement control unit 72 transports the moving body 10 that has picked up the target object P to the set transport destination.

In this way, the movement control unit 72 moves the moving body 10 along the second pass R2 from the second position A2 to the target position A3, but is not limited to this, and for example, the movement along the second pass R2. The moving body 10 may be moved to the target position A3 by switching between the movement by the direct feedback control and the movement. Control by direct feedback includes, for example, "Control of position and attitude of omnidirectional mobile robot by linear visual servo" by Atsushi Osato and Noriaki Maru, Proceedings of the Japan Society of Mechanical Engineers (C), Vol. 77, No. 774. , P. Control by the visual servo method as described in "215-224, February 25, 2011" can be mentioned. Further, for example, when the moving body 10 arrives at the target position A3 along the second pass R2, the movement control unit 72 switches to the control by direct feedback and moves the moving body 10 so as to pick up the target object P. May be good.

(Judgment of the necessity of the second pass)
In the above explanation, at the second position A2, the first pass R1 is switched to the second pass R2 to approach the target P, but depending on the position and posture of the target P, the second pass R2 may not be switched. , The first pass R1 may be used to approach the target P. In this case, the second pass information acquisition unit 76 determines whether the second pass R2 needs to be set based on the position / attitude information of the target object P detected by the sensor 26. The second pass information acquisition unit 76 determines that the setting of the second pass R2 is not necessary when the position and posture of the target object P are within the predetermined range, and when it is outside the predetermined range, the second pass information acquisition unit 76 determines. It is determined that the setting of the second pass R2 is necessary. The term "within a predetermined range" means that the position and posture of the target object P do not deviate from the installation area AR0, and when the position and posture of the target object P are within the predetermined range, the approach of the first pass R1. Using the trajectory R1b (see FIG. 1), the target object P can be reached to the target position A3 where it can be picked up. In other words, the second path information acquisition unit 76 determines whether the target object P can be picked up by heading toward the set position A3z, which is the arrival position of the approach trajectory R1b, based on the position / attitude information of the target object P. When the position and posture of the target object P are within a predetermined range, the second pass information acquisition unit 76 makes it possible to pick up the target object P from the set position A3z, and determines that the setting of the second pass R2 is unnecessary. On the other hand, the second pass information acquisition unit 76 determines that the setting of the second pass R2 is necessary because the target object P cannot be picked up from the set position A3z when the position and the posture of the target object P are out of the predetermined range. do. The predetermined range here may be set by any method from the information of the vehicle specifications and the like, and may be calculated in advance.

When the second pass information acquisition unit 76 determines that the setting of the second pass R2 is unnecessary, the second pass information acquisition unit 76 does not acquire the second pass R2 (it is not set here). In this case, the movement control unit 72 continues to use the first pass R1 from the second position A2, and moves the moving body 10 from the second position A2 to the set position A3z so as to pass through the approach trajectory R1b of the first pass R1. Move it and pick up the target object P from the set position A3z. That is, in this case, it can be said that the set position A3z is treated as the actual target position A3. The second pass information acquisition unit 76 may acquire (set) the second pass R2 itself even when it is determined that the setting of the second pass R2 is unnecessary. In this case, the movement control unit 72 makes the target P approach using the first pass R1 without using the acquired second pass R2.

On the other hand, when the second pass information acquisition unit 76 determines that the setting of the second pass R2 is necessary, the second pass information acquisition unit 76 acquires the second pass R2 (set here). In this case, as described above, the movement control unit 72 moves the moving body 10 from the second position A2 to the target position A3 so as to pass through the second pass R2, and picks up the target object P from the target position A3. ..

(Movement control flow)
The flow of the movement control of the moving body 10 described above will be described with reference to the flowchart. FIG. 8 is a flowchart illustrating a movement control flow of the moving body according to the first embodiment. As shown in FIG. 8, the control device 28 of the moving body 10 acquires the information of the first pass R1 by the first pass information acquisition unit 70, and is moved by the movement control unit 72 according to the first pass R1. 10 is moved to the first position A1 (step S10). Then, the control device 28 moves the moving body 10 from the first position A1 to the second position A2 according to the first pass R1 (detection trajectory R1a) by the movement control unit 72, and the sensor 26 by the detection control unit 74. Is to execute the detection of the position / orientation information of the target object P (step S12). After that, the control device 28 determines whether the second pass R2 is necessary based on the position / attitude information of the target object P by the second pass information acquisition unit 76 (step S14). For example, the second pass information acquisition unit 76 determines that the setting of the second pass R2 is not necessary when the position and the posture of the target object P are within the predetermined range, and the second pass information acquisition unit 76 is out of the predetermined range. It is determined that it is necessary to set the second pass R2.

When it is determined that the setting of the second pass R2 is not necessary (step S14: No), the movement control unit 72 continues to use the first pass R1 and follows the first pass R1 (approach trajectory R1b) to the second position A2. The moving body 10 is moved from the target position A3 (set position A3z) to the target position A3 (step S16), and the target object P is picked up.

When it is determined that the setting of the second pass R2 is necessary (step S14: Yes), the second pass information acquisition unit 76 sets the second pass R2 based on the position / attitude information of the target object P (step S18). The second pass information acquisition unit 76 determines whether the moving body 10 interferes with an obstacle when the moving body 10 is moved by the set second pass R2 (step S20), and when it is determined that the moving body 10 does not interfere with the obstacle. (Step S20: No), the movement control unit 72 moves the moving body 10 from the second position A2 to the target position A3 according to the set second pass R2 (step S22), and picks up the target object P.

When it is determined that the moving body 10 interferes with an obstacle (step S20: Yes), the second pass information acquisition unit 76 reduces the turning radius r of the arc trajectory R2b of the second pass R2 by a predetermined value (step S24). ), It is determined whether the turning radius r reduced by a predetermined value is smaller than the minimum turning radius (step S26). If the turning radius r is not smaller than the minimum turning radius (step S26: No), that is, if the turning radius r is equal to or larger than the minimum turning radius, the process returns to step S18 and the turning radius r is reduced by a predetermined value. , The second pass R2 is set again, and the subsequent processing is continued. On the other hand, when the turning radius r is smaller than the minimum turning radius (step S26; Yes), the control device 28 notifies an alarm indicating that the second pass R2 cannot be set (step S28). The alarm notification method may be arbitrary. For example, the alarm may be output from an output device such as a speaker or a display device provided on the moving body 10, or the alarm may be output to the information processing device 14 by communication. , The alarm may be output from an output device provided in the information processing device 14.

As described above, the moving body 10 according to the present embodiment is moving across the installation area AR0 along the first pass R1 (here, during the movement from the first position A1 to the second position A2). The sensor 26 detects the position / orientation information of the target object P. According to the present embodiment, since the position / orientation of the target P is detected while crossing the installation area AR0, the position / orientation of the target P can be appropriately detected, and as a result, an appropriate path to the target P is possible. Can be moved using. Furthermore, since the position and orientation of the target object P is detected while crossing the installation area AR0, even if the detection fails, it can be detected again at another position on the route that crosses the installation area AR0. , It becomes possible to appropriately detect the position and orientation of the target object P. Further, since the detection of the position and orientation of the target object P is completed by the time the target object P reaches the second position A2, it is necessary to detect the position and orientation of the target object P when approaching the target object P from the second position A2. It disappears.

Further, the moving body 10 according to the present embodiment has a second pass R2 when the position / posture of the target object P is within a predetermined range, that is, when the target object P is placed in an appropriate position / posture. Is not generated, and the preset first pass R1 is continuously used to approach the target P. Therefore, it is possible to reduce the calculation load when the target object P is placed in an appropriate position and posture. Further, the moving body 10 according to the present embodiment determines whether the moving body 10 interferes with an obstacle when the set second pass R2 is used, so that the second pass R2 capable of turning back or avoiding the obstacle is used. Can be generated.

(Other examples)
FIG. 9 is a block diagram showing another example of the information processing apparatus. In the above description, the moving body 10 has set the second pass R2 based on the position / posture information of the target object P, but the second pass R2 is not limited to the setting by the moving body 10. For example, the second pass R2 may be set by the information processing apparatus 14. In this case, the control unit 44 of the information processing apparatus 14 includes the second path information acquisition unit 56, as shown in FIG. The second path information acquisition unit 56 acquires the position / attitude information of the target object P detected by the sensor 26 from the moving body 10 via the communication unit 40. The second pass information acquisition unit 56 performs the same processing as the second pass information acquisition unit 76 of the moving body 10 described above. That is, for example, the second pass information acquisition unit 56 sets the second pass R2 based on the position / attitude information of the target object P. In this case, the second path information acquisition unit 76 of the moving body 10 acquires the information of the second path R2 set by the second path information acquisition unit 76 from the information processing device 14 via the communication unit 60.

Further, in the present embodiment, the management system 12 determines the work content indicating the information of the target object P, and the information processing apparatus 14 identifies the target moving object 10 and acquires the first pass R1. Was there. However, the processing contents of the management system 12 and the information processing apparatus 14 are not limited thereto. For example, the management system 12 may be responsible for at least a part of the processing of the information processing apparatus 14, or the information processing apparatus 14 may be responsible for at least a part of the processing of the management system 12. Further, the management system 12 and the information processing device 14 may be one device (computer).

FIG. 10 is a schematic diagram showing another example of the orientation of the moving body when moving. As shown in FIG. 1, in the present embodiment, the moving body 10 moves to the second position A2 with the rear direction in which the fork 24 is not provided as the front in the traveling direction, and turns back from the second position A2 to fork. The target P is approached with the front direction in which the 24 is provided as the front in the traveling direction. However, the orientation of the moving body 10 when moving is not limited to that. For example, as shown in FIG. 10, the moving body 10 may move up to the second position A2 with the front direction in which the fork 24 is provided as the front in the traveling direction. In this case, the moving body 10 moves from the second position A2 to the intermediate position ASB with the rear direction in which the fork 24 is not provided as the front in the traveling direction, and is cut back at the intermediate position ASB to provide the fork 24. The target P is approached with the forward direction as the front in the traveling direction.

(Second Embodiment)
Next, the second embodiment will be described. The second embodiment is different from the first embodiment in that when the second pass R2 is set, it is determined whether it is necessary to swell and turn back in the direction opposite to the target P (X direction side). In the second embodiment, the description of the parts having the same configuration as that of the first embodiment will be omitted.

FIG. 11 is a flowchart showing a setting flow of the second path according to the second embodiment. FIG. 12 is a schematic diagram illustrating a case where a single arc path is set as the second path. In the following description, as shown in FIG. 12, the position of the target object P is defined as the position Pa1. Then, the coordinates in the direction X and the direction Y of the position Pa1 are set to X _ref and Y _ref , respectively, and the posture (rotation angle) of the target object P at the position Pa1 is set to θ _ref . [X _ref , Y _ref , θ _ref ] corresponds to the position and orientation of the target object P detected by the sensor 26. The position Pa1 is the central position of the front surface Pa of the target object P in the example of FIG. 12, but the position Pa1 is not limited to the central position of the front surface Pa and may be a position of any position of the target object P. Further, as shown in FIG. 12, the coordinates in the direction X and the direction Y of the target position A3, which is the end point of the second pass R2, are set to _XTG and _YTG , respectively, and the posture (rotation) taken by the moving body 10 at the target position A3. Angle) is θ _TG . [X _TG , Y _TG , θ _TG ] is calculated based on [X _ref , Y _ref , θ _ref ] corresponding to the position and attitude of the target object P, and is based on [X _TG , Y _TG , θ _TG ]. The second pass R2 is set. Hereinafter, the setting flow of the second pass R2 will be described.

As shown in FIG. 11, in the second embodiment, when the second pass information acquisition unit 76 sets the second pass R2, the coordinates of the provisional target position A3a are set based on the position / attitude information of the target object P. Calculate (step S30). As shown in FIG. 12, the provisional target position A3a is a position separated from the position Pa1 of the target object P by a predetermined distance d _min along the direction in which the front surface Pa of the target object P is facing. The distance d _min is preset and is determined depending on how much of the last straight orbit to leave for picking up the target P. Assuming that the coordinates in the direction X and the direction Y of the provisional target position A3a are X TGa and Y _T Ga, respectively, X _TGa and Y _{T Ga are} calculated based on the following equations (9) and (10).

X _TGa = X _ref + d _min · cosθ _ref ... (9)
Y _TGa = Y _ref + d _min · sinθ _ref ... (10)

Then, as shown in FIG. 11, the second path information acquisition unit 76 calculates the coordinates of the temporary arc trajectory center Ca based on the coordinates of the provisional target position A3a and the position / orientation information of the target object P (step S32). .. As shown in FIG. 12, the temporary arc orbit center Ca is located on the second position A2 side (here, the Y direction side) with respect to the temporary target position A3a and the position Pa1 of the target object P, and the radius turns. It has a radius r and points to the center of a circle whose circumference is in contact with the provisional target position A3a. Assuming that the coordinates in the direction X and the direction Y of the tentative arc orbit center Ca are C _Xa and C _Ya , respectively, C _Xa and C _Ya are calculated based on the following equations (11) and (12).

C _Xa = X _TGa -r · sinθ _ref ... (11)
C _Ya = Y _TGa -r · cosθ _ref ... (12)

Then, as shown in FIG. 11, the second pass information acquisition unit 76 needs a trajectory toward the opposite side of the target position A3 (installation area AR0) in the second pass R2 based on the position / attitude information of the target object P. That is, it is determined whether an orbit toward the X direction side is required (step S34). In other words, the second path information acquisition unit 76 determines whether it is necessary to inflate and turn back in the direction opposite to the target object P (X direction side) in order to reach the target object P. In the present embodiment, the second pass information acquisition unit 76 has the coordinates X _SB1 (see FIG. 12) of the detection trajectory R1a of the first pass R1 in the X direction, and the coordinates C _Xa of the temporary arc orbit center Ca in the X direction. Based on the turning radius r, it is determined whether a trajectory toward the opposite side of the target position A3 is necessary. Specifically, the second path information acquisition unit 76 determines that a trajectory toward the opposite side of the target position A3 is necessary when the following equation (13) is satisfied, and does not satisfy the following equation (13). In addition, it is determined that the trajectory toward the opposite side of the target position A3 is unnecessary.

X _SB1 <C _Xa + r ... (13)

That is, the equation (13) is satisfied when the position moved from the coordinate C _Xa of the temporary arc orbit center Ca in the direction X by the length of the turning radius r is on the X direction side of the coordinate X _SB1 of the detection orbit R1a. If the detection trajectory R1a is not on the X-direction side of the coordinate _XSB1 (at the same position as the coordinate _XSB1 in the X-direction, or on the opposite side of the coordinate _XSB1 in the X-direction), the equation (13) must be satisfied. to decide. As shown in FIG. 12, since the intermediate position ASB1 that switches from the straight line orbit R2a to the arc orbit R2b is on the detection orbit R1a, it can be said that the coordinates XSB1 are the coordinates of the intermediate position _ASB1 in the X direction. The coordinates X _SB1 are acquired by the first pass information acquisition unit 70 as the information of the first pass R1.

(Setting a single arc path)
As shown in FIG. 11, when it is determined that the trajectory toward the side opposite to the target position A3 is unnecessary (step S34: No), the second path information acquisition unit 76 makes a single arc path having one arc trajectory R2b. It is set as the second pass R2. In this case, the second path information acquisition unit 76 calculates the coordinates of the intermediate position ASB1 based on the position / attitude information of the target object P and the turning radius r (step S36). The coordinates XSB1 in the X direction of the intermediate position _ASB1 are known as described above, and the posture θS _B1 of the moving body 10 at the intermediate position ASB1 also moves along the linear orbit R2a where the moving body 10 overlaps the detection orbit R1a. Also known. Therefore, here, the second path information acquisition unit 76 calculates the coordinate Y _SB1 in the direction Y of the intermediate position ASB1. In the present embodiment, the second path information acquisition unit 76 calculates the coordinates Y _SB1 of the intermediate position ASB1 based on the coordinates of the temporary arc trajectory center Ca, the coordinates X _SB1 , and the turning radius r. Specifically, the second path information acquisition unit 76 calculates the coordinates Y _SB1 of the intermediate position ASB1 using the following equation (14).

Y _SB1 = C _Ya + (X _SB1 -C _Xa -r) ・ sinθ _ref ... (14)

Then, as shown in FIG. 11, the second path information acquisition unit 76 calculates the coordinates of the arc trajectory center C1 based on the coordinates of the intermediate position ASB1 and the turning radius r (step S38). As shown in FIG. 12, the arc trajectory center C1 refers to the center of the arc trajectory of the arc trajectory R2b of the second path R2 (single arc path) to be set. Assuming that the coordinates in the direction X and the direction Y of the arc trajectory center C1 are C1 _X and C1 _Y , respectively, C1 _X and C1 _Y are calculated based on the following equations (15) and (16).

C1 _X = X _SB1 -r ... (15)
C1 _Y = Y _SB1 ... (16)

Then, as shown in FIG. 11, the second path information acquisition unit 76 calculates the position and attitude of the target position A3 based on the coordinates of the arc trajectory center C1 and the position / attitude information of the target object P (step S40). .. The second path information acquisition unit 76 calculates [X _TG , Y _TG , θ _TG ], which is the position and posture of the target position A3, using the following equations (17) to (19).

X _TG = C1 _X + r ・ cosθ _ref・ ・ ・ (17)
Y _TG = C1 _Y + r ・ sinθ _ref ... (18)
θ _TG = θ _ref ... (19)

As shown in FIG. 11, the second pass information acquisition unit 76 calculates the second pass R2 based on the position and posture of the target position A3 [X _TG , Y _TG , θ _TG ] (step S42). That is, the second path information acquisition unit 76 sets the linear trajectory R2a from the second position A2 to the intermediate position ASB1 from the coordinates of the second position A2 and the coordinates of the intermediate position ASB1, and sets the position / orientation of the intermediate position ASB1 and the position / orientation of the intermediate position ASB1. From the position and orientation of the target position A3 and the turning radius r, the arc trajectory R2b from the intermediate position ASB1 to the target position A3 is set. As described above, the second pass R2 as a single arc path is composed of a straight track R2a and an arc track R2b connected to the straight track R2a and directed to the installation area AR0 side (that is, the side opposite to the X direction). ..

The above is the setting method when the single arc path having no trajectory bulging in the X direction is set as the second path R2. When the single arc path is the second pass R2, the moving body 10 moves from the second position A2 to the intermediate position ASB1 along the straight line orbit R2a, and switches from the straight line orbit R2a to the arc orbit R2b at the intermediate position ASB1. That is, the traveling direction is changed and the vehicle moves to the target position A3 along the arc trajectory R2b.

(Setting of double arc path)
On the other hand, as shown in FIG. 11, when it is determined that an orbit toward the opposite side to the target position A3 is necessary (step S34: Yes), the second path information acquisition unit 76 has a plurality of arc orbits R2b (in this example). The double arc path (2) is set as the second path R2. FIG. 13 is a schematic diagram illustrating a case where the double arc path is set as the second path. In this case, the second path information acquisition unit 76 calculates the coordinates of the arc trajectory center C2 based on the turning radius r and the position / attitude information of the target object P (step S44). The arc orbit center C2 points to the center of the orbit of the arc orbit R2b1 heading to the side opposite to the target position A3. More specifically, as shown in FIG. 13, the second path information acquisition unit 76 treats the tentative arc orbit center Ca as the arc orbit center C1, and sets the coordinates C1 _X and C1 _Y of the arc orbit center C1 to C _Xa and C. Set as _Ya . Then, the second path information acquisition unit 76 makes an arc so that the circle having the turning radius r centered on the arc trajectory center C2 touches the circle having the turning radius r centered on the arc trajectory center C1 at one point. The coordinates of the orbital center C2 are calculated. Specifically, assuming that the coordinates in the direction X and the direction Y of the arc orbit center C2 are C2 _X and C2 _Y , respectively, the second path information acquisition unit 76 has the arc orbit center C1 and the arc orbit center C2 calculated from the arc orbit center C1. The distance w along the direction X between the two is calculated using the following equation (20).

w = √ {(2r) ^2- (r + X _SB1 -Cx) ² } ・ ・ ・ (20)

Then, the second path information acquisition unit 76 calculates the coordinates C2 _X and C2 _Y of the arc trajectory center C2 based on the following equations (21) and (22).

C2 _X = X _SB1 + r ... (21)
C2 _Y = C1 _Y -w ... (22)

Next, as shown in FIG. 11, the second pass information acquisition unit 76 calculates the position and posture of the intermediate position ASB1 (step S46). As shown in FIG. 13, the intermediate position ASB1 in the double arc path is a position where the straight track R2a is switched to the arc track R2b1 centered on the arc track center C2. Since the coordinates X _SB1 and the posture θS _B1 in the X direction of the intermediate position ASB1 are known, the second path information acquisition unit 76 calculates the coordinates Y _SB1 in the direction Y of the intermediate position ASB1. The second path information acquisition unit 76 calculates the coordinates Y _SB1 of the intermediate position ASB1 based on the coordinates of the arc trajectory center C2. Specifically, the second path information acquisition unit 76 calculates the coordinates C2 _Y of the arc trajectory center C2 and the coordinates Y _SB1 of the intermediate position ASB1 as shown in the following equation (23).

Y _SB1 = C2 _Y ... (23)

Next, as shown in FIG. 11, the second pass information acquisition unit 76 calculates the position and posture of the intermediate position ASB2 (step S48). As shown in FIG. 13, the intermediate position ASB2 in the double arc path is a position where the arc track R2b1 centered on the arc track center C2 is switched to the arc track R2b2 centered on the arc track center C1. The intermediate position ASB2 is located on the side opposite to the installation area AR0 (that is, on the X direction side) from the detection track R1a. The second path information acquisition unit 76 calculates the position and posture of the intermediate position ASB2 based on the coordinates of the arc trajectory center C1 and the coordinates of the arc trajectory center C2. Assuming that the coordinates in the direction X and the direction Y of the intermediate position ASB2 are _XSB2 and YSB2, respectively, and the posture (rotation angle) of the moving body 10 in the intermediate position _{ASB2 is θ SB2 ,} the second path information acquisition unit 76 The position and posture of the intermediate position ASB2 are calculated using the following equations (24) to (26).

X _SB2 = (C1 _X + C2 _X ) / 2 ... (24)
Y _SB2 = (C1 _Y + C2 _Y ) / 2 ... (25)
θ _SB2 = tan ^-1 {(C2 _X -C1 _X ) / (C2 _Y -C1 _Y )} + π / 2 ... (26)

Then, as shown in FIG. 11, the second path information acquisition unit 76 calculates the position and posture of the target position A3 based on the coordinates of the provisional target position A3a and the position / posture information of the target object P (step S50). .. The second path information acquisition unit 76 calculates [X _TG , Y _TG , θ _TG ], which is the position and posture of the target position A3, using the following equations (27) to (29).

X _TG = X _TGa ... (27)
Y _TG = Y _TGa ... (28)
θ _TG = θ _ref ... (29)

That is, the second pass information acquisition unit 76 sets the provisional target position A3a as the target position A3.

Then, as shown in FIG. 11, the second pass information acquisition unit 76 calculates the second pass R2 based on the position / posture of the intermediate positions ASB1 and ASB2 and the position / posture of the target position A3 (step S42). As shown in FIG. 13, the second path information acquisition unit 76 sets a straight line trajectory R2a from the second position A2 to the intermediate position ASB1 from the coordinates of the second position A2 and the coordinates of the intermediate position ASB1, and sets the intermediate position. From the position and orientation of the ASB1 and the position and orientation of the intermediate position ASB2 and the turning radius r, the arc trajectory R2b1 from the intermediate position ASB1 to the intermediate position ASB2 is set, and the position and orientation of the intermediate position ASB2 and the position and orientation of the target position A3 are set. From the turning radius r, the arc trajectory R2b2 from the intermediate position ASB2 to the target position A3 is set. As described above, the second pass R2 as the double arc path is the arc track R2b1 (first arc track) connected to the straight track R2a and the straight track R2a and directed to the side opposite to the installation region AR0 side (that is, the X direction side). ) And the arc track R2b2 (second arc track) connected to the arc track R2b1 and heading toward the installation area AR0 side (that is, the side opposite to the X direction).

The above is the setting method when the double arc path having the orbit (arc orbit R2b1) bulging in the X direction is set as the second pass R2. When the double arc path is the second pass R2, the moving body 10 moves from the second position A2 to the intermediate position ASB1 along the straight line orbit R2a, and switches from the straight line orbit R2a to the arc orbit R2b1 at the intermediate position ASB1. That is, it turns back and moves along the arc trajectory R2b1 to the intermediate position ASB2. The moving body 10 switches from the arc orbit R2b1 to the arc orbit R2b2 at the intermediate position ASB2, that is, changes the traveling direction, and moves to the target position A3 along the arc orbit R2b2.

As described above, in the second embodiment, it is determined whether an orbit that swells in the X direction is necessary, and if it is not necessary, a single arc path that does not include the orbit that swells in the X direction is set and necessary. If, set a double arc path. Therefore, in the second embodiment, it is possible to set an appropriate second pass R2 that can be turned back to the X direction, for example, according to the position and orientation of the target object P. Further, by setting the second pass R2 only by the combination of the straight track R2a and the arc trajectory R2b, it is possible to suppress the calculation load and generate the second pass R2 at high speed. Since the turning radius r of the arc orbit R2b and the steering angle command of the moving body 10 have a one-to-one correspondence, the steering angle command of the moving body 10 that can move on the arc orbit R2b when there is no disturbance is also given at the same time. Can be asked. When the steering angle is constant, the turning radius r does not depend on the moving speed, and therefore an arbitrary moving speed may be set within a range in which slip or the like does not occur.

(Third Embodiment)
Next, the third embodiment will be described. In the third embodiment, the method of determining the interference between the moving body 10 and the obstacle is different from that of the first embodiment and the second embodiment. Description of the third embodiment having the same configuration as that of the first embodiment and the second embodiment will be omitted.

14 and 15 are schematic views for explaining the interference determination. In the third embodiment, the second pass information acquisition unit 76 is when the moving body 10 passes through the set second pass R2 based on the position of the moving body 10 in the intermediate position ASB that switches the traveling direction of the moving body 10. In addition, it is determined whether the moving body 10 interferes with an obstacle. In the third embodiment, the second path information acquisition unit 76 acquires the position information of the area where no obstacle exists from the map information. Then, the second path information acquisition unit 76 calculates the coordinates of the moving body 10 when it is located at the intermediate position ASB from the coordinates of the intermediate position ASB and the vehicle specifications of the moving body 10. The second pass information acquisition unit 76 uses the second pass R2 when the coordinates of the moving body 10 when it is located at the intermediate position ASB are within the range of the area where the obstacle does not exist. If it is out of the range of the area where the obstacle does not exist, it is determined that the second pass R2 interferes with the obstacle. The coordinates of the moving body 10 when it is located at the intermediate position ASB are preferably the coordinates of the position that is the outermost in the radial direction of the moving body 10 when viewed from the Z direction. For example, as shown in FIG. 14, the coordinates of the moving body 10 when it is located at the intermediate position ASB are the four corners CR1, CR2, CR3, CR4 of the moving body 10 when it is located at the intermediate position ASB and viewed from the Z direction. It is preferable that the coordinates are.

FIG. 14 is a diagram illustrating interference determination when the second path R2 is a single arc path. As shown in FIG. 14, when the second path information acquisition unit 76 sets the single arc path as the second pass R2, when the moving body 10 is positioned at the intermediate position ASB1 that switches from the linear trajectory R2a to the arc trajectory R2b. The coordinates of the four corners CR1, CR2, CR3, and CR4 are calculated. The second path information acquisition unit 76 determines that the moving body 10 does not interfere with the obstacle when all the coordinates of the four corners CR1, CR2, CR3, and CR4 are within the range of the area where the obstacle does not exist. .. On the other hand, the second path information acquisition unit 76 determines that the moving body 10 interferes with the obstacle when at least one of the four corners CR1, CR2, CR3, and CR4 is outside the range where the obstacle does not exist. .. For example, the coordinates of the directions X of the four corners CR1, CR2, CR3, and CR4 are set to Xi (where i = 1, 2, 3, 4), and the coordinates of the directions Y of the four corners CR1, CR2, CR3, and CR4 are set to Yi (where i =). 1, 2, 3, 4). Further, it is assumed that the range in the direction X of the region where no obstacle does not exist is 0 or more and _XMAX or less, and the range in the direction Y of the region where no obstacle exists is Y _MIN or more and Y _MAX or less. In this case, the second path information acquisition unit 76 has the following equations (30) and (31) in all cases of i = 1, 2, 3, and 4, that is, in all of the four corners CR1, CR2, CR3, and CR4. ), It is determined that the moving body 10 does not interfere with the obstacle when the second pass R2 is adopted. On the other hand, the second path information acquisition unit 76 has at least one case of i = 1, 2, 3, and 4, that is, at least one of the four corners CR1, CR2, CR3, and CR4, and has the following equation (30) and equation. If at least one of (31) is not satisfied, it is determined that the moving body 10 interferes with the obstacle when the second pass R2 is adopted.

0 <Xi < _XMAX (where i = 1, 2, 3, 4) ... (30)
Y _MIN <Yi <Y _MAX (however, i = 1, 2, 3, 4) ... (31)

FIG. 15 is a diagram illustrating interference determination when the second path R2 is a double arc path. As shown in FIG. 15, when the second path information acquisition unit 76 sets the double arc path as the second path R2, when the moving body 10 is positioned at the intermediate position ASB1 that switches from the straight line trajectory R2a to the arc track R2b1. The coordinates of the four corners CR1, CR2, CR3, and CR4 are calculated when the moving body 10 is located at the intermediate position ASB2 that switches from the arc trajectory R2b1 to the arc trajectory R2b2. The second path information acquisition unit 76 is the case where all the coordinates of the four corners CR1, CR2, CR3, and CR4 are within the range of the area where there is no obstacle in both the cases of the intermediate position ASB1 and the intermediate position ASB2. Determines that the moving body 10 does not interfere with the obstacle. On the other hand, in the second path information acquisition unit 76, in at least one case of the intermediate position ASB1 and the intermediate position ASB2, at least one of the four corners CR1, CR2, CR3, and CR4 is outside the range of the region where no obstacle exists. In this case, it is determined that the moving body 10 interferes with an obstacle. For example, the second path information acquisition unit 76 can be used in all cases of i = 1, 2, 3, and 4 in both the case where the moving body 10 is located at the intermediate position ASB1 and the case where the moving body 10 is located at the intermediate position ASB2. That is, when all of the four corners CR1, CR2, CR3, and CR4 satisfy both the equation (30) and the equation (31), it is determined that the moving body 10 does not interfere with the obstacle when the second pass R2 is adopted. do. On the other hand, the second path information acquisition unit 76 has at least one case of i = 1, 2, 3, 4 in at least one of the case where the moving body 10 is located at the intermediate position ASB1 and the case where the moving body 10 is located at the intermediate position ASB2. That is, when at least one of the four corners CR1, CR2, CR3, and CR4 does not satisfy at least one of the equations (30) and (31), the moving body 10 adopts the second pass R2. It is determined that it interferes with an obstacle.

When the second pass information acquisition unit 76 determines that the moving body 10 does not interfere with the obstacle, the second pass information acquisition unit 76 adopts the second pass R2. The movement control unit 72 moves the moving body 10 by the adopted second pass R2. On the other hand, when the second pass information acquisition unit 76 determines that the moving body 10 interferes with an obstacle, the second pass R2 is not adopted and the second pass R2 is reset. In this case, for example, as described in the first embodiment, the turning radius r is reduced by a predetermined value, and the second pass R2 is reset.

FIG. 16 is a flowchart illustrating a flow of interference determination in the third embodiment. As shown in FIG. 16, the second pass information acquisition unit 76 calculates the coordinates of the four corners CR1, CR2, CR3, and CR4 of the moving body 10 at the intermediate position ASB on the second pass R2 (step S50). The second pass information acquisition unit 76 can calculate the coordinates of the four corners CR1, CR2, CR3, and CR4 from the position and posture of the intermediate position ASB and the vehicle specifications of the moving body 10. The second path information acquisition unit 76 determines whether the coordinates of the four corners CR1, CR2, CR3, and CR4 are within the range of the region that does not interfere with the obstacle (step S52), and is within the range of the region that does not interfere with the obstacle. (Step S52: Yes), it is determined that the object does not interfere with the obstacle, and the second pass R2 is adopted (step S54). On the other hand, when it is out of the range of the region that does not interfere with the obstacle (step S52: No), the second pass information acquisition unit 76 determines that it interferes with the obstacle, does not adopt the second pass R2, and does not adopt the second pass R2. The 2-pass R2 is reset (step S56).

As described above, in the third embodiment, the coordinates of the moving body 10 at the intermediate position ASB are used to determine the interference with the obstacle. That is, in the third embodiment, the second pass information acquisition unit 76 determines that if it does not interfere with the obstacle at the intermediate position ASB, it does not interfere with the obstacle at all the positions of the second pass R2. Therefore, in the third embodiment, the interference determination with the obstacle when moving on the second pass R2 can be performed with high accuracy, and the interference with the obstacle can be appropriately suppressed. Further, according to the third embodiment, for example, it is only necessary to calculate the coordinates of the moving body 10 at the intermediate position ASB without calculating the coordinates of the moving body 10 at all the positions on the second path R2. The load can also be suppressed.

(Effect of this disclosure)
As described above, the moving body 10 according to the present disclosure automatically moves, and the first path information acquisition unit 70, the detection control unit 74, the second path information acquisition unit 76, and the movement control. Including part 72. The first pass information acquisition unit 70 acquires the information of the first pass R1. The first pass R1 is a track that crosses the installation area AR0 in the direction Y (second direction) that intersects the direction X on the direction X (first direction) side of the installation area AR0 where the target object P is installed. The detection control unit 74 causes the sensor 26 provided on the moving body 10 to detect the position and the posture of the target object P while the moving body 10 is moving along the first pass R1. The second pass information acquisition unit 76 acquires the information of the second pass R2. The second pass R2 is a trajectory set based on the position and posture of the target object P up to the target position A3 which is a predetermined position and posture with respect to the target object P. The movement control unit 72 moves the moving body 10 along the second path R2.

Since the moving body 10 according to the present disclosure detects the position and orientation of the target object P while crossing the installation area AR0, it is possible to appropriately detect the position and orientation of the target object P, and as a result, up to the target object P. The movement can be performed using the appropriate second pass R2. Furthermore, since the position and orientation of the target object P is detected while crossing the installation area AR0, even if the detection fails, it can be detected again at another position on the route that crosses the installation area AR0. , It becomes possible to appropriately detect the position and orientation of the target object P. Further, since the detection of the position and orientation of the target object P is completed by the time the target object P reaches the second position A2, it is necessary to detect the position and orientation of the target object P when approaching the target object P from the second position A2. It disappears.

Further, the movement control unit 72 has a first pass from the first position A1 on one side of the installation area AR0 in the direction Y (second direction) to the second position A2 on the other side of the installation area AR0 in the direction Y. The moving body 10 is moved along R1. The detection control unit 74 causes the sensor 26 to detect the position and posture of the target object P while the moving body 10 is moving from the first position A1 to the second position A2. According to the present disclosure, since the position / posture of the target P is detected during the movement from the first position A1 to the second position A2, the position / posture of the target P can be appropriately detected.

Further, the first pass R1 is an approach track R1b connected to the detection track R1a from the first position A1 to the second position A2 and directed from the second position A2 toward the installation area AR0 (set position A3z in the example of the present disclosure). including. When it is determined that the target P cannot be reached by moving along the approach trajectory R1b, the movement control unit 72 moves the moving body 10 toward the target P along the second pass R2. On the other hand, when it is determined that the target P can be reached by moving along the approach trajectory R1b, the movement control unit 72 moves the moving body 10 toward the target P along the approach trajectory R1b. According to the present disclosure, when the target object P is placed in an appropriate position and posture, the second path R2 is not generated, and the target object P is approached by using the preset approach trajectory R1b. Therefore, it is possible to reduce the calculation load when the target object P is placed in an appropriate position and posture.

Further, the second pass information acquisition unit 76 includes a straight track R2a overlapping the detection track R1a from the first position A1 to the second position A2 of the first pass R1 and an arc track R2b connected to the straight track R2a. Acquire the second pass R2. According to the present disclosure, since the second pass R2 is composed of the straight line orbit R2a and the arc orbit R2b, the calculation load for generating the second pass R2 can be reduced and the second pass R2 can be generated at high speed. ..

Further, the second pass information acquisition unit 76 acquires the second pass R2 in which the turning radius r (orbit radius) of the arc track R2b is equal to or larger than a predetermined value. According to the present disclosure, by keeping the turning radius r of the arc trajectory R2b at or above a predetermined value, it is possible to prevent, for example, the turning radius r from becoming too small and the moving body 10 from being unable to turn.

Further, the second path information acquisition unit 76 provides a single arc path composed of a straight track R2a and an arc track R2b connected to the straight track R2a and directed toward the installation region AR0 in the X direction (first direction). Obtained as the second pass R2. By setting such a single arc path as the second pass R2, the second pass information acquisition unit 76 can move toward the target P using an appropriate second pass R2.

Further, when the second pass information acquisition unit 76 determines that it is not necessary to set a trajectory toward the side opposite to the installation area AR0 in the X direction (first direction), the single arc path is set as the second pass R2. get. When the second pass information acquisition unit 76 does not need a track toward the side away from the installation area AR0, the second pass information acquisition unit 76 sets the single arc path as the second pass R2, and uses an appropriate second pass R2 to target the target. You can move towards P.

Further, the second path information acquisition unit 76 requires that the moving body 10 does not interfere with an obstacle when the moving body 10 is located at the intermediate position ASB1 for switching between the straight line orbit R2a and the arc orbit R2b of the single arc path. If it is determined, the single arc path is adopted as the second path R2. According to the present disclosure, since the interference determination with the obstacle is performed using the coordinates of the moving body 10 at the intermediate position ASB, it is possible to appropriately suppress the interference with the obstacle while suppressing the calculation load of the interference determination.

Further, the second path information acquisition unit 76 includes a straight track R2a, an arc track R2b1 (first arc track) connected to the straight track R2a and directed to the opposite side of the installation region AR0 in the direction X (first direction). A double arc path composed of an arc track R2b2 (second arc track) connected to the arc track R2b1 and heading toward the installation region AR0 in the direction X is acquired as the second pass R2. The second pass information acquisition unit 76 can move toward the target object P by using an appropriate second pass R2 by setting the double arc path including such a cutback as the second pass R2.

Further, when the second pass information acquisition unit 76 determines that it is necessary to set a trajectory toward the side opposite to the installation area AR0 in the X direction (first direction), the double arc path is set as the second pass R2. get. When the second pass information acquisition unit 76 needs a trajectory toward the side away from the installation area AR0, the second pass information acquisition unit 76 sets the double arc path as the second pass R2, so that an appropriate second pass R2 including turning back can be obtained. Can be used to move towards the target P.

Further, in the second path information acquisition unit 76, when the moving body 10 is located at the intermediate position ASB1 for switching between the straight line orbit R2a and the arc orbit R2b1 of the double arc path, the moving body 10 does not interfere with the obstacle. Further, when it is determined that the moving body 10 does not interfere with an obstacle when the moving body 10 is located at the intermediate position ASB2 for switching between the arc orbit R2b1 and the arc orbit R2b2 of the double arc path, the double arc path is performed. Is adopted as the second pass R2. According to the present disclosure, since the interference with the obstacle is determined using the coordinates of the moving body 10 at the intermediate positions ASB1 and ASB2, the interference with the obstacle is appropriately suppressed while suppressing the calculation load of the interference determination. can.

Further, the movement control system 1 according to the present disclosure includes a moving body 10 and an information processing device 14 that transmits / receives information to / from the moving body 10. According to this movement control system 1, it is possible to appropriately detect the position and orientation of the target object P, and as a result, it is possible to perform movement using an appropriate second pass R2 to the target object P.

Further, the control method of the moving body 10 according to the present disclosure is installed in the direction X (first direction) side of the installation area AR0 where the target object P is installed, and in the direction Y (second direction) intersecting the direction X. The position and posture of the target object P are detected by the sensor 26 provided on the moving body 10 while the moving body 10 is moving along the first pass R1 and the step of acquiring the information of the first pass R1 crossing the region AR0. The step of making the target P, the step of acquiring the information of the second pass R2 up to the target position A3 which is the predetermined position and the posture with respect to the target P, and the second pass, which are set based on the position and the posture of the target P. Includes a step of moving the moving body 10 along R2. According to this control method, it is possible to appropriately detect the position and orientation of the target object P, and as a result, it is possible to move to the target object P using an appropriate second pass R2.

Further, the program according to the present disclosure is a program for causing a computer to execute a control method for the moving body 10. This program provides information on the first pass R1 that crosses the installation area AR0 in the direction Y (second direction) that intersects the direction X on the direction X (first direction) side of the installation area AR0 where the target object P is installed. And the step of causing the sensor 26 provided on the moving body 10 to detect the position and posture of the target object P while the moving body 10 is moving along the first pass R1, the position of the target object P, and the position of the target object P. The step of acquiring the information of the second pass R2 up to the target position A3 which is a predetermined position and the posture with respect to the target object P set based on the posture, and the moving body 10 is moved along the second pass R2. Let the computer perform the steps.

Although the embodiments of the present invention have been described above, the embodiments are not limited by the contents of the embodiments. Further, the above-mentioned components include those that can be easily assumed by those skilled in the art, those that are substantially the same, that is, those in a so-called equal range. Furthermore, the components described above can be combined as appropriate. Further, various omissions, replacements or changes of the components can be made without departing from the gist of the above-described embodiment.

1 Mobile control system 10 Mobile 12 Management system 14 Information processing device 26 Sensor 70 1st path information acquisition unit 72 Movement control unit 74 Detection control unit 76 2nd path information acquisition unit A1 1st position A2 2nd position A3 Target position AR0 Installation area P Target R1 1st pass R2 2nd pass

Claims (14)

It is a moving body that moves automatically.
A first pass information acquisition unit that acquires information on the first pass that crosses the installation area in the second direction that intersects the first direction on the first direction side of the installation area where the target is installed.
A detection control unit that causes a sensor provided on the moving body to detect the position and posture of the target while the moving body is moving along the first path.
A second pass information acquisition unit that acquires information on the second pass to a target position that is a predetermined position and posture with respect to the target, which is set based on the position and posture of the target.
A movement control unit that moves the moving body along the second path,
including,
Mobile body. The movement control unit is described along the first path from a first position on one side of the installation area in the second direction to a second position on the other side of the installation area in the second direction. Move the moving body,
The detection control unit causes the sensor to detect the position and posture of the target while the moving body is moving from the first position to the second position.
The moving body according to claim 1. The first pass includes an approach trajectory from the second position to the installation area, which is connected to the track from the first position to the second position.
The movement control unit
When it is determined that the target cannot be reached by moving along the approach trajectory, the moving body is moved toward the target along the second path.
The movement according to claim 2, wherein when it is determined that the target can be reached by moving along the approach trajectory, the moving object is moved toward the target along the approach trajectory. body. The second pass information acquisition unit acquires a second pass including a straight track overlapping the track from the first position to the second position of the first pass and an arc track connected to the straight track. , The moving object according to claim 2 or 3. The moving body according to claim 4, wherein the second pass information acquisition unit acquires the second pass in which the orbital radius of the arc orbit is equal to or larger than a predetermined value. The second pass information acquisition unit uses a single arc path composed of the straight track and the arc track connected to the straight track and heading toward the installation region in the first direction as the second pass. The moving object according to claim 4 or 5, to be acquired. The second path information acquisition unit acquires the single arc path as the second pass when it is determined that it is not necessary to set a trajectory toward the side opposite to the installation area in the first direction. Item 6. The moving body according to item 6. The second path information acquisition unit has determined that the moving body does not interfere with the obstacle when the moving body is located at an intermediate position between the straight line trajectory and the arc trajectory of the single arc path. The moving body according to claim 6 or 7, wherein the single arc path is adopted as the second pass. The second path information acquisition unit is connected to the straight track, a first arc track connected to the straight track and heading to the opposite side of the installation area in the first direction, and the first arc track. The moving body according to claim 4 or 5, wherein a double arc path composed of a second arc track toward the installation area side in the first direction is acquired as the second pass. The second path information acquisition unit obtains the double arc path as the second pass when it is determined that it is necessary to set a trajectory toward the side opposite to the installation area in the first direction. Item 9. The moving body according to item 9. The second path information acquisition unit does not interfere with the obstacle when the moving body is located at an intermediate position between the linear trajectory and the first arc trajectory of the double arc path. Further, when it is determined that the moving body does not interfere with an obstacle when the moving body is located at an intermediate position between the first arc trajectory and the second arc trajectory of the double arc path. The moving body according to claim 9 or 10, wherein the double arc path is adopted as the second pass. The moving body according to any one of claims 1 to 11.
A mobile control system including an information processing device that transmits / receives information to / from the mobile body. It is a control method for moving objects that move automatically.
A step of acquiring information on the first path that crosses the installation area in the second direction that intersects the first direction on the first direction side of the installation area where the target is installed.
A step of causing a sensor provided on the moving body to detect the position and posture of the target while the moving body is moving along the first path.
A step of acquiring information on a second pass to a target position that is a predetermined position and posture with respect to the target, which is set based on the position and posture of the target.
A step of moving the moving body along the second pass,
including,
How to control a moving object. A program that causes a computer to execute a control method for a moving object that moves automatically.
A step of acquiring information on the first path that crosses the installation area in the second direction that intersects the first direction on the first direction side of the installation area where the target is installed.
A step of causing a sensor provided on the moving body to detect the position and posture of the target while the moving body is moving along the first path.
A step of acquiring information on a second pass to a target position that is a predetermined position and posture with respect to the target, which is set based on the position and posture of the target.
A step of moving the moving body along the second pass,
To let the computer run
program.

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