Control device, moving body, control method, and program

Abstract

To provide a control device capable of reorganizing a rank composed of multiple moving bodies.SOLUTION: A control device 25a includes a control section 25a1 for controlling traveling of a first moving body 100a in a traveling mode including a following mode and a rotation mode according to rank information showing whether the first moving body 100a is a master unit or a slave unit. The following mode is a traveling mode in which multiple moving bodies form a rank and travel, the rotation mode is a traveling mode for permitting any of traveling in multiple modes for the master unit and permitting only rotation from among traveling in multiple modes for the slave unit, and the control section 25a1 performs rank reorganization for controlling all the slave units for composing a rank such that all the slave units for composing the rank form a rank with the first moving body 100a moving to another place as a new forefront after the first moving body 100a moves from the forefront of the rank to another place when rank information shows that the first moving body 100a is the master unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control device for controlling the travel of a moving body, a moving body, a control method, and a program. [Background technology]

[0002] In recent years, moving objects such as robotic mobility, which is personal mobility using robot technology, have been developed, and technologies for supporting users riding on the moving objects from various perspectives have been proposed (for example, see Patent Document 1).

[0003] Patent Document 1 proposes a plurality of moving bodies capable of traveling in a platoon on the same track even when an obstacle is present on the traveling route of the moving bodies. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 031168 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology of Patent Document 1 has a problem in that it is not possible to reorganize a formation made up of multiple moving objects.

[0006] Therefore, an object of the present disclosure is to provide a control device, a moving body, a control method, and a program that are capable of reorganizing a formation made up of multiple moving bodies. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, a control device according to one embodiment of the present disclosure is a control device that controls the traveling of a first moving body, and includes a memory unit that stores platoon information indicating whether the first moving body is a parent unit, which is the leading moving body among multiple moving bodies that travel in a platoon, or a child unit, which is a following moving body excluding the leading one among multiple moving bodies that travel in a platoon, and a control unit that controls the traveling of the first moving body in a traveling mode including a following mode and a rotation mode in accordance with the platoon information stored in the memory unit, wherein the following mode is a traveling mode in which multiple moving bodies travel in a platoon, and the rotation mode is a traveling mode that allows any of multiple traveling modes for the parent unit, and only rotation of the multiple traveling modes for the child unit, and when the platoon information indicates that the first moving body is a parent unit, the control unit performs platoon reorganization by controlling all of the child units that constitute the platoon so that after the first moving body moves from the front of the platoon to another location, all of the child units that constitute the platoon form a platoon with the first moving body that has moved to the other location as the new front.

[0008] In order to achieve the above object, a moving body according to one embodiment of the present disclosure includes the above control device.

[0009] In order to achieve the above object, a control method according to one embodiment of the present disclosure is a control method for controlling traveling of a first moving body, the control method including: a reading step of reading, from a storage unit that stores platoon information indicating whether the first moving body is a parent unit, which is a leading moving body among a plurality of moving bodies that travel in a platoon, or a child unit, which is a following moving body excluding the leading moving body among a plurality of moving bodies that travel in a platoon; and a control step of controlling the traveling of the first moving body in a traveling mode including a following mode and a rotating mode according to the read platoon information, This is a driving mode in which moving bodies travel in a formation, and the rotation mode is a driving mode that allows any of a plurality of driving modes for the parent unit and only allows rotation among the plurality of driving modes for the child units, and in the control step, when the formation information indicates that the first moving body is a parent unit, a formation reorganization is performed in which all of the child units constituting the formation are controlled so that after the first moving body moves from the front of the formation to another location, all of the child units constituting the formation form a formation with the first moving body that has moved to the other location as the new front.

[0010] In order to achieve the above object, a program according to one embodiment of the present disclosure causes a computer to execute the steps included in the above control method. Effect of the Invention

[0011] The present disclosure provides a control device, a moving body, a control method, and a program that enable multiple moving bodies to reorganize a formation while traveling. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing the configuration of an input / output device and a moving object. [Diagram 2] FIG. 2 is a flowchart showing a control procedure of a moving object by the control device according to the embodiment. [Diagram 3] FIG. 3 is a state transition diagram showing states of driving modes of the input / output device according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram showing the movement of a user on a moving object moving to an object and appreciating the object. [Diagram 5] FIG. 5 is a schematic diagram showing the movement of a user on a moving object after finishing appreciating the object and moving on after the state shown in FIG. 4(c). [Figure 6] FIG. 6 is a flowchart showing an example of an operation in which the traveling mode of the moving object transitions from the rotation mode to the following mode. [Figure 7A] FIG. 7A is a schematic diagram showing an example of detailed operations of S51 in FIG. [Figure 7B] FIG. 7B is a schematic diagram showing an example of detailed operations from S52 to S54 in FIG. [Figure 8] FIG. 8 is a flowchart showing another operation example in which the traveling mode of the moving object transitions from the rotation mode to the following mode. [Figure 9A] FIG. 9A is a schematic diagram showing an example of detailed operations from S61 to S64 in FIG. [Figure 9B] FIG. 9B is a schematic diagram showing an example of the movement of users on board moving objects after the slave units rearrange the formation after the state shown in FIG. 9A(c). [Figure 10] FIG. 10 is a flowchart showing yet another operation example in which the traveling mode of the moving object transitions from the rotation mode to the following mode. [Figure 11] FIG. 11 is a schematic diagram showing an example of detailed operations from S71 to S73 in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] (Insights gained by the inventors) When multiple users board multiple moving objects to view or observe the same object at a museum, etc., it is not always efficient for them to move in a fixed formation. For example, when the users move the moving objects in a direction different from the moving direction after finishing viewing or observing the object, the multiple moving objects moving in formation need to change the direction of travel over a longer travel route than a single moving object.

[0014] For this reason, the inventors have intensively studied whether there is a method for more efficiently changing the direction of travel of multiple moving objects forming a formation, and have come up with the idea that, when users move the moving objects in a direction different from the moving direction of the moving objects, a more efficient change in the direction of travel of the moving objects can be realized by providing a control device that controls the moving objects other than the parent unit to form a formation with the parent unit that has moved to another location as the new leader after the parent unit that is at the head of the formation moves from the head of the formation to another location.

[0015] More specifically, the control device of the first embodiment is a control device that controls the traveling of a first moving body, and includes a memory unit that stores formation information indicating whether the first moving body is a parent unit, which is the leading moving body among multiple moving bodies that travel in a formation, or a child unit, which is a following moving body excluding the leading one among multiple moving bodies that travel in a formation, and a control unit that controls the traveling of the first moving body in a traveling mode including a following mode and a rotation mode in accordance with the formation information stored in the memory unit, wherein the following mode is a traveling mode in which multiple moving bodies travel in a formation, and the rotation mode is a traveling mode that allows any of multiple traveling modes for the parent unit, and only rotation of the multiple traveling modes for the child unit, and when the formation information indicates that the first moving body is a parent unit, the control unit performs a formation reorganization to control all of the child units that constitute the formation so that after the first moving body moves from the front of the formation to another location, all of the child units that constitute the formation form a formation with the first moving body that has moved to the other location as the new front.

[0016] As a result, when the parent unit moves to another location, a new platoon is formed with the parent unit that has moved to the other location at the head, thereby realizing a more efficient change in the traveling direction of the moving bodies.

[0017] In addition, a control device according to a second aspect is the control device according to the first aspect, in which the control unit performs the formation rearrangement in the rotation mode. This allows the formation rearrangement to be performed when the traveling mode of the moving bodies is the rotation mode, thereby realizing smooth formation rearrangement.

[0018] In addition, a control device according to a third aspect is the control device according to the first or second aspect, in which the different location is the rear end of the formation. As a result, the moving body that is the parent device moves to the rear end of the formation, and the formation is reorganized.

[0019] A control device according to a fourth aspect is the control device according to any one of the first to third aspects, in which the control unit performs orientation change control to control all the child units constituting the formation so that all the child units constituting the formation face the direction of the first moving body that has moved to another location, during the formation rearrangement. This allows the control unit to perform orientation change control to control all the child units constituting the formation so that all the child units constituting the formation face the direction of the parent unit that has moved to another location, during the formation rearrangement. This allows for a more efficient change in the traveling direction of the moving bodies to be realized without the user having to instruct the child units.

[0020] Furthermore, the control device according to a fifth aspect is the control device according to the fourth aspect, in which, in the orientation change control, all of the child devices constituting the formation rotate by a predetermined angle to face the direction of the first moving body that has moved to another location. As a result, in the orientation change control, all of the child devices constituting the formation rotate by a predetermined angle to face the direction of the parent device that has moved to another location. Therefore, a more efficient change in the traveling direction of the moving body is realized without the user having to instruct the child devices.

[0021] A control device according to a sixth aspect is the control device according to the fourth or fifth aspect, in which, in the orientation change control, all of the child devices constituting the formation rotate by an angle notified by the first moving body, so that they face the direction of the first moving body that has moved to another location. As a result, in the orientation change control, all of the child devices constituting the formation rotate by an angle notified by the parent device, so that they face the direction of the parent device that has moved to another location. Therefore, a more efficient change in the traveling direction of the moving bodies is realized without the user having to instruct the child devices.

[0022] A control device according to a seventh aspect is the control device according to any one of the fourth to sixth aspects, in which the control unit performs the direction change control in conjunction with the movement of the first moving object from the head of the formation to another location during the formation rearrangement. This allows the control unit to perform direction change control for controlling all child devices in conjunction with the movement of the parent device from the head of the formation to another location during the formation rearrangement. This allows for more efficient change of the traveling direction of the moving objects to be achieved without the user having to give instructions to the child devices.

[0023] Further, the control device according to an eighth aspect is the control device according to any one of the fourth to seventh aspects, in which, in the orientation change control, all of the child machines constituting the formation face the direction of the first moving body that has moved to another location by detecting the position of the first moving body that has moved to the other location. This realizes that the child machines rotate to face the direction of the parent machine by detecting the position of the parent machine that has moved to another location, even if a user riding on the child machine does not give an instruction.

[0024] A moving body according to a 9th aspect includes the control device according to any one of the 1st to 8th aspects. With this, when the parent unit moves to another location, a new convoy is formed with the parent unit that has moved to another location at the head. This makes it possible to more efficiently change the moving direction of the moving body.

[0025] Further, a control method according to a tenth aspect is a control method for controlling the traveling of a first moving body, and includes a reading step of reading formation information from a memory unit that stores formation information indicating whether the first moving body is a parent unit, which is the leading moving body among multiple moving bodies traveling in a formation, or a child unit, which is a following moving body excluding the leading one among multiple moving bodies traveling in a formation, and a control step of controlling the traveling of the first moving body in a traveling mode including a following mode and a rotating mode in accordance with the read formation information, wherein the following mode is a traveling mode in which multiple moving bodies travel in a formation, and the rotating mode is a traveling mode that allows any of multiple traveling modes for the parent unit and only rotation of the multiple traveling modes for the child unit, and in the control step, when the formation information indicates that the first moving body is a parent unit, a formation reorganization is performed in which all of the child units constituting the formation are controlled to form a formation with the first moving body that has moved to the other location as the new leading one. As a result, when the parent unit moves to another location, a new platoon is formed with the parent unit that has moved to the other location at the head, thereby realizing a more efficient change in the traveling direction of the moving bodies.

[0026] A program according to an eleventh aspect causes a computer to execute the steps included in the control method according to the tenth aspect. As a result, when the parent unit moves to another location, a new convoy is formed with the parent unit that has moved to another location at the head. This makes it possible to more efficiently change the direction of travel of the moving bodies.

[0027] (Embodiment) Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the drawings. Each of the embodiments described below shows a specific example of the present disclosure. The numerical values, components, the arrangement and connection of the components, steps, the order of steps, display examples, and the like shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, each figure is not necessarily a strict illustration. In each figure, substantially the same configuration is given the same reference numeral, and duplicated explanations are omitted or simplified.

[0028] FIG. 1 is a block diagram showing the configuration of an input / output device 10a and a moving body 100a. An external view of the moving body 100a is also shown. In this figure, the input / output device 10a and the moving body 100a are representatively shown among the multiple input / output devices 10a to 10c and the multiple moving bodies 100a to 100c. Since the configurations and functions of the input / output devices 10a to 10c, or the configurations and functions of the moving bodies 100a to 100c are similar, the following description will be centered on the input / output device 10a and the moving body 100a as representatives. The input / output device 10a and the moving body 100a, the input / output device 10b and the moving body 100b, and the input / output device 10c and the moving body 100c are linked.

[0029] The input / output device 10a is an input / output device that transmits input information from a passenger of the moving body 100a or a user who remotely controls the moving body 100a to the main body unit 25 of the moving body 100a, and displays and conveys a response result from the main body unit 25 of the moving body 100a to the passenger of the moving body 100a or the user who remotely controls the moving body 100a. For example, the input / output device 10a is an information terminal such as a computer, a tablet terminal, or a smartphone. The input / output device 10a may be fixedly mounted on the moving body 100a, or may be held by a user who boards the moving body. The communication between the input / output device 10a and the moving body 100a may be wired communication or wireless communication. The input / output device 10a includes a communication unit 11, an input unit 12, a control unit 13, and a display unit 14.

[0030] The communication unit 11 is a wireless communication interface or the like that communicates with the control unit 13 and the main body unit 25 of the mobile object 100a. Specifically, the communication unit 11 transmits information input to the input unit 12 to the main body unit 25 of the mobile object 100a. The communication unit 11 also receives information related to a response result of the main body unit 25 of the mobile object 100a.

[0031] The input unit 12 is a touch panel, a keyboard, or the like, which allows a passenger of the moving body 100a or a user remotely operating the moving body 100a to input information to the input / output device 10a.

[0032] The control unit 13 is a processor that executes a program for controlling the communication unit 11, the input unit 12, and the display unit 14, and for inputting and outputting data. For example, the control unit 13 controls the communication unit 11 to transmit information input to the input unit 12 to the main body unit of the moving object 100a, and controls the display unit 14 to display the information input to the input unit 12 and the response result of the main body unit 25 of the moving object 100a. The control unit 13 may have a memory that temporarily holds formation information of the moving object 100a, etc.

[0033] The display unit 14 is a display or the like that displays information based on the information input to the input unit 12 and the response result of the main body unit 25 of the moving object 100a.

[0034] The moving body 100a is a vehicle that moves with a user on board, and in this embodiment, is a robotic mobility that has both a function of manual driving by the user and an autonomous driving function. Note that the moving body 100a does not necessarily have to have an autonomous driving function. The moving body 100a has a sensor unit 21, an operation unit 22, a moving mechanism unit 23, a secondary wheel 23a, a position sensor unit 24, and a main body unit 25.

[0035] The sensor unit 21 is a sensor that detects obstacles and detects other moving bodies for tracking, and is, for example, a LiDAR (Light Detection and Ranging), a laser range finder, a camera, etc. The sensor unit 21 is attached to the moving body 100a at any position as long as it can detect obstacles and other moving bodies, but in this embodiment, the sensor unit 21 is attached to the front of the moving body 100a in the traveling direction.

[0036] The operation unit 22 is an operation lever, a joystick, etc. for steering and braking the moving body 100a. Steering includes, for example, instructions for moving forward, backward, and rotating.

[0037] The moving mechanism unit 23 is a mechanism for moving the moving body 100a, and is composed of a battery, an inverter circuit, a motor, a pair of wheels attached to the lower rear of the moving body 100a, a steering mechanism, a brake mechanism, etc. The pair of wheels rotate in the direction of the arrow a shown on the wheels, thereby moving the moving body 100a in the direction of the arrow b (traveling direction). The pair of wheels are driven such that one wheel rotates in the direction of the arrow a, while the other wheel does not rotate. The wheels are driven differently, so that the moving body 100a performs a pivot turn.

[0038] The secondary wheel 23a is a wheel attached to the lower front part of the moving body 100a. The secondary wheel 23a is attached to the lower front part of the moving body 100a so as to be rotatable about an axis perpendicular to the traveling surface.

[0039] The position sensor unit 24 is a magnetic sensor or an IMU (Inertial Measurement Unit) that recognizes the direction of the nose of the moving body 100a. For example, when the position sensor unit 24 is a magnetic sensor, the position sensor unit 24 recognizes the direction of the nose of the moving body 100a by the absolute angle. When the position sensor unit 24 is an IMU, when the user turns on the power of the moving body 100a, the position sensor unit 24 recognizes the direction of the nose of the moving body 100a as 0 degrees. That is, the position sensor unit 24 recognizes the direction of the nose of the moving body 100a by the relative angle. The angle information related to the direction of the nose of the moving body 100a obtained by the position sensor unit 24 is transmitted to the main body unit 25. In addition, the position sensor unit 24 may recognize the direction of the nose of the moving body 100a with higher accuracy by linking the IMU with an encoder attached to a motor of the moving mechanism unit 23.

[0040] The main body 25 is the main body of the moving body 100a, and includes the secondary wheels 23a, a control device 25a that controls the moving mechanism 23, various structures (a body and a following reflector 25b), a communication unit 25c, a map unit 25d, and a destination setting unit 25e.

[0041] The control device 25a includes a control unit 25a1 and a storage unit 25a2. The control device 25a includes a memory for storing information and a processor for executing a program.

[0042] The control unit 25a1 is a processor that executes a program for controlling the moving body 100a to transition from a traveling mode to a following mode, a rotation mode, or the like, and for controlling the moving body 100a to stop when an obstacle is present around the moving body 100a. The control unit 25a1 stops the moving body 100a by using an obstacle stopping algorithm, for example, the A* (A-star) algorithm. Specifically, the control unit 25a1 controls the movement mechanism unit 23 according to instructions from the input / output device 10a, the sensor unit 21, the operation unit 22, the position sensor unit 24, the map unit 25d, and the destination setting unit 25e, thereby causing the moving body 100a to travel manually or automatically. The travel mode will be described in detail later.

[0043] The storage unit 25a2 is a memory or the like that stores formation information of the moving bodies 100a and angle information related to the direction of the nose of the moving bodies 100a acquired by the position sensor unit 24. The control unit 25a1 reads information from the storage unit 25a2 and performs travel control of the moving bodies 100a.

[0044] The tracking reflector 25b is a reflector attached to the rear of the moving body 100a. The sensor unit 21 recognizes the laser reflected by the tracking reflector 25b attached to the rear of the moving body located in front. This allows the moving body located in front to be recognized, and the moving body follows it. Therefore, in the following mode, the slave unit can follow the moving body in front without requiring any operation from the user.

[0045] Here, the traveling modes of the moving body 100a will be described. The traveling modes include a following mode and a rotation mode. The functions of the following mode and the rotation mode will be described. First, the following mode is a traveling mode in which a plurality of moving bodies form a platoon and travel. Specifically, the parent machine, which is the moving body at the head of the platoon, travels according to instructions from the operation unit 22, and the child machines, which are the following moving bodies excluding the moving body at the head of the platoon, travel by following the moving body in front.

[0046] On the other hand, the rotation mode is a driving mode that allows any of a plurality of driving modes (forward, backward, and rotation) for the parent unit, and allows only rotation among the plurality of driving modes (forward, backward, and rotation) for the child unit. Specifically, in the rotation mode, the parent unit accepts operations for forward, backward, and rotation from the operation unit 22, but the child unit accepts only rotation operation from the operation unit 22. A detailed explanation of switching between the follow mode and the rotation mode will be given later.

[0047] The communication unit 25c is a wireless communication interface or the like that communicates with the communication unit 11 of the input / output device 10a, the communication unit 25c of the mobile body 100b, and the communication unit 25c of the mobile body 100c. The communication unit 25c of the mobile body 100a communicates with the communication unit 25c of the mobile body 100b and the communication unit 25c of the mobile body 100c to share formation information, angle information, and the like. The communication unit 25c may include multiple communication modules or may be configured to be capable of transmitting and receiving multiple communication standards. In particular, the communication unit 25c may be divided into a communication module that communicates with other mobile bodies (preferably one that can be switched to a wireless connection hub mode when the communication unit 25c is a parent unit and to a device connection mode when the communication unit 25c is a child unit) and a communication module that communicates with the communication unit 11.

[0048] The map unit 25d is a storage unit that stores map information of the space in which the moving body 100a moves. The map information may be two-dimensional space information or three-dimensional space information. The map unit 25d sets several destinations and driving route information connecting the destinations in the map information. That is, the map unit 25d stores the driving route information of the moving body 100a. Each destination set in the map information is assigned an individual destination number. Furthermore, the map unit 25d stores the map information by setting a certain range of space as an area.

[0049] The destination setting unit 25e is a processing unit that registers a specific position in the map information stored in the map unit 25d as a moving destination of the moving body 100a. The destination is set by setting a destination number provided corresponding to each destination.

[0050] Next, characteristic operations of the input / output device 10a and the moving object 100a according to this embodiment configured as above will be described.

[0051] Fig. 2 is a flowchart showing a control procedure of the moving body 100a by the input / output device 10a according to the embodiment. Fig. 2(a) is a flowchart showing an outline of the control procedure of the moving body 100a by the input / output device 10a according to the embodiment. Fig. 2(b) is a flowchart showing the detailed control procedure of step S2.

[0052] 2(a), first, the control unit 25a1 reads out from the storage unit 25a2 formation information indicating whether the moving body 100a is a parent unit, which is the leading moving body among a plurality of moving bodies that run in a formation, or a child unit, which is the following moving body excluding the leading moving body among a plurality of moving bodies that run in a formation (step S1). Note that, if the moving body 100a is not in a formation, a passenger of the moving body 100a or a user who remotely controls the moving body 100a needs to set the formation information indicating whether the moving body 100a is a parent unit or a child unit via the input / output device 10a.

[0053] Next, the control unit 25a1 controls the traveling of the moving body 100a according to the formation information read from the storage unit 25a2 (step S2). The details of this traveling control will be described with reference to FIG.

[0054] As shown in FIG. 2(b), the control unit 25a1 determines whether the current traveling mode of the moving body 100a is the following mode or the rotation mode (step S21).

[0055] If the current travel mode of the moving body 100a is the following mode (No in S21), the control unit 25a1 allows the movement mechanism unit 23 to move forward, backward, and rotate when the read-out platoon information indicates that the moving body 100a is a parent unit (step S22). This allows the moving body 100a to accept operations of moving forward, backward, and rotating from the operation unit 22. Note that when the read-out platoon information indicates that the moving body 100a is a child unit, operations of moving forward, backward, and rotating from the operation unit 22 are not accepted, and only automatic following by the moving body 100a is performed.

[0056] Furthermore, the control unit 25a1 determines whether or not an obstacle exists around the moving object 100a (step S23).

[0057] If there is no obstacle around the moving body 100a (No in step S23), the control unit 25a1 allows the moving body 100a to move forward, backward, and rotate when the read-out formation information indicates that the moving body 100a is a parent unit (step S24). Note that the control unit 25a1 only allows the moving body 100a to automatically follow when the read-out formation information indicates that the moving body 100a is a child unit.

[0058] If an obstacle is present around the moving body 100a (Yes in step S23), the control unit 25a1 prohibits at least one of forward movement, backward movement, and rotation of the moving body 100a when the read-out formation information indicates that the moving body 100a is a parent unit (step S25). It is preferable that the control unit 25a1 determines to prohibit either forward movement, backward movement, or rotation, or a combination of these, depending on the direction in which the obstacle exists. Note that, when the read-out formation information indicates that the moving body 100a is a child unit, the control unit 25a1 prohibits the moving body 100a from automatically following the obstacle, and the moving body 100a stops.

[0059] On the other hand, if the current travel mode of the moving body 100a is the rotation mode (Yes in S21), the control unit 25a1 allows the movement mechanism unit 23 to only rotate when the read-out platoon information indicates that the moving body 100a is a child unit (step S26). As a result, the moving body 100a accepts only rotation operations from the operation unit 22. Note that, when the read-out platoon information indicates that the moving body 100a is a parent unit, the moving body 100a accepts forward, backward and rotation operations from the operation unit 22.

[0060] Then, the control unit 25a1 determines whether or not an obstacle exists around the moving object 100a (step S27).

[0061] If there is no obstacle around the moving object 100a (No in S27), the control unit 25a1 allows the moving object 100a to rotate when the read-out formation information indicates that the moving object 100a is a child unit (step S28). Note that if the read-out formation information indicates that the moving object 100a is a parent unit, the control unit 25a1 allows the moving object 100a to move forward, backward, and rotate.

[0062] On the other hand, if an obstacle exists around the moving body 100a (Yes in S27), and the read-out formation information indicates that the moving body 100a is a child unit, the control unit 25a1 prohibits the moving body 100a from rotating (step S29). Note that, when the read-out formation information indicates that the moving body 100a is a parent unit, it is preferable that the control unit 25a1 not only prohibits the moving body 100a from rotating, but also prohibits at least one of the forward movement, backward movement, and rotation of the moving body 100a depending on the direction in which the obstacle exists, depending on the direction in which the obstacle exists.

[0063] According to this technique, the moving object can rotate according to an instruction from the operating device, and thus a user riding on the moving object can control the desired rotation by operating the operating device.

[0064] This method allows the child device to automatically avoid collisions with obstacles, allowing users to board the vehicle with peace of mind.

[0065] In addition, in order to prevent collisions between moving bodies caused by rotation of the moving body 100a, when the traveling mode of the moving body 100a is the following mode, the moving body 100a may be configured to stop with a space between it and the moving body in front. Furthermore, when the moving body 100a approaches the periphery of a destination (e.g., an object) stored in the map section 25d, or when the moving body 100a enters a space within a certain range stored in the map section 25d, the moving body 100a may be configured to stop with a space between it and the moving body in front. This makes it possible to avoid collisions with other moving bodies even if the moving body 100a rotates.

[0066] FIG. 3 is a state transition diagram showing states of driving modes displayed by the input / output device 10a according to the embodiment.

[0067] 3, when a passenger of the moving body 100a or a user who remotely controls the moving body 100a gives an instruction to the input / output device 10a, the traveling mode of the moving body 100a is set to the following mode S3 by the control unit 25a1. Specifically, the passenger of the moving body 100a or the user who remotely controls the moving body 100a selects the following mode from a mode selection screen displayed on the display unit 14 (i.e., selects from the input unit 12). Then, the control unit 13 transmits an instruction to the main body unit 25 indicating that the following mode has been selected, and the control unit 25a1 transitions the traveling mode of the moving body 100a from another traveling mode to the following traveling mode.

[0068] When the traveling mode of the moving body 100a is the following mode S3 and the platoon information read by the control unit 25a1 indicates that the moving body 100a is a parent unit, if a passenger of the moving body 100a or a user who remotely controls the moving body 100a presses the rotation function OFF (i.e., the input unit 12) displayed on the display unit 14 of the input / output device 10a, the display unit 14 displays the rotation function ON, and the traveling mode of the moving body 100a is transitioned to the rotation mode S4 by the control unit 25a1. Also, when the traveling mode of the moving body 100a is the following mode S3 and the platoon information of the moving body 100a read by the control unit 25a1 indicates that the moving body 100a is a child unit, the passenger of the moving body 100a can press a rotation mode request button displayed on the display unit 14 of the input / output device 10a. When the passenger of the moving body 100a presses the rotation mode request button, a rotation mode request is displayed on the display unit 14 of the control device that cooperates with the parent unit. This allows the passenger of the parent unit or a user operating it remotely to know if the passenger of the child unit wishes to view the exhibits, and can transition the driving mode of the parent unit and child unit from a following mode to a rotation mode.

[0069] Furthermore, when the traveling mode of the moving body 100a is the rotation mode S4 and the platoon information read by the control unit 25a1 indicates that the moving body 100a is a parent unit, if the passenger of the moving body 100a or the user who remotely controls the moving body 100a presses the rotation function ON (i.e., the input unit 12) displayed on the display unit 14 of the input / output device 10a, the display unit 14 displays the rotation function OFF, and the traveling mode of the moving body 100a is transitioned to the following mode S3 by the control unit 25a1. Also, when the traveling mode of the moving body 100a is the following mode S3 and the platoon information of the moving body 100a read by the control unit 25a1 indicates that the moving body 100a is a child unit, the passenger of the moving body 100a can press the following mode request button displayed on the display unit 14 of the input / output device 10a. When the passenger of the moving body 100a presses the following mode request button, a following mode request is displayed on the display unit 14 of the control device that cooperates with the parent unit. This allows the passenger of the parent unit or a user operating it remotely to know if the passenger of the child unit wishes to view the next exhibit, and can transition the driving mode of the parent unit and child unit from rotation mode to following mode.

[0070] Even if the traveling mode of the moving body 100a is the following mode S3 or the rotation mode S4, the moving body 100a can exit from the following mode S3 or the rotation mode S4 by instructing the input / output device 10a. Specifically, when the platoon information of the moving body 100a read by the control unit 25a1 indicates that the moving body 100a is a parent unit, a passenger of the moving body 100a or a user who remotely controls the moving body 100a can exit the traveling mode of the moving body 100a from the following mode S3 or the rotation mode S4 by sending an instruction from a mode selection screen displayed on the display unit 14 of the input / output device 10a (i.e., by instructing from the input unit 12). Furthermore, when the platoon information of the moving body 100a read by the control unit 25a1 indicates that the moving body 100a is a child unit, the passenger of the moving body 100a can send an instruction from the mode selection screen displayed on the display unit 14 of the input / output device 10a (i.e., give an instruction from the input unit 12) to cause the moving body 100a to exit from the following mode S3 or the rotation mode S4, and the traveling modes of the other moving bodies can maintain the following mode S3 or the rotation mode S4. Furthermore, when the moving body 100a is not forming a platoon, the passenger of the moving body 100a can send an instruction from the mode selection screen displayed on the display unit 14 of the input / output device 10a (i.e., give an instruction from the input unit 12) to become a child unit of the platoon, and the traveling mode of the moving body 100a transitions to the following mode.

[0071] In order to transition the traveling mode of the moving body 100a to the rotation mode, the traveling mode of the moving body 100a must be the following mode, and transition to the rotation mode from any other traveling mode is not possible.

[0072] This allows the user to switch the traveling mode of the moving body 100a between the following mode and the rotation mode simply by switching the rotation mode on and off.

[0073] FIG. 4 is a schematic diagram showing the movement of users aboard the moving bodies 100a to 100c moving to the object 200 and appreciating the object 200. FIG. 4 is a schematic diagram seen from above, and the shapes of the moving bodies 100a to 100c shown in FIG. 4 are drawn as pentagons with arrows to clearly indicate the traveling directions of the moving bodies 100a to 100c. FIG. 4(a) is a schematic diagram showing the state in which the moving bodies 100a to 100c have traveled to the object 200 in the following mode. FIG. 4(b) is a schematic diagram showing the state in which the traveling mode of the moving bodies 100a to 100c has transitioned from the following mode to the rotation mode. FIG. 4(c) is a schematic diagram showing the movement of the moving bodies 100a to 100c rotating to face the object 200 by the operation by the user. The moving body 100a is a parent unit, and the moving bodies 100b and 100c are child units.

[0074] First, as shown in (a) of Fig. 4, the moving bodies 100a to 100c carrying users move in a following mode until they reach the side of the object 200. In this embodiment, the moving bodies 100a to 100c move in a following mode in a line with the moving body 100a at the front, the moving body 100b, and the moving body 100c lined up in this order. The moving bodies 100a to 100c face the positive direction of the Y axis and are not stopped facing the object 200 (i.e., they face sideways).

[0075] Next, as shown in (b) of FIG. 4, the user switches the rotation function from OFF to ON. For example, the user switches the rotation function from OFF to ON by pressing a button displayed on the display unit 14 (i.e., the input unit 12). This operation transitions the traveling mode of the moving bodies 100a to 100c from the follow mode to the rotation mode. Note that the operation of switching the rotation function from OFF to ON may be performed by a user on board the parent unit or a user on board the child unit, or may be performed by a user located remotely and not on board the moving body.

[0076] Finally, as shown in FIG. 4(c), when each user riding on the moving bodies 100a-100c inputs an instruction via each operation unit 22, the moving bodies 100a-100c rotate in the direction of the target object 200 (for example, a pivoting operation in which one of the two drive wheels is stopped and the other is rotationally driven) according to the instruction from each operation unit 22. At this time, if each main body unit 25 detects an obstacle around the moving bodies 100a-100c, each main body unit 25 performs an operation to prevent the moving bodies 100a-100c from colliding with the obstacle. Specifically, each main body unit 25 prohibits the rotation of the moving bodies 100a-100c. Note that the control unit 25a1 controls the moving body 100a to move forward, backward, and rotate according to the instruction from the operation unit 22, but controls the moving bodies 100b and 100c to only rotate according to the instruction from each operation unit 22.

[0077] As a result, when a user on a moving object views or tours the same object at a museum or the like, the control unit can transition from the following mode to the rotation mode, allowing the user to temporarily point the nose of the moving object toward the object. Therefore, the user does not need to turn only his or her own body position toward the object while maintaining the moving object's sideways orientation. As a result, the burden on the user can be reduced.

[0078] The moving object can also rotate according to instructions from the operating device, so that a user riding on the moving object can control the desired rotation by operating the operating device.

[0079] Fig. 5 is a schematic diagram showing the movement of users aboard the moving bodies 100a-100c after finishing viewing the object 200 after the state shown in Fig. 4(c). Fig. 5(a) is a schematic diagram showing the movement of the moving bodies 100a-100c rotating and facing the positive direction of the Y axis. Fig. 5(b) is a schematic diagram showing the state in which the traveling mode of the moving bodies 100a-100c has transitioned from the rotation mode to the follow mode. Fig. 5(c) is a schematic diagram showing the movement of the moving bodies 100a-100c moving away from the object 200 in the follow mode.

[0080] First, as shown in (a) of FIG. 5, each user riding on the moving bodies 100a to 100c inputs an instruction via each operation unit 22, and the moving bodies 100a to 100c rotate in the direction of the Y axis (for example, a pivot turn) according to the instruction from each operation unit 22. At this time, as in (c) of FIG. 4, if each main body unit 25 detects an obstacle around the moving bodies 100a to 100c, each main body unit 25 performs an operation to prevent the moving bodies 100a to 100c from colliding with the obstacle. Note that the moving bodies 100a to 100c do not need to face the positive direction of the Y axis exactly, but only need to face the positive direction of the Y axis approximately. Specifically, the moving bodies 100a to 100c may rotate so that the sensor unit 21 of the moving body located behind recognizes the tracking reflector 25b attached to the moving body located in front.

[0081] Next, as shown in (b) of FIG. 5, the user switches the rotation function from ON to OFF. For example, the user switches the rotation function from ON to OFF by pressing a button displayed on the display unit 14 (i.e., the input unit 12). This operation transitions the traveling mode of the moving bodies 100a to 100c from the rotation mode to the following mode. Note that the operation of switching the rotation function from ON to OFF may be performed by a user on board the parent unit, or may be performed by a user located remotely and not on board the moving body.

[0082] Finally, as shown in FIG. 5(c), a user aboard the moving body 100a inputs an instruction via the operation unit 22, whereby the moving bodies 100a to 100c move in the follow-up mode and move away from the target object 200.

[0083] Fig. 6 is a flowchart showing an example of an operation in which the traveling mode of a moving object transitions from a rotation mode to a following mode, assuming the movement of a plurality of moving objects.

[0084] As shown in FIG. 6, first, the moving body that is the parent unit moves from the head of the procession to another location (step S51).

[0085] Next, the user turns off the rotation function of the multiple moving objects (step S52). This causes the traveling mode of the multiple moving objects to transition from the rotation mode to the follow mode. Then, the control unit 25a1 performs a platoon reorganization that controls all the child units that make up the platoon so that all the child units that make up the platoon form a platoon with the parent unit that has moved to another location as the new leader (step S53).

[0086] After the platoon reorganization is performed, the multiple moving bodies travel in the following mode (step S54).

[0087] FIG. 7A is a schematic diagram showing an example of the detailed movement of S51 in FIG. 6. FIG. 7A is a schematic diagram showing the movement of the moving body 100a after the state shown in FIG. 4(c). Here, an example of the operation is shown in which the procession that entered the museum in the positive direction of the Y axis is reorganized into a new procession for leaving the museum in the opposite direction (negative direction of the Y axis) after finishing viewing. FIG. 7A(a) is a schematic diagram showing the movement of the moving body 100a rotating so that the direction of the moving body 100a faces from the object 200 to the moving body 100b. FIG. 7A(b) is a schematic diagram showing the movement of the moving body 100a moving from the front of the procession to another place. FIG. 7A(c) is a schematic diagram showing the movement of the moving body 100a moving to the rear end of the procession.

[0088] First, as shown in (a) of Fig. 7A, a user aboard the moving body 100a inputs an instruction via the operation unit 22 to rotate the moving body 100a (for example, a pivot turn) so that the direction of the moving body 100a faces the direction of the moving body 100b from the object 200. This rotation of the moving body 100a is for facilitating the moving body 100a to move from the head of the procession to another location. Therefore, the moving body 100a does not necessarily need to rotate so as to face the direction of the moving body 100b.

[0089] Next, as shown in FIG. 7A(b), a user aboard the moving body 100a inputs an instruction via the operation unit 22 to move the moving body 100a from the head of the procession to another location.

[0090] Finally, as shown in (c) of Fig. 7A, the moving body 100a moves to the rear end of the procession. Note that the other location to which the moving body 100a moves from the front of the procession is not limited to the rear end of the procession, and may be a location other than the rear end of the procession.

[0091] As a result, the parent mobile unit moves to the end of the formation, and the formation is then reorganized.

[0092] Fig. 7B is a schematic diagram showing an example of detailed movements from S52 to S54 in Fig. 6. Fig. 7B (a) is a schematic diagram showing a state in which the user turns off the rotation function button shown on the display unit 14 after the state shown in Fig. 7A (c). Fig. 7B (b) is a schematic diagram showing the movements of the moving bodies 100a to 100c in the following mode, moving away from the target object 200, after the formation is reorganized.

[0093] First, as shown in (a) of FIG. 7B, the user switches the rotation function from ON to OFF. For example, the user switches the rotation function from ON to OFF by pressing a button (i.e., the input unit 12) displayed on the display unit 14. Then, the control unit 25a1 controls the moving bodies 100b and 100c to form a formation (formation rearrangement) with the moving body 100a that has moved to another location as the new leader. That is, all the child units rotate (for example, perform a pivot turn) to form a formation (formation rearrangement) with the parent unit that has moved to another location as the new leader. This rearrangement of the formation changes the order of the child units in the formation. Specifically, before the rearrangement of the formation, the moving bodies 100a, the moving body 100b, and the moving body 100c were lined up from the leader, but after the rearrangement of the formation, the moving bodies 100a, the moving body 100c, and the moving body 100b are lined up from the leader in this order. The operation of switching the rotation function from ON to OFF may be performed by a user on board the parent unit, or by a user located remotely and not on board the moving object.

[0094] Here, the rotation of the moving bodies 100b and 100c will be described in detail. The storage unit 25a2 stores angle information obtained by the position sensor unit 24. That is, the storage unit 25a2 stores the direction of the nose of the moving body 100a. As a result, the control unit 25a1 of the moving body 100b and the control unit 25a1 of the moving body 100c can form a formation with the moving body 100a as the new leader (formation reorganization) by rotating to match the direction of the nose of the moving body 100a. For example, absolute angles can be used to determine the rotation angles of the moving bodies 100b and 100c. When the position sensor unit 24 is a magnetic sensor, the position sensor unit 24 recognizes angle information indicating the direction of the nose of the moving bodies 100a to 100c as absolute angles, and the storage unit 25a2 stores the angle information. As a result, the control unit 25a1 of the moving body 100b and the control unit 25a1 of the moving body 100c give instructions to rotate the moving bodies 100b and 100c so that they face the same direction as the nose of the moving body 100a. As another method, for example, a relative angle may be used to determine the rotation angle of the moving bodies 100b and 100c. When the position sensor is an IMU, the position sensor unit 24 recognizes angle information indicating the direction of the noses of the moving bodies 100a to 100c based on the relative angle, and the storage unit 25a2 stores the angle information. The control unit 25a1 of the moving body 100b and the control unit 25a1 of the moving body 100c calculate the difference between the relative angle indicating the direction of the noses of the moving bodies 100b and 100c and the relative angle indicating the direction of the nose of the moving body 100a. As a result, the control unit 25a1 of the moving body 100b and the control unit 25a1 of the moving body 100c give instructions so that the moving bodies 100b and 100c rotate by the angle of the difference.

[0095] As yet another method, the rotation angles of the moving bodies 100b and 100c may be predetermined angles. When the sensor units 21 of the moving bodies 100b and 100c recognize the tracking reflector 25b of the moving body in front, the moving bodies 100b and 100c form a procession (reorganize the procession) with the moving body 100a that has moved to another location as the new leader. For example, when a travel route is determined in a museum or the like, the direction in which the moving bodies will face is determined before they start traveling, so the rotation angles of the moving bodies 100b and 100c may be predetermined angles.

[0096] Furthermore, the moving bodies 100b and 100c may rotate by recognizing the position of the moving body 100a. For example, the position sensor unit 24 recognizes the position information of the moving body, not the angle information. As a result, the memory unit 25a2 of the moving body 100b and the memory unit 25a2 of the moving body 100c store the position information of the moving bodies 100a to 100c. The control unit 25a1 of the moving body 100b and the control unit 25a1 of the moving body 100c refer to the memory unit 25a2 of the moving body 100b and the memory unit 25a2 of the moving body 100c, and instruct the moving bodies 100b and 100c to rotate so as to face the direction in which the moving body 100a is located.

[0097] Next, as shown in (b) of Figure 7B, after the formation is reorganized, a user on board the moving body 100a inputs an instruction via the operation unit 22, causing the moving bodies 100a to 100c to move in following mode and move away from the target object 200.

[0098] As a result, when only the parent unit moves to another location, a new platoon is formed with the parent unit that has moved to the other location at the head, thereby realizing a more efficient change in the traveling direction of the moving bodies.

[0099] In addition, the control unit 25a1 can perform orientation change control to control all the child units constituting the formation so that they face the direction of the parent unit that has moved to another location during the formation reorganization. This allows for more efficient change in the traveling direction of the moving bodies without the user having to instruct the child units.

[0100] In addition, in the direction change control, all the child devices in the formation rotate by an angle notified by the parent device, so that they can face the direction of the parent device that has moved to another location. This allows for more efficient change of direction of travel of the moving body without the user having to give instructions to the child devices.

[0101] Furthermore, even if the user riding on the child unit does not give any instructions, the child unit can rotate to face the parent unit by detecting the position of the parent unit that has been moved to another location.

[0102] Fig. 8 is a flowchart showing another operation example in which the traveling mode of the moving object transitions from the rotation mode to the following mode. Fig. 8 is a flowchart assuming the movement of a plurality of moving objects, similar to Fig. 6.

[0103] As shown in FIG. 8, first, a user aboard the parent unit inputs an instruction via the operation unit 22 to rotate the parent unit, which is the moving body, so that the direction of the moving body faces the direction in which the parent unit will move next (step S61).

[0104] Next, the user turns on the orientation change button (i.e., input unit 12) displayed on display unit 14 (step S62). Then, the child unit rotates so as to match the direction of the nose of the parent unit (step S63).

[0105] Then, the user turns off the orientation change button displayed on the display unit 14 (that is, the input unit 12) (step S64).

[0106] FIG. 9A is a schematic diagram showing an example of detailed movements from S61 to S64 in FIG. 8. Here, another example of the movement is shown in which a line that entered the museum in the positive direction of the Y axis is reorganized into a new line for leaving the museum in the opposite direction (negative direction of the Y axis) after finishing viewing. FIG. 9A (a) is a schematic diagram showing the movement of the moving body 100a rotating so that the direction of the moving body 100a faces the direction of the next movement after the state shown in FIG. 4 (c). FIG. 9A (b) is a schematic diagram showing the movement of the moving bodies 100b and 100c rotating so that they face the direction of the moving body 100a when the user turns on the direction change button displayed on the display unit 14. FIG. 9A (c) is a schematic diagram when the user turns off the direction change button displayed on the display unit 14.

[0107] First, as shown in (a) of FIG. 9A, a user riding on the moving body 100a inputs an instruction via the operation unit 22 to rotate the moving body 100a (e.g., perform a pivot turn) so that the direction of the moving body 100a faces the direction in which the moving body 100a will move next.

[0108] Next, as shown in (b) of FIG. 9A, the user switches from orientation change OFF to orientation change ON. For example, the user switches from orientation change OFF to orientation change ON by pressing an orientation change button (i.e., the input unit 12) displayed on the display unit 14. This operation causes the moving bodies 100b and 100c to rotate (for example, perform a pivot turn) so as to match the direction of the nose of the moving body 100a. The rotation angles of the moving bodies 100b and 100c may be determined using the absolute angle and relative angle described in (a) of FIG. 7B, or may be determined based on a predetermined angle. The operation of switching between orientation change OFF and rotation function ON may be performed by a user on board the parent unit, or may be performed by a user located remotely and not on board the moving body.

[0109] 9A(c), the user switches from orientation change ON to orientation change OFF by pressing the orientation change button displayed on the display unit 14. This causes the moving bodies 100b and 100c to finish rotating so as to match the direction of the nose of the moving body 100a.

[0110] As a result, the formation re-formation is performed when the traveling mode of the moving bodies is the rotation mode, thereby realizing smooth formation re-formation.

[0111] In addition, the control unit 25a1 can perform orientation change control to control all the child units constituting the formation so that they face the direction of the parent unit that has moved to another location during the formation reorganization. This allows for more efficient change in the traveling direction of the moving bodies without the user having to instruct the child units.

[0112] In addition, in the direction change control, all the child units in the formation rotate by a predetermined angle to face the parent unit that has moved to another location. This allows the moving body to change its direction of travel more efficiently without the user having to give instructions to the child units.

[0113] Furthermore, in the direction change control, all the child devices in the formation rotate by an angle notified by the parent device, so that they can face the direction of the parent device that has moved to another location. This allows for more efficient change of direction of travel of the moving body without the user having to give instructions to the child devices.

[0114] Fig. 9B is a schematic diagram showing an example of the movement of users aboard the moving bodies 100a-100c moving away from the target object 200 after the child devices rearrange the formation after the state shown in Fig. 9A(c). Fig. 9B(a) is a schematic diagram showing the movement of the moving body 100a moving from the front of the formation to the rear of the formation. Fig. 9B(b) is a schematic diagram showing the movement of the moving bodies 100b and 100c rearranging the formation when the user turns off the rotation function button displayed on the display unit 14. Fig. 9B(c) is a schematic diagram showing the movement of the moving bodies 100a-100c moving away from the target object 200 in the following mode after the formation rearrangement is performed.

[0115] First, as shown in FIG. 9B(a), a user aboard moving body 100a inputs an instruction via operation unit 22 to move from the front of the procession to in front of moving body 100c, which is the rear end of the procession.

[0116] Next, as shown in (b) of FIG. 9B, the user switches the rotation function from ON to OFF. For example, the user switches the rotation function from ON to OFF by pressing a button (i.e., the input unit 12) shown on the display unit 14. Then, the control unit 25a1 controls the moving bodies 100b and 100c to form a formation with the moving body 100a that has moved to another location as the new leader (formation rearrangement). This rearrangement of the formation changes the order of the child units in the formation. Specifically, before the formation rearrangement, the moving bodies 100a, 100b, and 100c were lined up from the leader, but after the formation rearrangement, the moving bodies 100a, 100c, and 100b are lined up from the leader. Note that the operation of switching the rotation function from ON to OFF may be performed by a user on board the parent unit, or may be performed by a user who is not on board the moving body and is located remotely.

[0117] Finally, as shown in FIG. 9B(c), a user aboard the moving body 100a inputs an instruction via the operation unit 22, whereby the moving bodies 100a to 100c move in the follow-up mode and move away from the target object 200.

[0118] As a result, when only the parent unit moves to another location, a new platoon is formed with the parent unit that has moved to the other location at the head, thereby realizing a more efficient change in the traveling direction of the moving bodies.

[0119] Fig. 10 is a flowchart showing yet another operation example in which the traveling mode of the moving object transitions from the rotation mode to the following mode. Fig. 10 is a flowchart assuming the movement of a plurality of moving objects, similar to Figs. 6 and 8.

[0120] First, the user turns on the orientation change button displayed on the display unit 14 (that is, the input unit 12) (step S71).

[0121] Next, the user aboard the parent unit moves the parent unit, that is, the moving object, to another location by inputting an instruction via the operation unit 22. Then, in conjunction with the instruction from the operation unit 22 of the parent unit, the child unit rotates so as to face the direction of the parent unit (step S72).

[0122] Then, the user turns off the orientation change button displayed on the display unit 14 (that is, the input unit 12) (step S73).

[0123] FIG. 11 is a schematic diagram showing an example of detailed movements from S71 to S73 in FIG. 10. Here, another example of movements is shown in which a line that entered the museum in the positive direction of the Y axis is reorganized into a new line for leaving the museum in the opposite direction (negative direction of the Y axis) after finishing viewing. FIG. 11(a) is a schematic diagram when a user turns on the direction change button displayed on the display unit 14 after the state shown in FIG. 4(c). FIG. 11(b) is a schematic diagram showing the movement of the moving bodies 100b and 100c rotating in conjunction with the moving body 100a moving to another location. FIG. 11(c) is a schematic diagram when a user turns off the direction change button displayed on the display unit 14. Note that the movements of the moving bodies 100a to 100c from FIG. 11(c) onward are omitted because they are the same as those from FIG. 9B(b) onward.

[0124] First, as shown in (a) of Fig. 11, the user switches from orientation change OFF to orientation change ON. For example, the user switches from orientation change OFF to orientation change ON by pressing the orientation change button (i.e., input unit 12) displayed on display unit 14. Note that the operation of switching from orientation change OFF to orientation change ON may be performed by a user on board the parent unit, or may be performed by a user located remotely and not on board the moving object.

[0125] Next, as shown in FIG. 11(b), the user aboard the moving body 100a moves the moving body 100a to the end of the formation by inputting an instruction via the operation unit 22. Then, the moving bodies 100b and 100c rotate (for example, perform a pivot turn) in conjunction with the instruction from the operation unit 22 of the moving body 100a. Specifically, the main body unit 25 issues an instruction to the moving bodies 100b and 100c to rotate so as to face the direction of the moving body 100a. The rotation angle of the moving bodies 100b and 100c is determined using the position information of the moving bodies 100a to 100c described in FIG. 7B(a).

[0126] Finally, as shown in (c) of Fig. 11, the user switches the orientation change from ON to OFF. The user switches the orientation change from ON to OFF by pressing the orientation change button (i.e., the input unit 12) displayed on the display unit 14. This causes the moving bodies 100b and 100c to finish rotating so as to face the direction of the moving body 100a.

[0127] As a result, the control unit 25a1 can perform orientation change control to control all the child units constituting the formation so that they face the direction of the parent unit that has moved to another location during the formation reorganization. This allows for more efficient change in the traveling direction of the moving bodies without the user having to instruct the child units.

[0128] In addition, the control unit 25a1 can perform direction change control to control all the child units in conjunction with the parent unit moving from the head of the formation to another location during the formation reorganization. This allows the moving body to change its traveling direction more efficiently without the user having to give instructions to the child units.

[0129] Although the control device, moving object, control method, and program according to the present disclosure have been described above based on the embodiments, the present disclosure is not limited to these embodiments. As long as they do not deviate from the gist of the present disclosure, various modifications conceived by a person skilled in the art to the present embodiments and modifications, and other forms constructed by combining some of the components in the embodiments, are also included within the scope of the present disclosure.

[0130] For example, the control unit 25a1 of the control device 25a or the like includes a program and a processor, but may be realized by a dedicated electronic circuit such as a GA (Gate Array).

[0131] Furthermore, the program may be distributed in a form stored in a non-transitory recording medium such as a computer-readable DVD. [Industrial Applicability]

[0132] The present disclosure can be used as a control device, a moving body, a control method, and a program that enable multiple moving bodies to reorganize a formation while traveling, for example, as robotic mobility. [Explanation of symbols]

[0133] 10a, 10b, 10c input / output device 11 Communications Department 12 Input section 13 Control section 14 Display section 21 Sensor section 22 Control section 23 Moving mechanism section 23a semi-wheel 24 Position sensor section 25 Main body 25a Control device 25a1 Control section 25a2 Storage section 25b Tracking reflector 25c Communication Department 25d Map section 25e Destination setting section 100a, 100b, 100c Mobile body 200 Objects

Claims

1. A control device for controlling travel of a first moving body, a storage unit that stores platoon information indicating whether the first moving object is a parent unit that is a leading moving object among a plurality of moving objects that travel in a platoon, or a child unit that is a following moving object excluding the leading object among a plurality of moving objects that travel in a platoon; a control unit that controls traveling of the first moving body in a traveling mode including a following mode and a rotation mode in accordance with the formation information stored in the storage unit, The following mode is a traveling mode in which a plurality of moving bodies travel in a platoon, the rotation mode is a running mode that allows any of a plurality of running modes for the parent machine, and allows only rotation among the plurality of running modes for the child machine; When the formation information indicates that the first moving body is a parent machine, the control unit performs formation reorganization to control all of the child machines constituting the formation so that, after the first moving body moves from the head of the formation to another location, all of the child machines constituting the formation form a formation with the first moving body that has moved to the other location as a new head. Control device.

2. The control unit performs the formation reorganization in the rotation mode. The control device according to claim 1.

3. The other location is the rear end of the formation. The control device according to claim 1.

4. The control unit performs an orientation change control to control all of the child devices constituting the formation so that all of the child devices constituting the formation face a direction of the first moving object that has moved to the different location in the formation reorganization. The control device according to claim 1.

5. In the orientation change control, all of the child devices constituting the formation rotate by a predetermined angle to face the direction of the first moving object that has moved to the different location. The control device according to claim 4.

6. In the orientation change control, all of the slave devices constituting the formation rotate by an angle notified by the first moving object, so as to face the direction of the first moving object that has moved to another location. The control device according to claim 4.

7. The control unit performs the direction change control in conjunction with a movement of the first moving object from the head of the formation to another location during the formation rearrangement. The control device according to claim 4.

8. In the orientation change control, all of the slave devices constituting the formation detect the position of the first moving object that has moved to the other location, and then face the direction of the first moving object that has moved to the other location. The control device according to claim 4.

9. A moving object comprising the control device according to any one of claims 1 to 8.

10. A control method for controlling travel of a first moving object, comprising: a reading step of reading out formation information from a storage unit that stores formation information indicating whether the first moving body is a parent unit that is a leading moving body among a plurality of moving bodies that travel in a formation, or a child unit that is a following moving body excluding the leading moving body among a plurality of moving bodies that travel in a formation; and controlling the traveling of the first moving body in a traveling mode including a following mode and a rotation mode according to the read-out platoon information, The following mode is a traveling mode in which a plurality of moving bodies travel in a platoon, the rotation mode is a running mode that allows any of a plurality of running modes for the parent machine, and allows only rotation among the plurality of running modes for the child machine; In the control step, when the formation information indicates that the first moving body is a parent unit, a formation reorganization is performed to control all the child units constituting the formation so that, after the first moving body moves from the head of the formation to another location, all the child units constituting the formation form a formation with the first moving body that has moved to the other location as a new head. Control methods.

11. A program for causing a computer to execute the steps included in the control method according to claim 10.

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