Control device, moving body, control method, and program

Abstract

To provide a control device, a moving body, a control method, and a program capable of supporting multiple users with more substantial support when the multiple users board multiple moving bodies and appreciate or observe the same object in a museum or the like.SOLUTION: A control device 25a includes: a storage section 25a2 for storing rank information showing whether a first moving body 100a is a master unit or a slave unit; and a control section 25a1 for controlling traveling of the first moving body 100a in a traveling mode including a following mode and a rotation mode according to the stored rank information. 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 transition from the following mode to the rotation mode in the case of transition to the rotation mode.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

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

[0003] Patent Document 1 proposes a plurality of mobile bodies that can travel in a formation on the same track even when an obstacle exists on the travel route of the mobile 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, with the technology of Patent Document 1, when multiple users board multiple mobile vehicles to view or tour the same object at a museum or the like, the multiple mobile vehicles maintain a convoy traveling state, which presents a problem in that it is difficult for each of the multiple users to face the object.

[0006] Therefore, the present disclosure aims to provide a control device, a mobile object, a control method, and a program that can provide more comprehensive support to multiple users when multiple users use multiple mobile objects to view or tour the same object at a museum or the like. [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 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 moving body among multiple moving bodies traveling 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 allows rotation of the multiple traveling modes for the child unit, and when transitioning to the rotation mode, the control unit transitions from the following mode to the rotation mode.

[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-mentioned object, a control method according to one embodiment of the present disclosure 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 subsequent 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 rotation mode according to the read formation information, 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 in the control step, when transitioning to the rotation mode, the control step transitions from the following mode to the rotation mode.

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

[0011] The present disclosure provides a control device, a mobile object, a control method, and a program that can provide more comprehensive support to multiple users when multiple users use multiple mobile objects to view or tour the same object at a museum or the like. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing the configuration of an input / output device and a moving object. [Figure 2] FIG. 2 is a flowchart showing a procedure for controlling a moving object by the control device according to the embodiment. [Figure 3] FIG. 3 is a state transition diagram showing the states of the driving modes displayed by 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 as he or she moves to an object and views the object. [Figure 5] FIG. 5 is a schematic diagram showing the movement of a user on a moving object after finishing viewing 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 follow mode. [Figure 7A] FIG. 7A is a schematic diagram showing an example of detailed operations in S51 of 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 example of operation in which the traveling mode of the moving object transitions from the rotation mode to the follow 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 bodies after the slave units rearrange their formation after the state shown in FIG. 9A(c). [Figure 10] FIG. 10 is a flowchart showing yet another example of operation in which the traveling mode of the moving object transitions from the rotation mode to the follow 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 INVENTION

[0013] (Findings obtained by the inventors) When multiple users board multiple mobile vehicles to view or observe the same object at a museum or other venue, the mobile vehicles enter in a line in conventional technology, which means that the mobile vehicles do not necessarily stop facing the object. For example, if the mobile vehicles stop facing sideways toward the object, the users on the mobile vehicles must turn their bodies toward the object while maintaining the mobile vehicle's sideways orientation. This action places a burden on the users when viewing or observing the object. Therefore, the inventors have thoroughly investigated whether there is a way to view or observe an object with less burden on users. As a result, the inventors have devised a method for providing users with less burden when viewing or observing an object by adding a rotation mode that allows the mobile vehicle itself to freely rotate in addition to the conventional follow mode to the control device that controls the mobile vehicle's travel.

[0014] 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 traveling in a formation, or a child unit, which is a subsequent moving body excluding the leading moving body among multiple moving bodies traveling 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 allows rotation of the multiple traveling modes for the child unit, and when transitioning to the rotation mode, the control unit transitions from the following mode to the rotation mode.

[0015] 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 tracking mode to rotation mode, allowing the user to temporarily point the nose of the moving object toward the object. This eliminates the need for the user to only turn their own body toward the object while maintaining the moving object's sideways orientation. As a result, the burden on the user can be reduced.

[0016] In a second aspect of the control device, the first moving body includes an operating device that instructs the first moving body to move forward, backward, or rotate, and the control unit controls the first moving body to move forward, backward, or rotate in accordance with the instructions from the operating device when the formation information indicates that the first moving body is a parent unit, and controls the first moving body to only rotate out of the options of moving forward, backward, and rotate in accordance with the instructions from the operating device when the formation information indicates that the first moving body is a child unit. This allows the moving body to rotate in accordance with the instructions from the operating device. Therefore, a user riding on the moving body can rotate as desired by operating the operating device.

[0017] A control device according to a third aspect is the control device according to the first or second aspect, further comprising an input unit that receives a user instruction, wherein the control unit transitions from the following mode to the rotation mode when the input unit receives an instruction to turn the rotation mode on, and transitions from the rotation mode to the following mode when the input unit receives an instruction to turn the rotation mode off. This allows a user to switch the traveling mode of the mobile object between the following mode and the rotation mode simply by switching the rotation mode on and off.

[0018] Furthermore, a control device according to a fourth aspect is the control device according to any one of the first to third aspects, in which, in the rotation mode, when the child device detects an obstacle, the child device performs an operation to avoid collision with the obstacle. This allows the child device to automatically avoid collision with the obstacle. Therefore, the user can board the moving object with peace of mind.

[0019] A control device according to a fifth aspect is the control device according to any one of the first to fourth aspects, wherein in the following mode, the slave unit travels following the moving object ahead by continuously detecting a marker provided on the back of the moving object ahead. As a result, in the following mode, the slave unit can travel following the moving object ahead without requiring any operation from the user.

[0020] Furthermore, a moving body according to a sixth aspect includes the control device according to any one of the first to fifth aspects. As a result, when a user riding in the moving body is viewing or touring the same object at a museum or the like, the control unit can transition from tracking mode to rotation mode, allowing the user to temporarily point the nose of the moving body toward the object. Therefore, the user does not need to turn only their own body position toward the object while maintaining the moving body's sideways orientation. As a result, the burden on the user can be reduced.

[0021] A control method according to a seventh aspect is a control method for controlling travel of a first moving body, The method includes a reading step of reading formation information from a storage unit that stores formation information indicating whether the first moving body is a parent unit that is the leading moving body among multiple moving bodies traveling in a formation, or a child unit that is a following moving body other than the leading moving body among the 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 rotation 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 rotation mode is a traveling mode that allows any of multiple traveling modes for the parent unit and only rotation among the multiple traveling modes for the child units, and in the control step, when transitioning to the rotation mode, the control unit can transition from the following mode to the rotation mode. As a result, when users riding in the moving bodies are viewing or touring the same object at a museum or the like, the control unit can transition from the following mode to the rotation mode, so that the users can temporarily point the nose of the moving body toward the object. Therefore, the user does not need to turn only his or her body toward the target object while maintaining the mobile object's sideways orientation, which reduces the burden on the user.

[0022] Furthermore, a program according to an eighth aspect causes a computer to execute the steps included in the control method according to the seventh aspect. As a result, when a user aboard a moving object views or tours the same object at a museum or the like, the control unit can transition from tracking mode to rotation mode, allowing the user to temporarily point the nose of the moving object toward the object. Therefore, the user no longer needs to turn only their own body position toward the object while maintaining the moving object's horizontal orientation. As a result, the burden on the user can be reduced.

[0023] (Embodiment) Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below represents a specific example of the present disclosure. Numerical values, components, the arrangement and connection of components, steps, the order of steps, display examples, etc. shown in the following embodiments are examples and are not intended to limit the present disclosure. Furthermore, each drawing is not necessarily an exact illustration. In each drawing, substantially identical configurations are assigned the same reference numerals, and duplicate explanations are omitted or simplified.

[0024] FIG. 1 is a block diagram showing the configurations of an input / output device 10a and a mobile object 100a. An external view of the mobile object 100a is also shown. In this figure, the input / output device 10a and the mobile object 100a are shown as representatives among the multiple input / output devices 10a to 10c and the multiple mobile objects 100a to 100c. The configurations and functions of the input / output devices 10a to 10c, or the configurations and functions of the mobile objects 100a to 100c, are similar, and therefore the following description will focus on the input / output device 10a and the mobile object 100a as representatives. The input / output device 10a and the mobile object 100a, the input / output device 10b and the mobile object 100b, and the input / output device 10c and the mobile object 100c are linked.

[0025] The input / output device 10a transmits input information from a passenger or a remote operator of the mobile body 100a to the main body 25 of the mobile body 100a, and displays and communicates a response result from the main body 25 of the mobile body 100a to the passenger or the remote operator of the mobile 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 attached to the mobile body 100a or may be held by a user on board the mobile body. Communication between the input / output device 10a and the mobile 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.

[0026] 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 the response result of the main body unit 25 of the mobile object 100a.

[0027] The input unit 12 is a touch panel, a keyboard, or the like, which is used by 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.

[0028] The control unit 13 is a processor that executes programs 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 25 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 also have a memory that temporarily stores formation information of the moving object 100a, etc.

[0029] 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.

[0030] The mobile body 100a is a vehicle that moves with a user on board, and in this embodiment is a robotic mobility that has both the function of manual driving by the user and the function of autonomous driving. Note that the mobile body 100a does not necessarily have to have the function of autonomous driving. The mobile body 100a has a sensor unit 21, an operation unit 22, a movement mechanism unit 23, secondary wheels 23a, a position sensor unit 24, and a main body unit 25.

[0031] 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 may be attached to any location on the moving body 100a 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.

[0032] The operation unit 22 is an operation lever, joystick, etc. for steering and braking the moving body 100a. Steering includes, for example, instructions for moving forward, backward, and turning.

[0033] The travel mechanism unit 23 is a mechanism for propelling the mobile body 100a, and is composed of a battery, an inverter circuit, a motor, a pair of wheels attached to the lower rear of the mobile body 100a, a steering mechanism, a brake mechanism, etc. The pair of wheels rotate in the direction of arrow a shown on the wheels, causing the mobile body 100a to travel in the direction of arrow b (travel direction). The pair of wheels are driven such that one wheel rotates in the direction of arrow a, while the other wheel does not rotate. By driving each wheel differently, the mobile body 100a performs a pivot turn.

[0034] The secondary wheel 23a is a wheel attached to the front lower part of the moving body 100a. The secondary wheel 23a is attached to the front lower part of the moving body 100a so as to be rotatable about an axis perpendicular to the traveling surface.

[0035] 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 object 100a. For example, if the position sensor unit 24 is a magnetic sensor, the position sensor unit 24 recognizes the direction in which the nose of the moving object 100a is facing based on an absolute angle. If the position sensor unit 24 is an IMU, when the user turns on the power of the moving object 100a, the position sensor unit 24 recognizes the direction of the nose of the moving object 100a as 0 degrees. In other words, the position sensor unit 24 recognizes the direction of the nose of the moving object 100a based on a relative angle. Angular information regarding the direction of the nose of the moving object 100a obtained by the position sensor unit 24 is transmitted to the main body unit 25. Furthermore, by linking the IMU with an encoder or the like attached to a motor of the movement mechanism unit 23, the position sensor unit 24 may recognize the direction of the nose of the moving object 100a with higher accuracy.

[0036] 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 (body and tracking reflector 25b), a communication unit 25c, a map unit 25d, and a destination setting unit 25e.

[0037] 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 programs.

[0038] The control unit 25a1 is a processor that executes a program for controlling the traveling mode of the mobile object 100a to transition between a following mode, a rotation mode, etc., and for controlling the mobile object 100a to stop when an obstacle is detected around the mobile object 100a. The control unit 25a1 stops the mobile object 100a by using an obstacle stopping algorithm, such as the A* (A-star) algorithm. Specifically, the control unit 25a1 controls the traveling 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 mobile object 100a to travel manually or automatically. The traveling modes will be described in detail later.

[0039] 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.

[0040] 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.

[0041] Here, the traveling modes of the moving body 100a will be explained. The traveling modes include a following mode and a rotation mode. The functions of the following mode and the rotation mode will be explained. First, the following mode is a traveling mode in which multiple moving bodies travel in a convoy. Specifically, the parent unit, which is the moving body at the head of the convoy, travels in accordance with instructions from the operation unit 22, and the child units, which are the following moving bodies excluding the leading moving body in the convoy, travel by following the moving body in front.

[0042] On the other hand, the rotation mode is a driving mode in which the parent unit allows any of a plurality of driving modes (forward, reverse, and rotation), and the child unit allows only rotation among the plurality of driving modes (forward, reverse, and rotation). Specifically, in the rotation mode, the parent unit accepts forward, reverse, and rotation operations from the operation unit 22, but the child unit accepts only rotation operations from the operation unit 22. Switching between the follow mode and the rotation mode will be described in detail later.

[0043] 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 unit 100b, and the communication unit 25c of the mobile unit 100c. The communication unit 25c of the mobile unit 100a communicates with the communication unit 25c of the mobile unit 100b and the communication unit 25c of the mobile unit 100c to share formation information, angle information, and the like. Note that the communication unit 25c may include multiple communication modules or be configured to be able to transmit and receive multiple communication standards. In particular, the communication unit 25c may be divided into a communication module that communicates with other mobile units (preferably one that can switch between a wireless connection hub mode when the communication unit 25c is a parent unit and a device connection mode when the communication unit 25c is a child unit) and a communication module that communicates with the communication unit 11.

[0044] 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 spatial information or three-dimensional spatial 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 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 sets a certain range of space as an area and stores the map information.

[0045] 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 destination of the moving object 100a. The destination is set by setting a destination number provided corresponding to each destination.

[0046] Next, a description will be given of characteristic operations of the input / output device 10a and the moving body 100a according to this embodiment configured as described above.

[0047] Fig. 2 is a flowchart showing a control procedure for 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 for 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.

[0048] 2(a), first, the control unit 25a1 reads from the storage unit 25a2 the formation information indicating whether the moving body 100a is a parent unit, which is the leading moving body among the multiple moving bodies traveling in the formation, or a child unit, which is a following moving body other than the leading moving body among the multiple moving bodies traveling in the formation (step S1). Note that if the moving body 100a is not forming a formation, the passenger of the moving body 100a or a user remotely operating 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.

[0049] Next, the control unit 25a1 controls the traveling of the moving bodies 100a in accordance with the formation information read from the storage unit 25a2 (step S2). Details of this traveling control will be described with reference to FIG.

[0050] 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).

[0051] If the current traveling mode of moving body 100a is the following mode (No in S21), and the read-out formation information indicates that moving body 100a is a parent unit, control unit 25a1 allows movement mechanism unit 23 to move forward, backward, and rotate (step S22). As a result, moving body 100a accepts operations to move forward, backward, and rotate from operation unit 22. Note that, when the read-out formation information indicates that moving body 100a is a child unit, operations to move forward, backward, and rotate from operation unit 22 are not accepted, and only automatic following by moving body 100a is performed.

[0052] Furthermore, the control unit 25a1 determines whether or not an obstacle exists around the moving object 100a (step S23).

[0053] If there is no obstacle around the moving object 100a (No in step S23), the control unit 25a1 allows the moving object 100a to move forward, backward, and turn if the readout formation information indicates that the moving object 100a is a parent unit (step S24). Note that the control unit 25a1 only allows the moving object 100a to automatically follow the parent unit if the readout formation information indicates that the moving object 100a is a child unit.

[0054] If an obstacle is present around moving body 100a (Yes in step S23), control unit 25a1 prohibits moving body 100a from moving forward, backward, or turning at least one of these actions if the read-out formation information indicates that the moving body is a parent unit (step S25). It is desirable that control unit 25a1 determine to prohibit moving body 100a from moving forward, backward, or turning, or a combination of these actions, depending on the direction in which the obstacle exists. Note that if the read-out formation information indicates that the moving body is a child unit, control unit 25a1 prohibits moving body 100a from automatically following the obstacle, and moving body 100a stops.

[0055] On the other hand, if the current traveling mode of moving body 100a is the rotation mode (Yes in S21), and the read-out formation information indicates that moving body 100a is a child unit, control unit 25a1 allows movement mechanism unit 23 to only rotate (step S26). As a result, moving body 100a accepts only rotation operations from operation unit 22. Note that, when the read-out formation information indicates that moving body 100a is a parent unit, moving body 100a accepts forward, backward, and rotation operations from operation unit 22.

[0056] Then, the control unit 25a1 determines whether or not an obstacle exists around the moving object 100a (step S27).

[0057] If there is no obstacle around the moving object 100a (No in S27), the control unit 25a1 allows the moving object 100a to rotate if the readout formation information indicates that the moving object 100a is a slave (step S28). Note that if the readout formation information indicates that the moving object 100a is a master, the control unit 25a1 allows the moving object 100a to move forward, backward, and rotate.

[0058] 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 slave 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 master unit, the control unit 25a1 is not limited to rotation, and it is desirable that the control unit 25a1 prohibits at least one of forward movement, backward movement, and rotation of the moving body 100a depending on the direction in which the obstacle exists, in addition to prohibiting rotation.

[0059] According to this technique, the moving object can rotate in accordance with instructions from the operating device, and thus a user riding on the moving object can control the desired rotation by operating the operating device.

[0060] This method allows the handset to automatically avoid collisions with obstacles, allowing users to board the vehicle with peace of mind.

[0061] Furthermore, in order to avoid collisions between moving bodies due to rotation, when the traveling mode of the moving body 100a is in the follow 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 unit 25d, or when the moving body 100a enters a space within a certain range stored in the map unit 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.

[0062] FIG. 3 is a state transition diagram showing the states of the driving modes displayed by the input / output device 10a according to the embodiment.

[0063] 3, when a passenger in the moving body 100a or a user remotely controlling 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 in the moving body 100a or the user remotely controlling the moving body 100a selects the following mode from a mode selection screen displayed on the display unit 14 (i.e., selects the following mode from the input unit 12). Then, the control unit 13 transmits an instruction indicating the selection of the following mode to the main body unit 25, and the control unit 25a1 transitions the traveling mode of the moving body 100a from another traveling mode to the following traveling mode.

[0064] When the traveling mode of moving body 100a is in follow mode S3 and the platoon information read by control unit 25a1 indicates that it is a parent unit, if a passenger in moving body 100a or a user remotely operating moving body 100a presses rotation function OFF (i.e., input unit 12) displayed on display unit 14 of input / output device 10a, rotation function ON is displayed on display unit 14, and control unit 25a1 transitions the traveling mode of moving body 100a to rotation mode S4. Also, when the traveling mode of moving body 100a is in follow mode S3 and the platoon information read by control unit 25a1 indicates that it is a child unit, the passenger in moving body 100a can press a rotation mode request button displayed on display unit 14 of input / output device 10a. When the passenger in moving body 100a presses the rotation mode request button, a rotation mode request is displayed on display unit 14 of a control device linked to 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 wants to view the exhibits, and can transition the driving mode of the parent unit and the child unit from a follow mode to a rotation mode.

[0065] Furthermore, when the traveling mode of moving body 100a is rotation mode S4 and the platoon information read by control unit 25a1 indicates that it is a parent unit, if a passenger in moving body 100a or a user remotely operating moving body 100a presses rotation function ON (i.e., input unit 12) displayed on display unit 14 of input / output device 10a, rotation function OFF is displayed on display unit 14, and control unit 25a1 transitions the traveling mode of moving body 100a to following mode S3. Also, when the traveling mode of moving body 100a is following mode S3 and the platoon information read by control unit 25a1 indicates that it is a child unit, the passenger in moving body 100a can press a following mode request button displayed on display unit 14 of input / output device 10a. When the passenger in moving body 100a presses the following mode request button, a following mode request is displayed on display unit 14 of the control device linked to the parent unit. This allows the passenger of the parent unit or the user operating it remotely to know the passenger of the child unit's desire to view the next exhibit, and can transition the driving mode of the parent unit and child unit from rotation mode to follow mode.

[0066] 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 the following mode S3 or the rotation mode S4 by issuing an instruction to 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 remotely operating 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 the mode selection screen displayed on the display unit 14 of the input / output device 10a (i.e., issuing an instruction from the input unit 12). Furthermore, when the platoon information of moving body 100a read by control unit 25a1 indicates that moving body 100a is a slave unit, the passenger of moving body 100a can change the traveling mode of moving body 100a from following mode S3 or rotation mode S4 by sending an instruction from the mode selection screen displayed on display unit 14 of input / output device 10a (i.e., issuing an instruction from input unit 12), and the traveling modes of the other moving bodies can maintain following mode S3 or rotation mode S4. Furthermore, when moving body 100a is not forming a platoon, the passenger of moving body 100a can change the traveling mode of moving body 100a to a slave unit of the platoon by sending an instruction from the mode selection screen displayed on display unit 14 of input / output device 10a (i.e., issuing an instruction from input unit 12), and the traveling mode of moving body 100a transitions to following mode.

[0067] 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 follow mode, and the traveling mode cannot be transitioned to the rotation mode from any other traveling mode.

[0068] 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.

[0069] FIG. 4 is a schematic diagram showing the movement of users aboard moving bodies 100a to 100c as they travel to the object 200 and view the object 200. FIG. 4 is a schematic diagram viewed 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 direction of the moving bodies 100a to 100c. FIG. 4(a) is a schematic diagram showing the moving bodies 100a to 100c traveling to the object 200 in a follow mode. FIG. 4(b) is a schematic diagram showing the moving modes of the moving bodies 100a to 100c transitioning from the follow mode to the rotation mode. FIG. 4(c) is a schematic diagram showing the moving bodies 100a to 100c rotating to face the object 200 in response to an operation by a user. Note that the moving body 100a is a parent unit, and the moving bodies 100b and 100c are child units.

[0070] First, as shown in (a) of Fig. 4, the moving bodies 100a to 100c carrying users move in follow mode until they reach the side of the object 200. In this embodiment, the moving bodies 100a to 100c move in a formation in follow mode, with the moving bodies 100a, 100b, and 100c lined up in this order from the front. 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).

[0071] 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 causes the traveling mode of the moving objects 100a to 100c to transition from the follow mode to the rotation mode. The operation of switching the rotation function from OFF to ON may be performed by a user on board the parent device or a user on board the child device, or may be performed by a user not on board the moving object but located remotely.

[0072] Finally, as shown in FIG. 4(c), when each user aboard the moving bodies 100a to 100c inputs an instruction via each operation unit 22, the moving bodies 100a to 100c rotate toward the target object 200 (for example, a pivot turn in which one of the two drive wheels is stopped and the other is driven to rotate) in accordance with the instruction from each operation unit 22. At this time, if each main body unit 25 detects an obstacle around the moving bodies 100a to 100c, the main body unit 25 performs an operation to prevent the moving bodies 100a to 100c from colliding with the obstacle. Specifically, each main body unit 25 prohibits the rotation of the moving bodies 100a to 100c. Note that the control unit 25a1 controls the moving body 100a to move forward, backward, and rotate in accordance with the instruction from the operation unit 22, but controls the moving bodies 100b and 100c to only rotate in accordance with the instruction from each operation unit 22.

[0073] 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 tracking mode to rotation mode, allowing the user to temporarily point the nose of the moving object toward the object. This eliminates the need for the user to only turn their own body toward the object while maintaining the moving object's sideways orientation. As a result, the burden on the user can be reduced.

[0074] The moving object can also be rotated in accordance with instructions from the operating device, allowing a user riding on the moving object to control the desired rotation by operating the operating device.

[0075] Fig. 5 is a schematic diagram showing the movement of users aboard the moving bodies 100a to 100c after viewing the object 200 and moving after the state shown in Fig. 4(c). Fig. 5(a) is a schematic diagram showing the movement of the moving bodies 100a to 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 to 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 to 100c moving away from the object 200 in the follow mode.

[0076] First, as shown in FIG. 5(a), each user aboard 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, perform a pivot turn) in accordance with the instruction from each operation unit 22. At this time, as in FIG. 4(c), 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 precisely in the positive direction of the Y-axis, as long as they face approximately in the positive direction of the Y-axis. Specifically, the moving bodies 100a to 100c only need to 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.

[0077] 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 causes the traveling mode of the moving bodies 100a to 100c to transition from the rotation mode to the follow mode. 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.

[0078] Finally, as shown in FIG. 5(c), when a user riding on the moving body 100a inputs an instruction via the operation unit 22, the moving bodies 100a to 100c move in the follow-up mode and move away from the target object 200.

[0079] 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 follow-up mode, assuming the movement of a plurality of moving objects.

[0080] As shown in FIG. 6, first, the moving body that is the parent unit moves from the head of the convoy to another location (step S51).

[0081] Next, the user turns off the rotation functions of the multiple moving objects (step S52). As a result, the traveling mode of the multiple moving objects transitions from the rotation mode to the follow mode. Then, control unit 25a1 performs a platoon reorganization, controlling all of the child devices that make up the platoon so that all of the child devices that make up the platoon form a platoon with the parent device that has moved to another location as the new leader (step S53).

[0082] After the platoon reorganization, the plurality of moving bodies travel in the following mode (step S54).

[0083] 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 moving body 100a after the state shown in FIG. 4(c). Here, an example of the operation is shown in which a procession that entered the museum in the positive direction of the Y axis is reorganized into a new procession that leaves 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 moving body 100a rotating so that its direction faces away from object 200 toward moving body 100b. FIG. 7A(b) is a schematic diagram showing the movement of moving body 100a moving from the front of the procession to another location. FIG. 7A(c) is a schematic diagram showing the movement of moving body 100a moving to the rear end of the procession.

[0084] First, as shown in (a) of FIG. 7A, a user aboard moving body 100a inputs an instruction via operation unit 22 to rotate moving body 100a (for example, perform a pivot turn) so that the direction of moving body 100a faces away from object 200 toward moving body 100b. This rotation of moving body 100a is intended to facilitate movement of moving body 100a from the head of the convoy to another location. Therefore, moving body 100a does not necessarily need to rotate to face toward moving body 100b.

[0085] Next, as shown in FIG. 7A(b), the 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.

[0086] Finally, as shown in (c) of Figure 7A, moving object 100a moves to the end of the procession. Note that the other location to which moving object 100a moves from the front of the procession is not limited to the end of the procession, and may be a location other than the end of the procession.

[0087] As a result, the parent mobile unit moves to the end of the formation, and the formation is reorganized.

[0088] 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 the state when the user turns off the rotation function button displayed 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 follow-up mode, moving away from the target object 200, after the formation is reorganized.

[0089] 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 displayed on the display unit 14 (i.e., the input unit 12). Then, the control unit 25a1 controls the moving units 100b and 100c to form a formation (formation rearrangement) with the moving unit 100a, which 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, which has moved to another location, as the new leader. This formation rearrangement changes the order of the child units in the formation. Specifically, before the formation rearrangement, the moving units were lined up in the order of moving unit 100a, moving unit 100b, and moving unit 100c from the leader, but after the formation rearrangement, the moving units are lined up in the order of moving unit 100a, moving unit 100c, and moving unit 100b from the leader. The operation of switching from the rotation function ON to the rotation function OFF may be performed by a user on board the parent unit, or by a user located remotely and not on board the mobile unit.

[0090] Here, the rotation of the moving bodies 100b and 100c will be described in detail. The memory unit 25a2 stores angle information obtained by the position sensor unit 24. That is, the memory 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 the moving bodies to match the direction of the nose of the moving body 100a. The rotation angles of the moving bodies 100b and 100c can be determined, for example, using absolute angles. If 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 memory 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 issue instructions to rotate the moving bodies 100b and 100c so that they point in the same direction as the nose of the moving body 100a. As an alternative method, for example, a relative angle can 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 memory 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 to the moving bodies 100b and 100c to rotate by the angle of the difference.

[0091] 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 a moving body ahead, the moving bodies 100b and 100c form a procession (reorganize the procession) with the moving body 100a, which has moved to another location, at the new head. 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.

[0092] Furthermore, moving bodies 100b and 100c may rotate by recognizing the position of moving body 100a. For example, position sensor unit 24 recognizes position information of the moving bodies rather than angle information. As a result, memory unit 25a2 of moving body 100b and memory unit 25a2 of moving body 100c store the position information of moving bodies 100a to 100c. Control unit 25a1 of moving body 100b and control unit 25a1 of moving body 100c refer to memory unit 25a2 of moving body 100b and memory unit 25a2 of moving body 100c, respectively, to instruct moving bodies 100b and 100c to rotate so as to face the direction in which moving body 100a is located.

[0093] Next, as shown in (b) of Figure 7B, after the formation is reorganized, the 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 follow-up mode and move away from the target object 200.

[0094] As a result, when only the parent unit moves to another location, a new convoy is formed with the parent unit that has moved to the other location at the head, thereby realizing a more efficient change in the direction of travel of the moving bodies.

[0095] Furthermore, in the formation rearrangement, the control unit 25a1 can perform orientation change control to control all of the slave units constituting the formation so that they face the direction of the master unit that has moved to another location. This allows for more efficient change of the traveling direction of the moving bodies without the user having to give instructions to the slave units.

[0096] In addition, with orientation change control, all of the slave units in the formation rotate by an angle notified by the master unit, enabling them to face the direction of the master unit that has moved to another location. This allows for more efficient direction changes for the moving bodies without the user having to give instructions to the slave units.

[0097] Furthermore, even if the user riding on the child device does not give any instructions, the child device can rotate to face the parent device by detecting the position of the parent device that has moved to another location.

[0098] Fig. 8 is a flowchart showing another example of operation in which the traveling mode of a moving object transitions from a rotation mode to a follow-up mode. Fig. 8 is a flowchart that assumes the movement of a plurality of moving objects, similar to Fig. 6.

[0099] As shown in FIG. 8, first, a user on the parent unit inputs an instruction via the operation unit 22 to rotate the parent unit, which is the moving body, so that it faces the direction in which it will move next (step S61).

[0100] 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).

[0101] Then, the user turns off the orientation change button displayed on the display unit 14 (that is, the input unit 12) (step S64).

[0102] 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 of people who entered the museum in the positive direction of the Y axis are reorganized into a new line of people who, after finishing their viewing, leave the museum in the opposite direction (the negative direction of the Y axis). (a) of FIG. 9A is a schematic diagram showing the movement of moving object 100a rotating so that it faces the direction of its next movement after the state shown in (c) of FIG. 4. (b) of FIG. 9A is a schematic diagram showing the movement of moving objects 100b and 100c rotating so that they face the direction of moving object 100a when a user turns on the orientation change button displayed on the display unit 14. (c) of FIG. 9A is a schematic diagram showing the movement when a user turns off the orientation change button displayed on the display unit 14.

[0103] First, as shown in (a) of Figure 9A, a user riding on the moving body 100a inputs an instruction via the operation unit 22 to rotate the moving body 100a (for example, 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.

[0104] Next, as shown in (b) of FIG. 9A, the user switches the orientation change function from OFF to ON. For example, the user switches the orientation change function from OFF to ON by pressing the 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 (e.g., perform a pivot turn) 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 the orientation change function OFF and the 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.

[0105] 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 align with the direction of the nose of the moving body 100a.

[0106] 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.

[0107] Furthermore, in the formation rearrangement, the control unit 25a1 can perform orientation change control to control all of the slave units constituting the formation so that they face the direction of the master unit that has moved to another location. This allows for more efficient change of the traveling direction of the moving bodies without the user having to give instructions to the slave units.

[0108] In addition, with the orientation change control, all of the slave units in the formation rotate by a predetermined angle to face the parent unit that has moved to another location. This allows for more efficient direction changes for the moving bodies without the user having to give instructions to the slave units.

[0109] Furthermore, with orientation change control, all of the slave units in the formation rotate by an angle notified by the master unit, enabling them to face the direction of the master unit that has moved to another location. This allows for more efficient direction changes for the moving bodies without the user having to give instructions to the slave units.

[0110] 9B is a schematic diagram showing an example of the movement of users aboard moving bodies 100a-100c moving away from the target object 200 after the slave units rearrange the formation after the state shown in FIG. 9A(c). FIG. 9B(a) is a schematic diagram showing the movement of 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 moving bodies 100b and 100c rearranging the formation when a user turns off the rotation function button displayed on the display unit 14. FIG. 9B(c) is a schematic diagram showing the movement of moving bodies 100a-100c moving away from the target object 200 in follow mode after the formation rearrangement.

[0111] First, as shown in FIG. 9B(a), a user on board 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.

[0112] Next, as shown in (b) of FIG. 9B, the user switches the rotation function from ON to OFF. For example, by pressing a button (i.e., input unit 12) displayed on display unit 14, the rotation function is switched from ON to OFF. Then, control unit 25a1 controls moving units 100b and 100c to form a formation with moving unit 100a, which has moved to another location, as the new leader (formation rearrangement). This formation rearrangement changes the order of the slave units in the formation. Specifically, before the formation rearrangement, the moving units were lined up in the order of moving unit 100a, moving unit 100b, and moving unit 100c from the front, but after the formation rearrangement, the moving units are lined up in the order of moving unit 100a, moving unit 100c, and moving unit 100b from the front. The operation of switching the rotation function from ON to OFF may be performed by a user on the master unit, or may be performed by a user who is not on any of the moving units and is located remotely.

[0113] Finally, as shown in (c) of FIG. 9B, when a user riding on the moving body 100a inputs an instruction via the operation unit 22, the moving bodies 100a to 100c move in the follow-up mode and move away from the target object 200.

[0114] As a result, when only the parent unit moves to another location, a new convoy is formed with the parent unit that has moved to the other location at the head, thereby realizing a more efficient change in the direction of travel of the moving bodies.

[0115] Fig. 10 is a flowchart showing yet another example of operation in which the traveling mode of a moving object transitions from a rotation mode to a follow-up mode. Fig. 10 is a flowchart that assumes the movement of a plurality of moving objects, similar to Figs. 6 and 8.

[0116] First, the user turns on the orientation change button displayed on the display unit 14 (that is, the input unit 12) (step S71).

[0117] Next, the user on the parent unit moves the parent unit, which is the moving body, to another location by inputting an instruction via operation unit 22. Then, in conjunction with the instruction from operation unit 22 of the parent unit, the child unit rotates so as to face the direction of the parent unit (step S72).

[0118] Then, the user turns off the orientation change button displayed on the display unit 14 (that is, the input unit 12) (step S73).

[0119] FIG. 11 is a schematic diagram showing an example of detailed movements from S71 to S73 in FIG. 10. Here, another example of movement is shown in which a line of people entering the museum in the positive direction of the Y-axis is reorganized into a new line of people leaving the museum in the opposite direction (the negative direction of the Y-axis) after finishing their viewing. (a) of FIG. 11 is a schematic diagram showing the state when a user turns on the orientation change button displayed on the display unit 14 after the state shown in (c) of FIG. 4. (b) of FIG. 11 is a schematic diagram showing the movement of moving objects 100b and 100c rotating in conjunction with moving object 100a moving to another location. (c) of FIG. 11 is a schematic diagram showing the state when a user turns off the orientation change button displayed on the display unit 14. The movements of moving objects 100a to 100c from (c) of FIG. 11 are omitted because they are the same as the movements from (b) of FIG. 9B onward.

[0120] First, as shown in (a) of Fig. 11, the user switches the orientation change from OFF to ON. For example, the user switches the orientation change from OFF to ON by pressing the orientation change button (i.e., input unit 12) displayed on display unit 14. The operation of switching from OFF to 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.

[0121] Next, as shown in FIG. 11(b), the user aboard moving body 100a moves moving body 100a to the end of the convoy by inputting an instruction via operation unit 22. Then, moving bodies 100b and 100c rotate (for example, perform a pivot turn) in conjunction with the instruction from operation unit 22 of moving body 100a. Specifically, main body unit 25 issues an instruction to move bodies 100b and 100c to rotate so that they face the direction of moving body 100a. The rotation angles of moving bodies 100b and 100c are determined using the position information of moving bodies 100a to 100c described in FIG. 7B(a).

[0122] 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.

[0123] As a result, when rearranging the formation, the control unit 25a1 can perform orientation change control to control all of the slave units that make up the formation so that they face the direction of the master unit that has moved to another location. This allows for more efficient change of the traveling direction of the moving bodies without the user having to give instructions to the slave units.

[0124] Furthermore, the control unit 25a1 can perform direction change control to control all the slave units in conjunction with the movement of the master unit from the front of the formation to another location during formation reorganization. This allows for more efficient change of the traveling direction of the moving bodies without the user having to give instructions to the slave units.

[0125] While the control device, moving body, 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 conceivable by those skilled in the art to the present embodiments and modifications, and other forms constructed by combining some of the components of the embodiments, are also included within the scope of the present disclosure.

[0126] 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).

[0127] The program may also be distributed in a state stored on a non-transitory recording medium such as a computer-readable DVD. [Industrial Applicability]

[0128] The present disclosure can be used as a control device, a mobile body, a control method, and a program that can provide more comprehensive support to multiple users when multiple users board multiple mobile bodies to view or tour the same object at a museum, for example, and can be used as robotic mobility. [Explanation of symbols]

[0129] 10a, 10b, 10c input / output device 11 Communications Department 12 Input section 13 Control Unit 14 Display section 21 Sensor section 22 Control section 23 Moving mechanism section 23a semi-wheel 24 Position sensor unit 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 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 transitioning to the rotation mode, the control unit transitions from the following mode to the rotation mode. Control device.

2. The first moving body includes an operating device for instructing the first moving body to move forward, backward, and rotate; When the platoon information indicates that the first moving body is a parent unit, the control unit controls the first moving body to travel in one of forward, backward, and rotational motions in accordance with instructions from the operation device, and when the platoon information indicates that the first moving body is a child unit, the control unit controls the first moving body to travel in only rotational motion out of forward, backward, and rotational motions in accordance with instructions from the operation device. The control device according to claim 1.

3. Further, an input unit is provided for receiving an instruction from a user, the control unit transitions the mode from the following mode to the rotation mode when the input unit receives an instruction to turn on the rotation mode, and transitions the mode from the rotation mode to the following mode when the input unit receives an instruction to turn off the rotation mode. The control device according to claim 1.

4. In the rotation mode, when an obstacle is detected, the child device performs an operation to avoid a collision with the obstacle. The control device according to claim 1.

5. In the following mode, the child device travels by following the moving object in front by continuously detecting a marker provided on the back of the moving object in front. The control device according to claim 1.

6. A moving object comprising the control device according to any one of claims 1 to 5.

7. 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 mode is to be transitioned to the rotation mode, the mode is transitioned from the following mode to the rotation mode. Control methods.

8. A program for causing a computer to execute the steps included in the control method according to claim 7.

Images