Mobile control device

Abstract

The present invention aims to improve the efficiency of cargo loading and unloading work by a mobile body. The present mobile control device controls movement of the mobile body. The mobile body has a function of performing cargo loading and unloading work on a cargo storage body. The present mobile control device moves the mobile body to a target stop position determined based on a target relative positional relationship between the mobile body and the cargo storage body determined based on a characteristic of the cargo storage body. The mobile body can be moved to a position suitable for cargo loading and unloading work on the cargo storage body, thereby improving the efficiency of cargo loading and unloading work by the mobile body.

Description

Technical Field

[0001] This invention relates to a motion control device that controls the movement of a mobile body so that the mobile body moves to a suitable position for operation. Background Technology

[0002] Patent document 1 describes the following: When loading the hull onto a trailer, based on the hull's position and distance relative to the trailer, it is determined at each set time whether the hull can be loaded onto the trailer.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2024-086269 Summary of the Invention

[0004] The objective of this invention is to improve the efficiency of loading and unloading operations of goods using mobile bodies.

[0005] The present invention relates to a motion control device that controls the movement of a mobile body. The mobile body has the function of loading and unloading goods from a cargo container. This motion control device moves the mobile body to a target stopping position determined based on the target relative positional relationship between the mobile body and the cargo container, which is determined by the characteristics of the cargo container. This allows the mobile body to be moved to a suitable position for loading and unloading goods from the cargo container, thereby improving the efficiency of loading and unloading operations using the mobile body. Attached Figure Description

[0006] Figure 1 This is a schematic diagram illustrating the overall operation system including the mobile control device according to an embodiment of the present invention.

[0007] Figure 2 This is a block diagram that conceptually represents the above-mentioned operating system.

[0008] Figure 3 This is a diagram illustrating the actions performed in the aforementioned motion control device.

[0009] Figure 4 In the diagram, (a) to (c) are diagrams showing the target relative positional relationship between the first moving body and the second moving body included in the above-described operating system. The target relative positional relationship is determined by the characteristics of the second moving body.

[0010] Figure 5 In the diagram, (a) to (b) show the target stopping position of the first moving body. Detailed Implementation

[0011] Hereinafter, an operating system including a motion control device according to an embodiment of the present invention will be described in detail based on the accompanying drawings.

[0012] [Example 1]

[0013] like Figure 1 , Figure 2 As shown, the operating system involved in this embodiment includes a first management device C1, a second management device C2, and multiple mobile bodies M. The multiple mobile bodies M include one or more first mobile bodies M1 and one or more second mobile bodies M2. The first mobile bodies M1 and the second mobile bodies M2 move within an operating area such as a parking lot P. The first mobile body M1 can be configured as an automatically guided vehicle that can move even without driver operation.

[0014] Multiple stop areas are pre-set in parking lot P. In other words, a portion of parking lot P is divided into multiple stop areas Rb1, Rb2, ... Hereinafter, in this specification, stop areas Rb1, Rb2, ... etc. will be referred to collectively or individually as stop area R, etc.

[0015] Each stopping area R has a corresponding temporary stopping position A (Ab1, Ab2, ...). For example, a temporary stopping position A can be set as the position that the first moving body M1 can recognize when a second moving body M2 is stopped inside the stopping area R. Temporary stopping positions A can be set inside or outside the stopping area R. Temporary stopping positions A are represented by absolute positions, which are positions on an absolute coordinate system established on Earth. The absolute positions are represented by latitude and longitude.

[0016] The second moving body M2 is primarily used for transporting goods. The second moving body M2 includes a goods storage section H located inside the main body of the moving body and a tailgate D located behind the goods storage section H. The tailgate D can be a tailgate that can rotate (open and close) about an axis extending in the width direction of the main body of the moving body, or it can be a tailgate that can rotate (open and close) about an axis extending in the vertical direction. Furthermore, in the closed state of the tailgate D, a reference point Mp is provided at the center of the rear end face of the second moving body M2. The reference point Mp is the origin of the second moving body fixed coordinate system fixed to the second moving body M2. In this embodiment, the second moving body M2 is a goods storage section.

[0017] The first mobile body M1 has the function of loading and unloading goods onto the second mobile body M2, which is stopped in the parking lot P. The first mobile body M1 is generally smaller than the second mobile body M2. The target stopping position is preferably set near the rear of the second mobile body M2, in a position suitable for loading and unloading goods in the cargo storage section H. For example, a reference point Mc can be set at the center of the front end face of the first mobile body M1.

[0018] The first mobile body M1 includes a working arm 10, an arm drive device 12, a walking device 14, and a mobile body ECU 18, which is mainly composed of a computer.

[0019] The working arm 10 performs loading and unloading operations. The working arm 10 is driven by the arm drive device 12 to load goods from outside (stored at the collection point or other mobile body) into the goods storage section H of the second mobile body M2, or to unload goods from the goods storage section H of the second mobile body M2.

[0020] The walking device 14 includes a drive / brake device, a steering device, etc., to move the first moving body M1. For example, the drive / brake device and the steering device can each include an electric motor. By controlling the electric motors respectively, a driving force or braking force, or a steering force, is applied to the first moving body M1.

[0021] The mobile unit ECU 18 includes an execution unit, a storage unit, and an input / output unit. The input / output unit is connected to an arm drive device 12, a walking device 14, and other components, as well as an inertial measurement unit 16, a surrounding environment acquisition device 20, a Global Positioning System (GPS) receiver 22 (which serves as a GNSS receiver), and a mobile unit communication device 24. The mobile unit ECU 18 includes a mobile unit information generation unit 30, a walking state control unit 32, an arm drive device control unit 34, and a target stop position determination unit 36.

[0022] The inertial measurement unit 16 detects the acceleration of the inertial forces acting on the first moving body M1 in the forward, lateral, and vertical directions, as well as the rotational angular velocity about axes extending in the forward, lateral, and vertical directions, respectively. Based on these detection values ​​from the inertial measurement unit 16, the forward and backward travel speed of the first moving body M1, or the yaw angle, can be obtained.

[0023] The surrounding environment acquisition device 20 identifies objects and other objects located around the self-moving body M1, which is itself a first moving body, and acquires the relative positional relationship between the self-moving body M1 and the objects. The surrounding environment acquisition device 20 can be configured to include at least one of a camera and a radar, for example. The surrounding environment acquisition device 20 identifies a second moving body M2 parked in a parking lot P and acquires the relative positional relationship between the first moving body M1 and the second moving body M2. The surrounding environment acquisition device 20 functions as a relative positional relationship acquisition unit for acquiring the relative positional relationship between the first moving body M1 and the second moving body M2.

[0024] GPS receiver 22 receives and processes GPS signals. In this embodiment, the current absolute position of the moving body M1 is obtained based on the GPS signals received in GPS receiver 22.

[0025] The mobile communication device 24 is a device capable of wirelessly transmitting and receiving information. The mobile communication device 24 transmits information generated in the first mobile body M1, namely mobile body information, or receives information transmitted from the first management device C1 and the second management device C2, namely first management information and second management information.

[0026] The mobile body information generation unit 30 generates mobile body information. This information includes location information indicating the current position of the mobile body M1, its temporary stopping position, the presence or absence of requests for information such as the relative positional relationship with a target, and identification information (ID) indicating the mobile body M1. The location information can be set to an absolute position obtained based on the GPS signal received by the GPS receiver 22. The mobile body information generated in the mobile body information generation unit 30 is output to the mobile body communication device 24, which then transmits it.

[0027] The walking state control unit 32 controls the walking device 14. For example, the walking state control unit 32 controls the walking device 14 to make the first moving body M1 move toward a temporary stopping position or a target stopping position and then stop.

[0028] The boom drive unit 34 controls the boom drive unit 12. By controlling the boom drive unit 12, the movement of the working boom 10 is controlled to perform loading and unloading of goods.

[0029] The target stop position determination unit 36 ​​determines the target stop position for the first moving body M1 when loading and unloading goods. The target stop position is determined to be a suitable position for loading and unloading goods for the second moving body M2.

[0030] The first management device C1 includes a first management ECU 50, a first management communication device 52, a first storage device 54, etc. The first management communication device 52 is a device capable of wirelessly communicating information. The first management communication device 52 transmits first management information generated in the first management ECU 50, or receives information (mobile information, second management information, etc.) transmitted from external sources (first mobile body M1, second mobile body M2, second management device C2).

[0031] The first storage device 54 includes a temporary stop position information storage unit 56, etc. The temporary stop position information storage unit 56 stores information such as the absolute position of a temporary stop position A that is set corresponding to each of the multiple stop areas R set in the parking lot P.

[0032] Furthermore, the temporary parking location information storage unit 56 can store the absolute location of the parking lot P, the relative positional relationship between the parking lot's fixed coordinate system and the absolute coordinate system, and the temporary parking location information corresponding to each of the multiple parking areas R set in the parking lot's fixed coordinate system. The absolute location of the temporary parking location A can be obtained based on these.

[0033] The first management ECU 50 is primarily a computer and includes an input / output unit, a storage unit, and an execution unit. A first management communication device 52 and a first storage device 54 are connected to the input / output unit. Furthermore, the first management ECU 50 includes a first management information generation unit 58.

[0034] The first management information generation unit 58 generates first management information that is sent from the first management communication device 52. The first management information may sometimes include temporary stop location information.

[0035] Similar to the first management device C1, the second management device C2 includes a second management ECU 70, a second management communication device 72, a second storage device 74, etc. The second management communication device 72 is the same as the first management communication device 52, sending second management information or receiving information sent from outside.

[0036] For example, the first management device C1 can be installed in a system that manages parking lot P, and the second management device C2 can be installed in a system that manages the second mobile body M2. Furthermore, the first management device C1 and the second management device C2 can be installed close to each other or in different locations.

[0037] The second storage device 74 of the second management device C2 includes a target relative position relationship storage unit 76. In the target relative position relationship storage unit 76, information representing the target relative position relationship between the reference point Mp of the second moving body M2 and the reference point Mc of the first moving body M1 is established in correspondence with the characteristics of the second moving body M2.

[0038] The relative positional relationship of the targets is defined by the fixed coordinate system z (zx, zy) of the second moving body M2. The relative positional relationship of the targets can be represented by the coordinates of the target's stopping position at the reference point Mc of the first moving body M1 in the fixed coordinate system z of the second moving body, with the reference point Mp as the origin. Furthermore, the relative positional relationship of the targets can be represented by the distance between the reference point Mc of the first moving body M1 and the reference point Mp of the second moving body M2 in the fixed coordinate system z, the tilt angle θ of the line connecting the reference points Mc and Mp (origin) relative to the axis zy of the fixed coordinate system of the second moving body (the axis extending in the forward and backward direction of the second moving body M2), etc.

[0039] like Figure 4As shown in (a) to (c), the second moving body M2 includes various types with different characteristics. These characteristics can be represented, for example, by the size of the tailgate D and the opening / closing (rotation) method of the tailgate D. The size and rotation method of the tailgate D of the second moving body M2 are determined by the manufacturer, type, and model of the second moving body M2. Therefore, the characteristics can be represented by the manufacturer, type, and model, and the relative positional relationship of the target can be associated with and stored in relation to the manufacturer, type, and model of the second moving body M2.

[0040] For example, when the tailgate D of the second moving body M2 is large, compared to the case where it is small, the relative positional relationship of the targets becomes that the reference point Mc of the first moving body M1 is closer to the reference point Mp of the second moving body M2. Specifically, for Figure 4 The target relative position relationship of the second moving body M2a shown in (a) is (0, b1) or (distance b1, angle 0), targeting Figure 4 The target relative position relationship of the second moving body M2b shown in (b) is (0, b2) or (distance b2, angle 0). Distance b1 is greater than distance b2.

[0041] And, for example, Figure 4 The second moving body M2c shown in (c) is a tailgate D that can open and close around an axis extending in the vertical direction. Therefore, the target stopping position can be set at a position offset from the axis zy of the fixed coordinate system of the second moving body. In this case, the relative positional relationship of the target can be set as (a1, b3) or (distance s, angle θ). In addition, the first moving body M1 can also be closer to the reference point Mp of the second moving body M2 than the target stopping position during the opening and closing of the tailgate D.

[0042] The second management ECU 70 is primarily a computer including an execution unit, a storage unit, and an input / output unit. A second management communication device 72 and a second storage device 74 are connected to the input / output unit. Furthermore, the second management ECU 70 includes a second management information generation unit 78.

[0043] The second management information generation unit 78 generates second management information that is transmitted from the second management communication device 72. The second management information may sometimes include information indicating the relative positional relationship of the targets.

[0044] In the above-described operating system, before loading and unloading goods onto the second moving body M2, the first moving body M1 moves to the target stopping position Sm and waits (stops). Based on Figure 3 The determination of the target stopping position Sm, the movement of the first moving body M1 to the target stopping position Sm, and the stopping are explained.

[0045] Figure 3 This indicates the action performed in the operating system. Figure 3The actions shown can be performed through the cooperation of the moving body ECU 18, the first management ECU 50, and the second management ECU 70. Furthermore, Figure 3 The action (execution of the movement control program) can be performed by any one of the movement ECU 18, the first management ECU 50, and the second management ECU 70.

[0046] In this embodiment, such as Figure 5 As shown in (a) and (b), the first moving body M1 moves to a temporary stopping position A stored in the first management device C1. At the temporary stopping position A, the relative positional relationship between the first moving body M1 and the second moving body M2 is obtained by the surrounding environment acquisition device 20. For example, the surrounding environment acquisition device 20 can identify the two corners t1 and t2 of the rear end face of the second moving body M2, identify its midpoint, i.e., the reference point Mp, and identify the fixed coordinate system z (zx, zy) of the second moving body. Then, based on the target relative positional relationship stored in the second management device C2, the target stopping position Sm in the fixed coordinate system of the second moving body is identified.

[0047] On the other hand, the relative positional relationship, i.e., the actual relative positional relationship, between the reference point Mp of the second moving body M2 and the reference point Mc of the first moving body M1 is acquired by the surrounding environment acquisition device 20. The actual relative positional relationship can be represented, for example, by the distance or angle between them (e.g., the angle relative to the axis zy). Thus, the temporary stopping position of the second moving body in the fixed coordinate system (the position of the reference point Mc of the first moving body M1) can be identified.

[0048] As a result, in the fixed coordinate system of the second moving body, the distance and direction (movement vector v) from the temporary stopping position to the target stopping position can be obtained. The first moving body M1 can move to the target stopping position by moving along the movement vector v.

[0049] Furthermore, the first moving body M1 can move within the range of the fixed coordinate system z of the second moving body that can be identified by the surrounding environment acquisition device 20, so that the actual relative position relationship is close to the target relative position relationship. Thus, the first moving body M1 can move to the target stopping position Sm.

[0050] In steps 1 (hereinafter referred to as S1, and the same applies to other steps) and S2, the parking location, parking position (stopping area) (e.g., Rb1), and temporary stopping position Ab1 of the second mobile body M2 are obtained. In S3 and S4, based on the characteristics of the second mobile body M2, the target relative positional relationship between the first mobile body M1 and the second mobile body M2 is obtained.

[0051] In steps S6 and S7, the first moving body M1 moves to the temporary stop position Ab1. The walking device 14 is controlled by the walking state control unit 32, causing the first moving body M1 to move towards and stop at the temporary stop position Ab1. Whether the first moving body M1 has reached the temporary stop position Ab1 is determined based on the GPS signal received in the GPS receiver 22.

[0052] Then, in S8, the surrounding environment acquisition device 20 identifies the fixed coordinate system of the second moving body and the target stopping position in the fixed coordinate system z of the second moving body. Thus, the movement vector (distance, direction) from the temporary stopping position Ab1 to the target stopping position Sm is determined.

[0053] In steps S9 and S10, the first moving body M1 moves to the target stop position Sm and stops under the control of the traveling device 14. The first moving body M1 can be moved to a suitable position for loading and unloading goods onto the second moving body M2 and then stopped.

[0054] Thus, in this embodiment, even if the characteristics (shape, size, etc.) of the second moving body M2 are different, the first moving body M1 can be moved to the most suitable position for loading and unloading goods from the second moving body M2 and placed on standby. As a result, the tailgate D can be opened and the loading and unloading operation can be carried out immediately, thus enabling efficient loading and unloading operations.

[0055] Furthermore, it is also possible to configure the storage of the target stopping position of the first moving body M1 separately for the characteristics of the second moving body M2 and the stopping area of ​​the second moving body M2. However, in this case, the amount of information is too large, requiring the use of a storage device with a large storage capacity, which increases the cost. In contrast, in this embodiment, the temporary stopping position information and the target relative position information can be stored separately, thus eliminating the need for a storage device with a large storage capacity and suppressing the increase in cost.

[0056] Moreover, even if a second mobile body M2 with different characteristics is added or its characteristics are changed, the target relative position information can be added or changed only by establishing a corresponding association with the characteristics of the second mobile body M2, thus increasing the degree of freedom in information management.

[0057] As described above, in the above embodiment, the movement control device comprises a surrounding environment acquisition device 20, a moving body ECU 18 (including a walking state control unit 32, a target stopping position determination unit 36, etc.), a moving body communication device 24, a first storage device 54, a second storage device 74, a first management ECU 50, a second management ECU 70, a first management communication device 52, and a second management communication device 72. The surrounding environment acquisition device 20 constitutes a relative position relationship acquisition unit.

[0058] Furthermore, the first moving body M1 can move within a range that allows the fixed coordinate system z of the second moving body to be identified, thereby bringing the actual relative positional relationship close to the target relative positional relationship. Thus, the first moving body M1 can move to the target stopping position.

[0059] Furthermore, the walking device 14 can be controlled by obtaining the target stopping position through absolute position and by reaching the target stopping position based on the absolute position of the actual first moving body M1 obtained based on GPS signals. For example, an indicator with a known absolute position can be set near the temporary stopping position A to obtain the relative positional relationship between the first moving body M1 and the indicator. As a result, the relative positional relationship between the second moving body M2 and the indicator can be obtained, the relative positional relationship between the fixed coordinate system and the absolute coordinate system of the second moving body can be obtained, and the absolute position of the target stopping position in the absolute coordinate system can be obtained.

[0060] Furthermore, the second moving body M2 can be replaced by a box or similar container for holding goods. The first moving body M1 can be moved to the optimal position and stopped based on the size of the box's opening and closing parts, the method of opening and closing (rotating), etc.

[0061] Furthermore, the temporary parking location information storage unit and the vehicle model information storage unit can be installed in the same management device. Even when installed in the same management device, information is easy to manage, and the required storage capacity can be reduced compared to storing the target parking location separately.

[0062] Furthermore, the present invention can be implemented through various modifications and improvements based on the knowledge of those skilled in the art.

[0063] Symbol Explanation

[0064] 18-Mobile ECU, 20-Surrounding environment acquisition device, 22-GPS receiver, 24-Mobile communication device, 32-Walking status control unit, 36-Target stopping position determination unit, 50-First management ECU, 52-First management communication device, 56-Temporary stopping position information storage unit, 70-Second management ECU, 72-Second management communication device, 76-Target relative position relationship storage unit.

[0065] [Inventions eligible for protection]

[0066] (1) A motion control device for controlling the movement of a moving body, wherein,

[0067] The mobile body has the function of loading and unloading goods into a cargo storage container.

[0068] The movement control device controls the movement of the moving body to move the moving body to a target stopping position determined based on a target relative positional relationship, wherein the target relative positional relationship is the relative positional relationship between the cargo storage body and the moving body, as determined by the cargo storage body.

[0069] The cargo storage container can be a different type of mobile object, or it can be a storage box or other container that can hold cargo.

[0070] A movement control device for controlling the movement of a moving body can be configured to control the movement of the moving body by controlling a travel device, including a drive device, a braking device, a steering device, etc., of the moving body. The travel device of the moving body is directly controlled by a travel state control unit provided on the moving body; therefore, the travel state control unit is a component of the movement control device. Furthermore, a target stop position determination unit that determines the target stop position of the moving body is also a component of the movement control device. Moreover, an instruction unit that instructs the travel state control unit of the target stop position and the control method of the travel device is also a component of the movement control device.

[0071] (2) The mobile control device according to (1), wherein,

[0072] The cargo storage body is a second mobile body, which is different from the first mobile body that serves as the mobile body.

[0073] The first moving body includes a relative position relationship acquisition unit, which acquires the relative position relationship between the first moving body and the second moving body.

[0074] The movement control device controls the movement of the first moving body so that the relative position relationship between the first moving body and the second moving body, as obtained by the relative position relationship acquisition unit, approaches the target relative position relationship.

[0075] By controlling the movement of the moving bodies, the relative positional relationship between the first moving body and the second moving body is brought close to the target relative positional relationship, and the moving bodies approach the target stopping position.

[0076] (3) The mobile control device according to (2), wherein,

[0077] The relative positional relationship of the targets is a relationship defined in the coordinate system fixed to the second moving body, i.e., the fixed coordinate system of the second moving body.

[0078] (4) The mobile control device according to (2) or (3), wherein,

[0079] The motion control device includes:

[0080] A target relative position relationship storage unit, which establishes and stores a corresponding association between the target relative position relationship and the characteristics of the second moving body; and

[0081] The temporary stop position information storage unit is separately configured from the target relative position relationship storage unit, and stores information related to the absolute position. The absolute position is the position on the absolute coordinate system of the temporary stop position corresponding to each of the multiple stop areas set in the work area where the first moving body and the second moving body are performing operations.

[0082] The motion control device includes a target stopping position determination unit. When the first moving body is stopped at the temporary stopping position stored in the temporary stopping position information storage unit, the target stopping position determination unit identifies the coordinate system fixed to the second moving body, i.e., the second moving body fixed coordinate system, based on the relative position relationship between the first moving body and the second moving body obtained by the relative position relationship acquisition unit, and determines the target stopping position on the second moving body fixed coordinate system based on the second moving body fixed coordinate system and the target relative position relationship stored in the target relative position relationship storage unit.

[0083] It can obtain the direction from the temporary stopping position to the target stopping position (e.g., the tilt angle relative to the axis of the fixed coordinate system of the second moving body), the distance between the temporary stopping position and the target stopping position, and can move the first moving body from the temporary stopping position to the target stopping position and bring it to a stop.

Claims

1. A motion control device for controlling the movement of a moving body, characterized in that, The mobile body has the function of loading and unloading goods into a cargo storage container. The movement control device controls the movement of the moving body to move the moving body to a target stopping position determined based on a target relative positional relationship, wherein the target relative positional relationship is the relative positional relationship between the cargo storage body and the moving body, as determined by the cargo storage body.

2. The mobile control device according to claim 1, characterized in that, The cargo storage body is a second mobile body, which is different from the first mobile body that serves as the mobile body. The first moving body includes a relative position relationship acquisition unit, which acquires the relative position relationship between the first moving body and the second moving body. The movement control device controls the movement of the first moving body so that the relative position relationship between the first moving body and the second moving body, as obtained by the relative position relationship acquisition unit, approaches the target relative position relationship.

3. The mobile control device according to claim 2, characterized in that, The relative positional relationship of the targets is a relationship defined in the coordinate system fixed to the second moving body, i.e., the fixed coordinate system of the second moving body.

4. The mobile control device according to claim 2 or 3, characterized in that, The motion control device includes: A target relative position relationship storage unit, which establishes and stores a corresponding association between the target relative position relationship and the characteristics of the second moving body; and The temporary stop position information storage unit is separately configured from the target relative position relationship storage unit, and stores information related to the absolute position. The absolute position is the position on the absolute coordinate system of the temporary stop position corresponding to each of the multiple stop areas set in the work area where the first moving body and the second moving body are performing operations. The motion control device includes a target stopping position determination unit. When the first moving body is stopped at the temporary stopping position stored in the temporary stopping position information storage unit, the target stopping position determination unit identifies the coordinate system fixed to the second moving body, i.e., the second moving body fixed coordinate system, based on the relative position relationship between the first moving body and the second moving body obtained by the relative position relationship acquisition unit, and determines the target stopping position on the second moving body fixed coordinate system based on the second moving body fixed coordinate system and the target relative position relationship stored in the target relative position relationship storage unit.

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