Mobile body control system, mobile body control method, and computer-readable storage medium storing a mobile body control program

Abstract

The present disclosure relates to a mobile body control system, a mobile body control method, and a computer-readable storage medium storing a mobile body control program. The mobile body control system includes: a mobile body configured to be capable of moving on a predetermined path and including at least an imaging device; a display device disposed at a remote location separated from the mobile body and configured to display a captured image of the imaging device; a first operation terminal disposed at the remote location; a control device configured to control the movement of the mobile body based on first operation information input via the first operation terminal; and a second operation terminal disposed near the mobile body as compared to the remote location, wherein the control device is configured to assist the movement control of the mobile body implemented based on the first operation information based on second operation information input via the second operation terminal.

Description

Technical Field

[0001] The present disclosure relates to a mobile body control system, a mobile body control method, and a mobile body control program. Background Art

[0002] In recent years, development of a system has been promoted, which enables a user located at a remote location to experience riding on a mobile body by displaying a captured image of a capturing device mounted on the mobile body on a display device provided at the remote location. For example, by displaying a captured image of a capturing device mounted on a mobile body moving on a predetermined path in a factory on a display device provided at a remote location, a user located at the remote location can visit and learn about the factory as if riding on the mobile body.

[0003] Related technologies are disclosed, for example, in Japanese Patent Laid-Open No. 11-15528. Japanese Patent Laid-Open No. 11-15528 discloses a system including a device that enables an operator to freely vary the traveling speed of a mobile robot in an autonomous traveling state. Summary of the Invention

[0004] However, in the system disclosed in Japanese Patent Laid-Open No. 11-15528, there is a problem that an operator performing remote operation needs to control the traveling speed of the mobile robot while worrying about the presence of obstacles (such as small stones or obstacles in blind spots) that are difficult to visually confirm, so that the mobile robot cannot be controlled smoothly. As a result, for example, when the system disclosed in Japanese Patent Laid-Open No. 11-15528 is applied to a system that enables a user to experience riding on a mobile body (mobile robot), there is a possibility that the user cannot comfortably experience riding on the mobile body.

[0005] The present disclosure has been made in view of the above background, and an object thereof is to provide a mobile body control system, a mobile body control method, and a mobile body control program capable of smoothly controlling a mobile body by a user.

[0006] The mobile body control system according to this embodiment includes: a mobile body configured to be able to move on a predetermined path and having at least a photographing device; a display device disposed at a remote location separated from the mobile body and displaying a photographed image of the photographing device; a first operation terminal disposed at the remote location; a control device configured to control the movement of the mobile body based on first operation information input via the first operation terminal; and a second operation terminal disposed near the mobile body compared to the remote location. The control device is configured to assist the movement control of the mobile body implemented based on the first operation information based on second operation information input via the second operation terminal. In this mobile body control system, since a supporter near the mobile body can assist the movement control of the mobile body to avoid obstacles that are difficult for a user remotely operating the mobile body to visually confirm, the user can smoothly control the mobile body without worrying about obstacles that are difficult to visually confirm. As a result, for example, the user can experience riding on the mobile body while observing the photographed image of the photographing device mounted on the mobile body without worrying about the existence of obstacles that are difficult to visually confirm. In addition, since there is no need to provide a function for avoiding obstacles in the mobile body, an increase in cost is suppressed.

[0007] Alternatively, the control device may be configured to stop the movement of the mobile body regardless of the content of the first operation information when receiving an instruction to stop the movement of the mobile body through the second operation information.

[0008] Alternatively, a notification device may be further provided, and the notification device notifies a message indicating this when the control device stops the movement of the mobile body based on the second operation information.

[0009] Alternatively, the control device may be configured to photograph a predetermined area through the photographing device mounted on the mobile body when receiving an instruction to photograph a predetermined area through the second operation information.

[0010] Alternatively, a notification device may be further provided, and the notification device notifies a message indicating this when the control device photographs the predetermined area through the photographing device mounted on the mobile body based on the second operation information.

[0011] Alternatively, the following method may be adopted, i.e., the control device implements control on whether to make the moving body move straight based on the first operation information, and implements control on whether to make the moving body turn based on the second operation information.

[0012] The moving body control method according to this embodiment includes: a step of controlling the movement of a moving body configured to be able to move on a predetermined path based on first operation information input via a first operation terminal, wherein the first operation terminal is provided at a remote location separated from the moving body; a step of assisting the movement control of the moving body implemented based on the first operation information based on second operation information input via a second operation terminal, wherein the second operation terminal is provided near the moving body compared to the remote location; a step of displaying, on a display device provided at the remote location, the captured image of a capturing device mounted on the moving body while controlling the movement of the moving body. In this moving body control method, since a supporter located near the moving body can assist in the movement control of the moving body to avoid obstacles that are difficult for a user remotely operating the moving body to visually confirm, the user can smoothly control the moving body without worrying about obstacles that are difficult to visually confirm. As a result, for example, the user can, without worrying about the existence of obstacles that are difficult to visually confirm, observe the captured image of the capturing device mounted on the moving body while experiencing as if riding on the moving body. In addition, since there is no need to provide a function for avoiding obstacles in the moving body, an increase in cost is suppressed.

[0013] The mobile body control program according to this embodiment causes a computer to execute the following processes: a process of controlling the movement of a mobile body configured to be able to move on a predetermined path based on first operation information input via a first operation terminal, where the first operation terminal is provided at a remote location separated from the mobile body; a process of assisting the movement control of the mobile body implemented based on the first operation information based on second operation information input via a second operation terminal, where the second operation terminal is provided near the mobile body compared to the remote location; a process of displaying, on a display device provided at the remote location, the captured image of a capturing device mounted on the mobile body while controlling the movement of the mobile body. In this mobile body control program, since a supporter located near the mobile body can assist in the movement control of the mobile body to avoid obstacles that are difficult for a user remotely operating the mobile body to visually confirm, the user can smoothly control the mobile body without worrying about obstacles that are difficult to visually confirm. As a result, for example, the user can observe the captured image of the capturing device mounted on the mobile body while experiencing as if riding on the mobile body without worrying about the existence of obstacles that are difficult to visually confirm. In addition, since there is no need to provide a function for avoiding obstacles in the mobile body, an increase in cost is suppressed.

[0014] According to the present invention, it is possible to provide a mobile body control system, a mobile body control method, and a mobile body control program capable of smoothly controlling a mobile body implemented by a user.

[0015] The above and other objects, features, and advantages of the present disclosure will be more fully understood from the following detailed description and the accompanying drawings which are merely illustrative, and thus should not be considered as limiting the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A block diagram showing a structural example of the mobile body control system according to Embodiment 1.

[0017] Figure 2 To show Figure 1 A flowchart showing an example of the setting operation of the mobile body control system shown.

[0018] Figure 3 To show Figure 1 An example of a predetermined movement path of the mobile body provided in the mobile body control system shown.

[0019] Figure 4 To show by Figure 1A diagram showing an example of an obstacle avoidance action performed by a moving body provided in the moving body control system shown.

[0020] Figure 5 To show Figure 1 A diagram showing another example of a predetermined movement path of the moving body provided in the moving body control system shown.

[0021] Figure 6 To show by Figure 1 A diagram showing another example of an obstacle avoidance action performed by the moving body provided in the moving body control system shown. Detailed implementation mode

[0022] Although the present invention will be described below by way of embodiments of the invention, the invention covered by the claims is not limited to the following embodiments. In addition, the structures described in the embodiments are not necessarily all essential as methods for solving the problems. For the sake of clarity of explanation, the following descriptions and drawings have been appropriately omitted and simplified. In each drawing, the same reference numerals are assigned to the same elements, and repeated explanations are omitted as needed.

[0023] <Embodiment 1>

[0024] Figure 1 A block diagram showing a structural example of the moving body control system 1 according to Embodiment 1.

[0025] As Figure 1 shown, the moving body control system 1 includes a moving body 11, a display device 13, a control device 14, a remote operation terminal (first operation terminal) 15, a proximity operation terminal (second operation terminal) 16, and a network 40. The moving body 11, the display device 13, the control device 14, the remote operation terminal 15, and the proximity operation terminal 16 are configured to be able to communicate with each other via a wired or wireless network 40.

[0026] The moving body 11 is a mobile robot configured to be able to move on a predetermined path within a facility 20 such as a factory. The moving body 11 at least includes a photographing device 12 that photographs the periphery of the moving body 11. For example, when the facility 20 is an automobile manufacturing factory, the photographing device 12 can photograph the status of the automobile manufacturing process by being photographed by the moving body 11 moving within the facility 20. Or, when the facility 20 is an art exhibition, the photographing device 12 can photograph various exhibits by being photographed by the moving body 11 in motion.

[0027] The display device 13 is provided at a remote location 30 separated from the moving body 11. The remote location 30 is an arbitrary place separated from a facility 20 such as a factory, and is, for example, the user's (the user of this system) own house, or a venue for an event such as a study session for visiting the facility 20. The display device 13 is, for example, a monitor of a PC (Personal Computer) terminal, a monitor of a portable terminal such as a tablet terminal, or a monitor dedicated to this system. On the display device 13, the captured image obtained by the imaging device 12 is displayed.

[0028] The remote operation terminal 15 is provided at the remote location 30 together with the display device 13. The remote operation terminal 15 is, for example, a keyboard attached to a PC terminal, an operation screen of a portable terminal such as a tablet terminal, or an operation terminal dedicated to this system. The remote operation terminal 15 receives information related to the operation of the moving body 11 from the user, and transmits this information to the control device 14.

[0029] The proximity operation terminal 16 is provided closer to the moving body 11 than the remote operation terminal 15. For example, the proximity operation terminal 16 is provided in the management room of the facility 20, or is provided near the moving body 11 to such an extent that the moving body 11 and its surroundings can be visually confirmed. The proximity operation terminal 16 is, for example, a keyboard attached to a PC terminal, an operation screen of a portable terminal such as a tablet terminal, or an operation terminal dedicated to this system. The proximity operation terminal 16 receives information related to the operation of the moving body 11 from a supporter (the manager or person in charge of this system), and transmits this information to the control device 14.

[0030] The control device 14 performs overall control of the moving body control system 1. Here, the control device 14 controls the movement of the moving body 11 based on the operation information (hereinafter, also referred to as first operation information) input via the remote operation terminal 15.

[0031] For example, when operation information indicating that the moving body 11 is to move forward or backward along a predetermined path is input on the remote operation terminal 15 by the operation of the user, the control device 14 causes the moving body 11 to move forward or backward along the predetermined path according to this operation information. In addition, when operation information indicating that the movement of the moving body 11 is to stop is input on the remote operation terminal 15 by the operation of the user, the control device 14 causes the movement of the moving body 11 to stop according to this operation information.

[0032] Further, the control device 14 is configured to assist the movement control of the moving body 11 performed based on the first operation information (operation information input via the remote operation terminal 15) based on the operation information (hereinafter, also referred to as the second operation information) input via the adjacent operation terminal 16.

[0033] For example, when the moving body 11 is moving along a predetermined path, if operation information indicating that the moving body 11 is to avoid an obstacle (such as a pebble or an obstacle in a blind spot) found on the predetermined path is input to the adjacent operation terminal 16 by the operation of a supporter, the control device 14 causes the moving body 11 to move along a detour path that avoids the obstacle in accordance with the operation information.

[0034] In addition, when the moving body 11 is moving along a predetermined path, if operation information indicating that the movement of the moving body 11 is to be urgently stopped is input to the adjacent operation terminal 16 by the operation of a supporter, the control device 14 stops the movement of the moving body 11 regardless of the content of the first operation information.

[0035] In addition, if operation information indicating a change in the shooting range of the shooting device 12 (for example, shooting a predetermined area) is input to the adjacent operation terminal 16 by the operation of a user, the control device 14 changes the shooting range of the shooting device 12 (for example, causes the shooting device 12 to shoot a predetermined area) in accordance with the operation information.

[0036] In addition, in the moving body control system 1, a notification device may be further provided, and the notification device notifies a message indicating this meaning when the shooting device 12 shoots a predetermined area or the moving body 11 is urgently stopped in accordance with the second operation information. The notification device is, for example, a speaker, and is provided at a remote location 30 together with the display device 13 and the like.

[0037] In addition, the control device 14 is not limited to the above control, and may be configured to control whether the moving body 11 moves straight forward based on the first operation information and control whether the moving body 11 turns based on the second operation information.

[0038] (An example of the setting work of the moving body control system 1)

[0039] Next, Figure 2 is used to illustrate an example of the setting work of the moving body control system 1.

[0040] Figure 2 is a flowchart showing an example of the setting work of the moving body control system 1.

[0041] First, the mobile body control system 1 makes the mobile body 11 standby until the adjacent operation terminal 16 is connected to the network 40 (No in steps S101→S102).

[0042] When the adjacent operation terminal 16 is connected to the network 40 (Yes in step S102), next, it is confirmed whether the remote operation terminal 15 is connected to the network 40 (step S103).

[0043] Here, when the remote operation terminal 15 is not connected to the network 40 (No in step S103), all actions in the normal travel of the mobile body 11 and the detour travel of the mobile body 11 for avoiding obstacles are controlled according to the instruction content of the operation information input via the adjacent operation terminal 16 (step S104).

[0044] In contrast, when the remote operation terminal 15 is connected to the network 40 (Yes in step S103), next, it is confirmed whether the adjacent operation priority button provided on the adjacent operation terminal 16 is pressed (step S105).

[0045] Here, when the adjacent operation priority button is pressed (Yes in step S105), since the operation of the adjacent operation terminal 16 is prioritized, all actions in the normal travel of the mobile body 11 and the detour travel of the mobile body 11 for avoiding obstacles are controlled according to the instruction content of the operation information input via the adjacent operation terminal 16 (step S106).

[0046] In contrast, when the adjacent operation priority button is not pressed (No in step S105), next, it is confirmed whether the remote operation valid button provided on the adjacent operation terminal 16 is pressed (step S107).

[0047] Here, when the remote operation valid button is pressed (Yes in step S107), since the operation of the remote operation terminal 15 is made valid, the normal travel (movement along a predetermined path) of the mobile body 11 is controlled according to the instruction content of the operation information (first operation information) input via the remote operation terminal 15, and the detour travel of the mobile body 11 for avoiding obstacles is controlled according to the instruction content of the operation information (second operation information) input via the adjacent operation terminal 16 (step S108).

[0048] On the contrary, when the remote operation enable button is not pressed (No in step S107), since the operation of the adjacent operation terminal 16 is not prioritized and the operation of the remote operation terminal 15 also becomes invalid, the operation information input to either the remote operation terminal 15 or the adjacent operation terminal 16 becomes invalid (step S109).

[0049] In addition, Figure 2 The setting operation shown is merely an example. For example, one or both of the adjacent operation priority button and the remote operation enable button may be omitted. In the present embodiment, the case where the operation information input to either the remote operation terminal 15 or the adjacent operation terminal 16 is valid (i.e., Figure 2 the setting state of step S108 in

[0050] (An example of the obstacle avoidance operation performed by the mobile body 11)

[0051] Next, Figure 3 and Figure 4 are used to illustrate an example of the obstacle avoidance operation performed by the mobile body 11.

[0052] Figure 3 is a diagram showing an example of a predetermined movement path of the mobile body 11.

[0053] Figure 4 is a diagram showing an example of the obstacle avoidance operation performed by the mobile body 11.

[0054] In Figure 3 's example, passageways L11, L12 are provided in the facility 20, and a corner C11 connecting between passageways L11 and L12. In Figure 3 's example, the control device 14 causes the mobile body 11 to move along a movement path R1 formed in such a way as to go from passageway L11 via corner C11 to passageway L12 based on the first operation information input via the remote operation terminal 15.

[0055] Here, when, as shown in Figure 4 , an obstacle B1 is detected in an area that is a blind spot for the mobile body 11 in the area on the movement path R1, a supporter near the mobile body 11 inputs operation information instructing the mobile body 11 to avoid the obstacle B1 to the adjacent operation terminal 16. Thereby, the control device 14 causes the mobile body 11 to move along a detour path R1a that avoids the obstacle B1 according to this operation information.

[0056] (Another example of the obstacle avoidance operation performed by the mobile body 11)

[0057] Next, use Figure 5 and Figure 6 to illustrate other examples of the obstacle avoidance action performed by the moving body 11.

[0058] Figure 5 It is a diagram showing other examples of the predetermined movement path of the moving body 11.

[0059] Figure 6 It is a diagram showing other examples of the obstacle avoidance action performed by the moving body 11.

[0060] In the example of Figure 5 , a passage L21 is provided in the facility 20. In the example of Figure 5 , the control device 14 causes the moving body 11 to move along a movement path R2 formed in a straight line along the passage L21 based on the first operation information input via the remote operation terminal 15.

[0061] Here, when, as shown in Figure 6 , obstacles B2 such as pebbles that become obstacles to the movement of the moving body 11 are found on the movement path R2, a supporter near the moving body 11 inputs operation information instructing the moving body 11 to avoid the obstacle B2 to the adjacent operation terminal 16. Thereby, the control device 14 causes the moving body 11 to move along a detour path R2a that avoids the obstacle B2 according to this operation information.

[0062] Thus, in the moving body control system 1 according to the present embodiment, since the movement control of the moving body 11 can be assisted by a supporter near the moving body 11 to avoid obstacles that are difficult for a user who is remotely operating the moving body 11 to visually confirm, the user can smoothly control the moving body without worrying about obstacles that are difficult to visually confirm. As a result, for example, the user can observe the captured image of the imaging device 12 mounted on the moving body 11 while experiencing as if riding on the moving body 11 without worrying about the existence of obstacles that are difficult to visually confirm. In addition, since there is no need to provide a function for avoiding obstacles in the moving body 11, an increase in cost is suppressed.

[0063] In addition, the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist.

[0064] Further, the present disclosure can implement part or all of the processing in the mobile body control system 1 or the control device 14 provided therein by causing a CPU (Central Processing Unit) to execute a computer program.

[0065] The program described above includes a set of commands (or software code) for causing a computer to implement one or more of the functions described in the embodiments when read by the computer. The program can also be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of non-limiting example, the computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD), or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) Blu-ray disc, or other optical disc storage, cassette tape, magnetic tape, magnetic disk storage, or other magnetic storage devices. The program can also be transmitted on a transitory computer-readable medium or communication medium. By way of non-limiting example, the transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0066] According to the present disclosure, it is apparent that the embodiments of the present disclosure can be changed in various ways. Such changes should not be regarded as departing from the spirit and scope of the present disclosure, and all such modifications that are obvious to those skilled in the art are included within the scope of the appended claims.

Claims

1. A mobile body control system, comprising: A mobile body, which at least includes a photographing device and is configured to be able to move on a predetermined path; A display device, which is provided at a remote location separated from the mobile body and displays the photographed image of the photographing device, and the remote location is the user's own residence of the mobile body control system or the activity venue where a visit and learning session of a hosting facility is held; A first operation terminal, which is provided at the remote location; A control device, which controls the movement of the mobile body based on first operation information input via the first operation terminal; A second operation terminal, which is provided near the mobile body compared to the remote location, The control device is configured to assist the movement control of the mobile body implemented based on the first operation information based on second operation information input via the second operation terminal, The control device changes the photographing range of the photographing device so that the photographing device photographs a predetermined area, and confirms whether a proximity operation priority button provided on the second operation terminal has been pressed, In the case where the proximity operation priority button has not been pressed, it confirms whether a remote operation valid button provided on the second operation terminal has been pressed, In the case where the remote operation valid button has been pressed, it controls the detour driving of the mobile body for avoiding an obstacle according to the instruction content of the second operation information.

2. The mobile body control system according to claim 1, wherein, When the control device receives an instruction to stop the movement of the mobile body through the second operation information, it stops the movement of the mobile body regardless of the content of the first operation information.

3. The mobile body control system according to claim 2, wherein, It further includes a notification device, and the notification device notifies a message indicating this meaning when the control device stops the movement of the mobile body based on the second operation information.

4. The mobile body control system according to any one of claims 1 to 3, wherein, When the control device receives an instruction to photograph a predetermined area through the second operation information, it photographs the predetermined area through the photographing device mounted on the mobile body.

5. The mobile body control system according to claim 4, wherein, It further includes a notification device, and the notification device notifies a message indicating this meaning when the control device photographs the predetermined area through the photographing device mounted on the mobile body based on the second operation information.

6. The mobile body control system according to any one of claims 1 to 3, wherein, The control device controls whether the mobile body moves straight forward based on the first operation information and controls whether the mobile body turns based on the second operation information.

7. A mobile body control method, comprising: A step of controlling the movement of a mobile body configured to be able to move on a predetermined path based on first operation information input via a first operation terminal, wherein, the first operation terminal is set at a remote location separated from the mobile body, and the remote location is the user's own residence of the mobile body control system or the activity venue where a study session of the facility is held; A step of assisting the movement control of the mobile body implemented based on the first operation information based on second operation information input via a second operation terminal, wherein the second operation terminal is set closer to the mobile body than the remote location; A step of, while controlling the movement of the mobile body, causing a display device set at the remote location to display a captured image of a capturing device mounted on the mobile body; A step of causing the capturing device to capture a predetermined area by changing the capturing range of the capturing device; A step of performing confirmation as to whether a proximity operation priority button provided on the second operation terminal has been pressed; A step of performing confirmation as to whether a remote operation valid button provided on the second operation terminal has been pressed in a case where the proximity operation priority button has not been pressed; A step of controlling the detour driving of the mobile body for avoiding an obstacle according to the instruction content of the second operation information in a case where the remote operation valid button has been pressed.

8. A computer-readable storage medium storing a mobile body control program that causes a computer to execute the following processing: A process of controlling the movement of a mobile body configured to be able to move on a predetermined path based on first operation information input via a first operation terminal, wherein, the first operation terminal is set at a remote location separated from the mobile body, and the remote location is the user's own residence of the mobile body control system or the activity venue where a study session of the facility is held; A process of assisting the movement control of the mobile body implemented based on the first operation information based on second operation information input via a second operation terminal, wherein the second operation terminal is set closer to the mobile body than the remote location; A process of, while controlling the movement of the mobile body, causing a display device set at the remote location to display a captured image of a capturing device mounted on the mobile body; A process of causing the capturing device to capture a predetermined area by changing the capturing range of the capturing device; A process of performing confirmation as to whether a proximity operation priority button provided on the second operation terminal has been pressed; A process of performing confirmation as to whether a remote operation valid button provided on the second operation terminal has been pressed in a case where the proximity operation priority button has not been pressed; In the case where the remote operation effective button has been pressed, a process of controlling the detour driving of the moving body for avoiding an obstacle according to the instruction content of the second operation information is performed.

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